Damien Charles Chablat

Damien Charles Chablat
French National Centre for Scientific Research | CNRS · Institut des sciences de l'ingénierie et des systèmes (INSIS)

Doctor of Engineering
Senior Researcher CNRS, Laboratoire des Sciences du Numérique de Nantes, Ecole Centrale de Nantes

About

410
Publications
90,079
Reads
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5,701
Citations
Introduction
Damien Chablat obtained his doctorate in Mechanical Engineering from the Ecole Centrale de Nantes and the University of Nantes in 1998. For a year he worked at McGill University's Intelligent Machinery Centre with Professor Angeles. He joined the CNRS (Centre National de la Recherche Scientifique) in 1999 to work within the Robotics group of the Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN). He became a senior researcher at the CNRS in 2011. Since 1 January 2017, IRCCyN has been renamed LS2N, Laboratoire des Sciences du Numérique de Nantes. He is now the team leader of a robotics team studying humanoid robots, bio-inspired robots and the interaction between humans and robots. His research interests include robotics, parallel manipulator design and human fatigue assessment for industrial tasks.
Additional affiliations
January 2020 - January 2020
Mahindra Ecole Centrale
Position
  • Professor
Description
  • Robotics lecture
January 2019 - January 2019
Mahindra École Centrale
Position
  • Professor
May 2018 - May 2018
Tsinghua University
Position
  • Visitor
Education
September 1994 - August 1995
Ecole Centrale de Nantes
Field of study
  • Génie mécanique
September 1993 - June 1994
Université d'Orléans
Field of study
  • Technologie Mécanique
September 1992 - June 1993
Université d'Orléans
Field of study
  • Technologie Mécanique

Publications

Publications (410)
Article
The optimization of parallel kinematic manipulators (PKM) involve several constraints that are difficult to formalize, thus making optimal synthesis problem highly challenging. The presence of passive joint limits as well as the singularities and self-collisions lead to a complicated relation between the input and output parameters. In this article...
Preprint
Full-text available
Piping inspection robots play an essential role for industries as they can reduce human effort and pose a lesser risk to their lives. Generally, the locomotion techniques of these robots can be classified into mechanical and bioinspired. By using slot-follower leg mechanisms, DC-motors, and control units, a rigid caterpillar type inspection robot w...
Chapter
In a human-robot interaction system, the most important thing to consider is the safety of the user. This must be guaranteed in order to implement a reliable system. The main objective of this paper is to generate a safe motion scheme that takes into account the obstacles present in a virtual reality (VR) environment. The work is developed using th...
Preprint
Full-text available
The use of an endoscope in otological surgery as compared to using a microscope provides many benefits in terms of visibility and access to the operating region. The disadvantage of using an endoscope is that it has to be handled by the surgeon during the surgery. A novel parallel kinematic mechanism has been proposed recently for manipulating the...
Article
From the list of interfaces used in virtual reality systems, haptic interfaces allow users to touch a virtual world with their hands. Traditionally, the user's hand moves the end-effector of a robotic arm. When there is no contact in the virtual world, the robotic arm is passive; when there is contact, the arm suppresses mobility to the user's hand...
Article
This work proposed the design of a simple, robust and inexpensive motion transmission for hand prostheses. The main challenge to be solved is to generate not only fast movements for the closing of the fingers during the grasping but also important forces to hold these objects. A Two-Speed Load Adaptive Variable Transmission is introduced to solve t...
Preprint
Full-text available
In this article a multi-segmented planar tensegrity mechanism was presented. This mechanism has a three-segment structure with each segment residing on top of another. The size of the segments may decrease proportionally from base to top, resulting in a tapered shape from base to tip like an elephant trunk. The system was mechanically formulated as...
Conference Paper
Cuspidal robots can travel from one inverse kinematic solution (IKS) to another without meeting a singularity. This property can be analyzed by understanding the inverse kinematic model (IKM) as well as the singularities in the joint space and in the workspace. In this article, we revisit the geometrical interpretation of the IKM with conics. The c...
Preprint
In this paper, a robot with parallel architecture is proposed for charging an electric vehicle having the charging socket on its front side. Kinematic models are developed to design the robot for a given workspace that corresponds to the car's plug placements. A demonstrator composed by commercial components is shown.
Preprint
Full-text available
Cuspidal robots are robots with at least two inverse kinematic solutions that can be connected by a singularity-free path. Deciding the cuspidality of a generic 3R robots has been studied in the past, but extending the study to six-degree-of-freedom robots can be a challenging problem. Many robots can be modeled as a polynomial map together with a...
Article
Full-text available
For haptic interaction, a user in a virtual environment needs to interact with proxies attached to a robot. The device must be at the exact location defined in the virtual environment in time. However, due to device limitations, delays are always unavoidable. One of the solutions to improve the device response is to infer human intended motion and...
Preprint
The optimization of parallel kinematic manipulators (PKM) involve several constraints that are difficult to formalize, thus making optimal synthesis problem highly challenging. The presence of passive joint limits as well as the singularities and self-collisions lead to a complicated relation between the input and output parameters. In this article...
Preprint
In a human-robot interaction system, the most important thing to consider is the safety of the user. This must be guaranteed in order to implement a reliable system. The main objective of this paper is to generate a safe motion scheme that takes into account the obstacles present in a virtual reality (VR) environment. The work is developed using th...
Preprint
Cuspidal robots can travel from one inverse kinematic solution to another without meeting a singularity. The name cuspidal was coined based on the existence of a cusp point in the workspace of 3R serial robots. The existence of a cusp point was proved to be a necessary and sufficient condition for orthogonal robots to be cuspidal, but it was not po...
Preprint
The paper focuses on the stiffness analysis of multi-link serial planar manipulators, which may demonstrate nonlinear stiffness behavior under the compressive loading. Two important cases are considered, where the manipulator has either a straight or non-straight initial configuration. It was proved that in the first case the loading may cause the...
Article
Full-text available
The paper focuses on the stiffness analysis of multi-link serial planar manipulators, which may demonstrate nonlinear stiffness behavior under the compressive loading. Two important cases are considered, where the manipulator has either a straight or non-straight initial configuration. It was proved that in the first case the loading may cause the...
Article
Full-text available
Cuspidal robots can travel from one inverse kinematic solution to another without meeting a singularity. The name cuspidal was coined based on the existence of a cusp point in the workspace of 3R serial robots. The existence of a cusp point was proved to be a necessary and sufficient condition for orthogonal robots to be cuspidal, but it was not po...
Preprint
Full-text available
Musculoskeletal disorder (MSD) is one of the major health problems in physical work especially in manual handling jobs. In several literatures, muscle fatigue is considered to be closely related to MSD, especially for muscle related disorders. In addition to many existing analysis techniques for muscle fatigue assessment and MSD risk analysis, in t...
Chapter
The paper deals with the equilibrium configurations and their stability study of a new type of compliant tensegrity mechanism based on dual-triangle structures, which actuated by adjusting elastic connections between the triangle edges. For a single segment of such mechanism, the torque-deflection relation was obtained as a function of control inpu...
Preprint
Full-text available
In otolaryngologic surgery, more and more robots are being studied to meet the clinical needs of operating rooms. However, to help design and optimize these robots, the workspace must be precisely defined taking into account patient variability. The aim of this work is to define a geometric atlas of the middle ear and paranasal sinuses for endoscop...
Article
Full-text available
In otolaryngologic surgery, more and more robots are being studied to meet the clinical needs of operating rooms. However, to help design and optimize these robots, the workspace must be precisely defined taking into account patient variability. The aim of this work is to define a geometric atlas of the middle ear and paranasal sinuses for endoscop...
Article
Full-text available
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The proposed PM is only composed of lower-mobility joints and actuated prismatic joints, together with the investigatio...
Preprint
Full-text available
In otolaryngologic surgery, endoscopy is increasingly used to provide a better view of hard-to-reach areas and to promote minimally invasive surgery. However, the need to manipulate the endoscope limits the surgeon's ability to operate with only one instrument at a time. Currently, several robotic systems are being developed, demonstrating the valu...
Article
In otolaryngologic surgery, endoscopy is increasingly used to provide a better view of hard-to-reach areas and to promote minimally invasive surgery. However, the need to manipulate the endoscope limits the surgeon's ability to operate with only one instrument at a time. Currently, several robotic systems are being developed, demonstrating the valu...
Chapter
The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two sub-problems, which deal with collision-free path planning for the robot end-effector and collision-free motion...
Poster
Full-text available
In the list of interfaces used to make virtual reality, haptic interfaces allow users to touch a virtual world with their hands. Traditionally, the user’s hand touches the end effector of a robotic arm. When there is no contact, the robotic arm is passive; when there is contact, the arm suppresses mobility to the user’s hand in certain directions....
Conference Paper
Full-text available
This article presents a new hand architecture with three under-actuated fingers. Each finger performs spatial movements to achieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to grasp complex-shaped workpieces as they leave the machining centres. Among the taxonomy of grips, cylindrical an...
Conference Paper
In the list of interfaces used to make virtual reality, haptic interfaces allow users to touch a virtual world with their hands. Traditionally, the user’s hand touches the end effector of a robotic arm. When there is no contact, the robotic arm is passive; when there is contact, the arm suppresses mobility to the user’s hand in certain directions....
Conference Paper
This article presents the actuation strategy of a 2-DOF tensegrity type mechanism that employs three tension springs and a passive universal joint. This mechanism is proposed to be incorporated as an articulation unit for a piping inspection robot in order to overcome pipe bends and junctions. In the event of a junction, external actuations are req...
Preprint
Full-text available
The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two sub-problems, which deal with collision-free path planning for the robot end-effector and collision-free motion...
Preprint
Full-text available
The paper focuses on the stiffness modeling of a new type of compliant manipulator and its non-linear behavior while interacting with the environment. The manipulator under study is a serial mechanical structure composed of dualtriangle segments. The main attention is paid to the initial straight configuration which may suddenly change its shape un...
Article
Full-text available
The paper deals with the elastostatic modeling of multi-link flexible manipulator based on dual-triangle tensegrity mechanism and its non-linear behavior under external loading. The main attention is paid to the static equilibriums and the manipulator stiffness behavior under the loading for the arbitrary initial configuration. It was proved that t...
Chapter
Full-text available
Football, as the most popular sport in the world, has a very wide spread worldwide. With the wide spread of football, more and more people participate in football activities. Football is a very strenuous sport and athletes are easily injured. This article examines the problem of kicking through two experiments, one is the normal kicking process, an...
Article
Full-text available
This paper is devoted to the control and identification of a manipulator with three anti-parallelogram joints in series, referred to as X-joints. Each X-joint is a tensegrity one-degree-of-freedom mechanism antagonistically actuated with cables and springs in parallel. As compared to manipulators built with simple revolute joints in series, manipul...
Preprint
Full-text available
This article presents a new hand architecture with three under-actuated fingers. Each finger performs spatial movements to achieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to grasp complex-shaped workpieces as they leave the machining centres. Among the taxonomy of grips, cylindrical an...
Preprint
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The proposed PM is only composed of lower-mobility joints and actuated prismatic joints, together with the investigatio...
Article
Full-text available
This paper presents the kinematic design of a translational parallel mechanism (PM) named Vari-Orthoglide by means of the workspace superposition, according to the sub-kinematic chain (SKC) based PM composition principle. The main topological characteristics of the manipulator with two SKCs under study, such as the position and orientation (POC) ch...
Article
Full-text available
During Otologic surgery, and more broadly during microsurgery, the surgeon encounters several difficulties due to the confined spaces and micro-manipulations. The purpose of the paper is to design a robot with a prescribed regular workspace shape to handle an endoscope to assist the Otologic surgery. A spherical parallel mechanism with two degrees...
Preprint
Full-text available
The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dualtriangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the stability of the manipulator configurations with respect to the external forces/torques applied to the endeffect...
Article
Full-text available
For fast-moving robot systems, the fluctuating dynamic loads transmitted to the supporting frame can excite the base and cause noise, wear, and fatigue of mechanical components. By reducing the shaking force completely, the dynamic characteristics of the robot system can be improved. However, the complete inertial force and inertial moment balancin...
Article
Full-text available
This article presents an optimization approach for the design of a piping inspection robot. A rigid bio-inspired piping inspection robot that moves like a caterpillar was designed and developed at LS2N, France. By the addition of tensegrity mechanisms between the motor modules, the mobile robot becomes flexible to pass through the bends. However, t...
Conference Paper
Full-text available
The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dual-triangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the stability of the manipulator configurations with respect to the external forces/torques applied to the end-effe...
Chapter
Full-text available
This article analyzes the singularities and workspace of two tensegrity mechanisms that employ a passive universal joint and either three or four tension springs. These two architectures are correlated to 3-SPS-U and 4-SPS-U parallel mechanisms for determining their geometric equations. By fixing the limits of prismatic joints, the workspace for th...
Preprint
Full-text available
The paper focuses on the mechanics of a compliant serial manipulator composed of new type of dual-triangle elastic segments. Both the analytical and numerical methods were used to find the manipulator stable and unstable equilibrium configurations, as well as to predict corresponding manipulator shapes. The stiffness analysis was carried on for bot...
Preprint
Full-text available
The shaking force balancing is a well-known problem in the design of high-speed robotic systems because the variable dynamic loads cause noises, wear and fatigue of mechanical structures. Different solutions, for full or partial shaking force balancing, via internal mass redistribution or by adding auxiliary links were developed. The paper deals wi...
Chapter
Full-text available
Crutch is the most common tool for temporary or permanent ambulation assistance. Crutch-using transforms human kinematic chain, and therefore is hypothesized to have dynamical influence on the trunk. In this paper, two different crutch gaits were analyzed with regard to their associated risks of scoliosis. A numerical human-crutch model was constru...
Preprint
Full-text available
As a traditional tool of external assistance, crutches play an important role in society. They have a wide range of applications to help either the elderly and disabled to walk or to treat certain illnesses or for post-operative rehabilitation. But there are many different types of crutches, including shoulder crutches and elbow crutches. How to ch...
Chapter
Full-text available
This paper deals with the joint space and workspace analysis of a two degree of freedom spherical parallel mechanism designed to be used to handle an endoscope. This mechanism is composed of the three legs (2USP-U) to connect the base to a moving platform. As the manipulator can get up to six solutions to the direct kinematic problem (DKP) in four...
Conference Paper
Full-text available
The paper deals with the stiffness analysis and stability study of equilibrium configurations for dual-triangle tensegrity mechanism, which is actuated by adjusting elastic connections between the triangle edges. For this mechanism, the torque-deflection relation was obtained as a function of control inputs and geometric parameters. It was proved t...
Conference Paper
Full-text available
This article presents an optimization approach for the design of an inspection robot that can move inside variable diameter pipelines having bends and junctions. The inspection robot uses a mechanical design that mimics the locomotion of a caterpillar. The existing prototype developed at LS2N, France is a rigid model that makes it feasible for work...
Conference Paper
Full-text available
The paper deals with the shaking force balancing of the DELTA robot. The balancing of the shaking force of the DELTA robot is carried out through the center of mass acceleration minimization. The trajectories of the total mass center of moving links are defined as straight lines between the initial and final positions of the platform. Then, the mot...