Gérard Poisson

Université d'Orléans | UO · Laboratoire PRISME

This paper presents stiffness analysis of a delta robot having variable-stiffness properties at each of its three input joints. The influence of varying the stiffness of each joint is investigated with regard to global stiffness properties at the end effector. An optimization framework is established with two different objective function variants....

Our work introduces a new robotic solution named CochleRob, which is used for the administration of super-paramagnetic antiparticles as drug carriers into the human cochlea for the treatment of hearing loss caused by damaged cochlea. This novel robot architecture presents two key contributions. First, CochleRob has been designed to meet specificati...

This paper’s content focuses on designing and prototyping a robotic brace dedicated to treating scoliosis. Scoliosis is an abnormal spinal curvature affecting 1–3% of children and constitutes a major therapeutic problem. In moderate cases of deformity, passive brace treatment is performed. However, this approach can lead to important patient discom...

Inner ear disorders' treatment remains challenging due to anatomical barriers. Robotic assistance seems to be a promising approach to enhance inner ear treatments and, more particularly, lead to effective targeted drug delivery into the human cochlea. In this paper we present a combination of a micro-macro system that was designed and realized in o...

Thèmes-Robotique et Santé Résumé-Dans cet article, nous présentons le corset robotisé, dédié au traitement de la scoliose, que nous avons conçu et prototypé. La scoliose est une courbure anormale, en forme de S, de la colonne vertébrale qui touche 3 % de la population et les techniques pour la traiter restent principalement passives. L'approche rob...

Modern robotic applications have come to include an increasing human presence in their control loops. This human presence sheds light on two instances of human interaction. First, intentional interaction developed for cobotic applications, and on the other hand, unplanned interaction in the event of a sudden collision. The handling of these interac...

This paper describes the mechatronics design and tests of a robotic brace prototype specially dedicated for the treatment of idiopathic scoliosis. These developments have been motivated by the limitation of the current rigid braces used for this purpose which do not adapt to changes in the skeletal system in response to treatment. This new robotic...

This paper presents a variable stiffness mechanism suitable for use in robotic rehabilitation. By inherently varying both the magnitude and direction of loading in the mechanism using a single input, a large variation in effective stiffness is achieved. Design and analysis of the variable stiffness mechanism are presented, along with an example ill...

This paper presents a new robotic device, designed for the treatment of idiopathic scoliosis (IS). Scoliosis is a complex 3D spine deformity. Hard braces are proved to be effective for its treatment but still have more shortcomings which needed to be overcome. Braces cannot realize specific control over vertebra and they also limit the daily work r...

This paper presents a variable stiffness mechanism suitable for use in robotic rehabilitation. By inherently varying both the magnitude and direction of loading in the mechanism using a single input, a large variation in effective stiffness is achieved. Design and analysis of the variable stiffness mechanism are presented, along with an example ill...

In this paper, we present the design process followed to conceive a lighting robotic arm dedicated to operating rooms. During a surgical procedure, the use of a high quality lighting system is essential to the successful completion of the surgical task. Indeed, the intensity and incidence of the light projection must be controlled according to the...

Integration of active compliant joints in a robotic system contributes to enhance safety in physical human-robot interactions. In this paper we study the behavior of a variable stiffness actuator -V2SOM-, proposed in the context of the SISCob project. We describe the working principle and design of the proposed system. Furthermore, the dynamic mode...

Integration of active compliant joints in a robotic system contributes to enhance safety in physical human-robot interactions. In this paper we study the behavior of a variable stiffness actuator -V2SOM-, proposed in the context of the SISCob project. We describe the working principle and design of the proposed system. Furthermore, the dynamic mode...

In this paper, a safety-enhanced collaborative control framework is proposed for tele-operated minimally invasive surgery (MIS) using a redundant 7-DoF serial robot. The redundant manipulators offer a safe physical collaborative flexible workspace for nurse or surgeon (assisting physicians, patient support) undergoing surgery. The novel framework i...

This paper deals on the design method applied to create a new useful robot for a lighting operating room. We present the specifications for this particular medical application, the proposed kinematic solutions as well as the topological and dimensional syntheses performed to choice the optimal solution. The work presented in this paper was conducte...

OpenPHRI is a C++/Python general-purpose software scheme with several built-in safety measures designed to ease robot programming for physical human–robot interaction (pHRI) and collaboration. Aside from providing common functionalities, the library can be easily customized and enhanced thanks to the project’s open-source nature. The OpenPHRI frame...

OpenPHRI is a C++/Python general-purpose software scheme with several built-in safety measures designed to ease robot programming for physical human?robot interaction (pHRI) and collaboration. Aside from providing common functionalities, the library can be easily customized and enhanced thanks to the project's open-source nature. The OpenPHRI frame...

In this paper, we propose a control framework for robot-assisted minimally invasive general surgery (RA-MIS) for physical human–robot collaboration using a redundant 7-DoF serial robot. When a redundant manipulator is used in RA-MIS, the control system implemented must guarantee that the surgical tool always goes through the trocar, i.e. the medica...

In recent years, autonomous navigation for mobile robots has been considered a highly active research field. Within this context, we are interested to apply the Simultaneous Localization And Mapping (SLAM) approach for a wheeled mobile robot. The Extended Kalman Filter has been chosen to perform the SLAM algorithm. In this work, we explicit all ste...

Background During a Robot-Assisted Minimally Invasive Surgery (RA-MIS), a robot inserts a surgical tool into the patient's body through a surgical device placed at the incision position, known as the trocar. A kinematic constraint, known as Remote Center of Motion (RCM) constraint, is then generated since the tool axis must always pass through the...

In this paper, we provide a new generalized kinematic formulation of the Remote Center of Motion (RCM) constraint for serial robotic arms to be useful for implementation in torque-controlled robots. A minimally invasive surgery assisted by a serial robot could be used for inserting a surgical tool through a desired insertion position, i.e. trocar p...

This paper deals with the survey of kinematic structures adapted to specific medical robots: minimally invasive surgery (MIS) and tele-echography. The large diversity of kinematic architectures that can be found in medical robotics leads us to perform a statistical analysis to inform and guide design of medical robots. Safety constraints and some c...

In this paper, we are interested in understanding the relation between gossip and two social phenomena: consensus and the positivity bias. These two properties of a population together seem somewhat counterintuitive: a population needs some consensus to act as a group, at the same time the positivity bias is said to be quite universal and it means...

In this paper, we aim developing the issue of mobile robot’s localization in a known environment. The robot’s model and map parameters are initially analyzed and defined. A generic architecture of the system is then presented. The localization algorithm is developed based on the robot’s model and data obtained from exteroceptive sensors. A step of...

Introduction: Reducing treatment duration in proton therapy is one of the key factor to increase the number of patient treated per day. To overcome this issue, we have developed novels haptic manual guidance control implemented on the patient positioning robot (Orion PT) to be used during the pre-positioning phase by the paramedical assistant. Thes...

Physical Human-Robot Interaction (PHRI) is one of the fields supported by the ”France Robots Initiative” plan to position France as a new robotic world leader. Co-manipulated robots (Cobots) are increasingly needed in industry to boost production performance or in clinical applications to enhance medical practitioner’s gestures accuracy. During the...

In this paper, we present a dynamically consistent control approach for manipulators with Cartesian Admittance Control (CAC) while guaranteeing a Remote Center of Motion (RCM) constraint. The dynamically consistent extended formulation was used in order to achieve a dynamically decoupled redundancy resolution, while a null-motion feedback was imple...

In human-robot interaction, the robot must behave safely, especially when an operator is present in its workspace. Even higher safety levels must be attained when physical contact occurs between the two. To this end, standards such as the ISO10218 define the requirements for a robot to be considered safe for interaction with human operators in an i...

During a robotised protontherapy treatment, clin- ician, paramedical assistants and medical devices (stepladder, trolley, etc.) often enter the robots workspace. To overcome safety problems, a precise and reliable collision detection tech- nique has been implemented on the LEONI Patient Positioning System (PPS) named Orion PT. This method provides...

The paper focuses on controlling by hand a robot carrying a patient lying down on a ”couch top” located at the extremity of the end-effector. The Orion prototype, is a six Degree-of-Freedom (DoF) robotic system. The control of the robot is achieved through a home-made co-manipulated haptic device located under the couch top and operated by a parame...

This paper deals with the design process adapted to medical robots. The large diversity of kinematic architectures that can be encountered in medical robotics leads us to seek a robust method dedicated to tool-guidance medical robot design. First, we detail a proposed design process adapted especially for handling the inherent needs in tool-guidanc...

This paper introduces the design and the optimization of a probe holder robot for tele-echography application. To define its kinematic architecture, an approach based on the motion capture of expert’s gesture during ultrasound examinations is proposed. The medical gestures were analyzed in terms of ultrasound probe movements and used to characteriz...

The objective of this article is to present the dimensional synthesis of serial and parallel spherical wrists, an important step in the design process of medical robots. This step is carried out to obtain optimal dimensions of tool-guidance medical robots. With this goal, we have first studied the specifications of two robots with different medical...

In this paper, two kinematic structures with optimized spherical wrist modules are proposed for the practice of tele-echography through a new slave holder robot for a remote ultrasound diagnostic application. The medical gestures, performed during an ultrasound examination, are analyzed using two different techniques. The results are used in the de...

This paper proposes a discussion of a generic controller which is based on a hybrid fuzzy-DVZ algorithm that drives a robotic wheelchair to a desired target and remains free of collision. Furthermore, it overcomes a corner situation constraint that is present in a number of obstacle avoidance strategies in the literature. This algorithm is reactive...

This paper deals with an optimization method of spherical robots applied to the domain of medical robotics. This method relies on specification of indices which describe the constraints and requirements of the particular medical application. The dimensional optimization is demonstrated with two examples of four-degree-of-freedom robots: one dedicat...

In this paper, we optimize the link dimensions of a robot with two serial arms for minimally-invasive surgery, to improve its kinetostatic performance (force, velocity) and its compactness, under the constraint of reachable space. A Pareto curve is plotted to provide the designer all the optimum possible solutions between transmissible velocity, fo...

Unlike open surgery, minimally invasive surgery (MIS) involves small incisions through which instruments are passed to perform surgery. This technique is preferred since it reduces postoperative pain and recovery time. Laparoendoscopic single-site (LESS) surgery is the next step in MIS; a single incision is created instead of multiple access points...

This paper deals with processes of optimisation for the design of a four degree-of-freedomrobot dedicated to remote ultrasound tele-echography. This robot is designed to track the medical gestures of a remote expert moving an ultrasound probe. The goal is to optimise the kinematic structure by fixing the geometric parameters; these have a significa...

This paper introduces the research carried out on the design of a robotized tele-echography system. Such a system is composed of a master control device and a slave robotic manipulator. Our objective is to contribute to the French Agence National de Recherche (ANR) project PROSIT by designing both devices. To define the kinematic architecture, we h...

This paper presents a fuzzy-logic controller and navigation algorithm for guiding an omnidirectional robot. Based on introduced start and reference points, with respect to the inverse kinematic model, the fuzzy logic controller is used to steer the robot to follow the planned poses so as to reach the target point. Our contribution consist on extend...

This paper deals with the design process of a particular mechatronic system: a teleechography robot. First, we describe the principle of robotized tele-echography and the prototypes already designed. Then, after having chosen the design process, we show two medical gestures analysis performed to define the required specifications of a tele-echograp...

This paper introduces the design of a master-slave robotized system for tele-ultrasound application. The objective of these researches is to design the slave manipulator of this system and its control device (master part). The specification process of the architecture kinematic is based on the analysis of expert’s gesture during ultrasound examinat...

decentralized control law using a backstepping scheme is proposed to deal with a leader follower multiple robots structure. Based on graph theory and Laplacian, the coordination strategy combines the leader follower control with the decentralized control. In fact, in the proposed approach, each follower robot only needs the information exchange wit...

In this article, an internal and an external synchronisation have been investigated, in the presence of uncertain parameters. The proposed controller is designed to synchronise the movement of robot group tracking the same desired trajectory. To this effect, using a consensus algorithm, we provide an adaptive control under two different schemes. In...

Résumé : Dans cet article, nous comparons les performances géométriques et cinématiques d'un robot sériel et d'un robot parallèle utilisés comme portes-sonde pour une application de télé-échographie. Le premier est un poignet sphérique sériel à trois articulations rotoïdes concourantes, le second présente une structure à parallélogrammes déformable...

This paper considers the practice of a tele-echography through a new slave holder robot for a remote echographic diagnostic application. This robot is integrated in a master-slave system called ‘Robotic Platform for an Interactive Tele-echographic System’ (PROSIT ANR French national project). The proposed approach is based on motion capture of an e...

This paper considers the cooperative control problem of networked class of underactuated systems. We propose a new set up for synchronization of this type of systems based on the use of passivity as a design tool to solve the problem in hand. First the underactuated system is transformed to a class of non- linear system with chain structure using a...

This paper addresses the control problem of unicycle mobile robot evolving in unknown environments using reactive behaviours. The deformable Virtual Zone (DVZ) principle is used to resolve this problem through defining a safety zone around the vehicle. This approach presents fast control laws that react depending on the presence of an obstacle in t...

We develop new control approach to position synchronization of lagrangian systems based on emergent consenus algorithms. The proposed control approach works to accomplish multi-robot systems synchronization. The control strategy is to synchronize the angular position and the velocity of each robot in the group. The cooperative strategy only require...