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  • Marc Arsicault
Marc Arsicault

Marc Arsicault
Université de Poitiers | UP · Institut de recherche de Poitiers : Recherche ingénierie en matériaux, mécanique et énergétique pour les transports, l'énergie et l'environnement (Institut Pprime)

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55
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Publications

Publications (55)
Article
Full-text available
In robotics, the variable stiffness joints have been developed as an alternative to include flexibility to a rigid mechanism. Variable Stiffness Joint (VSJ) allows for varying the stiffness in a mechanism during the performance of a trajectory. The development of this joint has increased, and various applications have emerged, most to improve human...
Conference Paper
Bioinspired robots are useful tools to study complex biomechanical processes of animal locomotion. Key movements and main kinematic parameters are under the control of experimenters, which is impossible to perform when experimenting with living animals. The primary challenge to test biological hypotheses is to design realistic robots. Many snake sp...
Chapter
This paper deals with a special architecture of DELTA robot designed to be used as a haptic device. Delta robot, as all parallel manipulators, has complex kinematic models and singularity issues. To overcome these difficulties, we introduce, in this paper, an approach for solving the forward kinematic problems by using a serial method. This method...
Book
This book presents the proceedings of the 5th IFToMM Symposium on Mechanism Design for Robotics, MEDER 2021, held in Poitiers, France, 23–25 June 2021. It gathers contributions by researchers from several countries on all major areas of robotic research, development and innovation, as well as new applications and current trends. The topics covered...
Article
Full-text available
Robots are gaining a foothold day-by-day in different areas of people’s lives. Collaborative robots (cobots) need to display human-like dynamic performance. Thus, the question of safety during physical human–robot interaction (pHRI) arises. Herein, we propose making serial cobots intrinsically compliant to guarantee safe pHRI via our novel designed...
Article
Full-text available
This paper deals with a collaborative robot, i.e., cobot, coupled with a new prismatic compliant joint (PCJ) at its end-effector. The proposed collaborative solution is intended for Doppler sonography to prevent musculoskeletal disorders issues. On one hand, the Doppler sonographer's postures are investigated based on motion capture use during the...
Article
Full-text available
Variable stiffness actuators are employed to improve the safety features of robots that share a common workspace with humans. In this paper, a study of a joint variable stiffness device developed by PPRIME Institute—called V2SOM— for implementation in the joints of a multi-DoF robot is presented. A comparison of the interaction forces produced by a...
Article
Unlike "classical" industrial robots, collaborative robots, known as cobots, implement a compliant behavior. Cobots ensure a safe force control in a physical interaction scenario within unknown environments. In this paper, we propose to make serial robots intrinsically compliant to guarantee safe physical human-robot interaction (pHRI), via our nov...
Article
In physical human–robot interactions, making the robot perceive in real time the mechanical contact impedance is critical for interactions safety, robot control and haptic rendering for robot teleoperation and can be achieved through online parametric model identification. Probing the viscoelastic properties of tissues is also a medical concern. Fo...
Chapter
Full-text available
The use of variable stiffness actuators in robots allows to enhance the human safety criteria when both human and robot coexist in a shared workspace. We study the behavior of V2SOM, a joint variable stiffness mechanism developed by Pprime Institute, when the mechanism is adapted in the joints of a multi-DoF robot. We compare the impact forces prod...
Chapter
Doppler sonographer’s postures during examination lead to Musculoskeletal Disorder. To prevent these injuries, a tele-operated system is proposed in order to make easy the practitioner’s investigations. The tele-operated system is composed of a master haptic device controlled by the angiologist and a slave collaborative robot handling the probe. Th...
Chapter
The recent years have witnessed a paradigm shift from making stiff robots towards making compliant ones. The latter brings several benefits such as enhancing force control in physical interaction scenario of robots with unknown environments, among others. Indeed, collaborative robots, known as cobots, stands as one of the main applications of this...
Chapter
Full-text available
Introducing compliance in stiff robots arises from different design paradigms, such as achieving explosive motion or enhancing cyclic motion. However, a great emphasis is laying on the safety aspect especially in collaborative robots (Cobots) design. Herein, we present a novel design V2SOM which stands for Variable Stiffness Safety Oriented Mechani...
Chapter
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...
Article
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...
Article
Making robots collaborate safely with humans has created a new design paradigm involving the biomimetic mechanical behavior of robots’ joints. However, few authors have contributed to the problems of safety in pure linear motion, i.e. a prismatic joint, in contrast to rotary motion. The contribution of this work is to present a new design that is c...
Article
This paper discusses the design of a new spherical parallel manipulator, which is used as a master device for medical tasks. This device is obtained by changing the kinematics of a classic spherical parallel manipulator to eliminate the singularity from the device's useful workspace. The kinematic models of the new device are studied. The geometric...
Conference Paper
A prismatic compliant joint (PCJ) composed of a linear spring and a six-bar mechanism is proposed in this paper. The operating principle of the PCJ is discussed and its mathematical model is established. The main contribution of the proposed PCJ lies in its nonlinear stiffness capability achieved thanks to only passive mechanical elements. An optim...
Conference Paper
Making robot's joint compliant is an interesting design paradigm for achieving safe Human Robot (HR) collaboration. Until now the researchers focus has mainly been on revolute joint, in contrast to a few works on prismatic joint. This work introduces a new design capable of achieving, passively, a nonlinear elastic behavior for prismatic joint impl...
Conference Paper
Making collaborative robots physically interact with human requires to solve some technical issues of safety. This work presents a new methodological approach to define a mechanical model of force-deformation response for biologically inspired safety mechanisms. A nonlinear Hunt-Crossley based parametric model is proposed; its parameters are design...
Article
A key issue in Human-Robot physical interaction is the real-time perception of contact impedance by the robot. The Hunt-Crossley (HC) model is a popular model of contact force with soft biological tissues as it enjoys accuracy with low-complexity properties and its parameters are physically sound. Because the original HC model is non-linear, the cu...
Article
The paper discusses the kinematic models of a new spherical parallel manipulator (new SPM). The new SPM is obtained by replacing one leg of a classic 3-RRR SPM. It is used as a master device for a teleoperation system for Minimally Invasive Surgery (MIS). This device controls a surgical robot (slave). The inverse and forward models of the new SPM a...
Conference Paper
This paper is focusing on a new humanoid robot developed by the ROBIOSS team from the Pprime Institute. After a short presentation of its mechanical and control design, a gait generation algorithm based on COG planning is proposed in order to synthesize basic test motions. Two preliminary experiments are carried out on the prototype of the locomoto...
Article
This paper deals with the optimization of a New Spherical Parallel Manipulator (N_SPM). The N_SPM is obtained by changing the kinematic of one leg of a classic spherical parallel manipulator. This change is carried out to reduce the presence of the singularity in the useful area of the workspace. The mobility of the N_SPM is similar to the classic...
Conference Paper
This paper deals with the optimization of a New Spherical Parallel Manipulator (N_SPM). The N_SPM is obtained by changing the kinematic of one leg of a classic spherical parallel manipulator. This change is carried out to reduce the presence of the singularity in the useful area of the workspace. The mobility of the N_SPM is similar to the classic...
Conference Paper
Full-text available
We elaborate algorithms able to efficiently command the actuators of an articulated robot. Our time discretization method is based on cubic and quintic Hermite Finite Elements. The suggested control op-timization consists in minimizing directly the selected criterium by a conjugate gradient type algorithm. A generic example illustrates the super co...
Article
Full-text available
Designing an anthropomorphous mechanical hand is known to be a most complicated task. Exploring novel ways to identify which parameters matter the most, might prove to be useful in designing a bio-inspired robotic hand. In this paper we propose a novel approach for searching these parameters. Through the motion analysis of a manipulation task we fo...
Conference Paper
Full-text available
This article presents the design of a new teleoperated robotic system for helping surgeons in performing minimally invasive surgical procedures. The robot was developed at the PPRIME Institute in the ROBIOSS team from Poitiers University. The system is designed for collaborative operation between the surgeon and the robot. In addition, it has the f...
Conference Paper
Full-text available
The synthesis of movement and the biomechanics are introduced into the design methodology for the development of a minimally invasive surgery (MIS) robot manipulator : compact, lightweight and close to the surgical gesture. The goal of this study is progress toward a next-generation surgical robot system that will help surgeons deliver health-care...
Article
Full-text available
This paper presents a global strategy for object manipulation with the fingertips with an anthropomorphic dexterous hand: the LMS Hand of the ROBIOSS team from PPRIME Institute in Poitiers (France). Fine manipulation with the fingertips requires to compute on one hand, finger motions able to produce the desired object motion and on the other hand,...
Article
Full-text available
This paper present a new laparoscopic surgical setup (minimally invasive surgery, MIS) with spherical serial surgical robot. The robot was developed at the PPRIME Institute in the ROBIOSS team from Poitiers University. Based on laparo-scopic surgery, specification for workspace and constraints are outlined and the architecture selected for the surg...
Article
This paper concerns object manipulation with robotic dexterous hands using the fingertips. Two important aspects in the manipulation scheme are developed; the first one concerns grasp synthesis; it means that the choice of the initial grasp is done before the manipulation begins; and the second one concerns fingertips motion planning. Thus the LMS...
Conference Paper
Full-text available
Résumé : La manipulation fine d'objets est une tâche essentielle pour une main mécanique anthropomorphe afin de l'inscrire dans un contexte de robotique humanoïde ou encore d'assistance en milieu humain. Les recherches en préhension concernent souvent la prise stable d'objets. La méthode présentée ici concerne la manipulation dextre en tenant compt...
Article
Full-text available
This paper presents a new method for solving the grasp optimization problem by a multi-finger robotic hand; this method allows gripping an object using three articulated fingers, in order to manipulate it later. Because of the large number of operations and the high computation time, online grasp has not yet been reported. In this study, we propose...
Article
Full-text available
A novel five-axes robot for industrial large printing applications is presented in this paper. The robot was developed in the robotics team from PRIME institute 1 and an international patent was deposited for this invention in 2006. It concerns large- format 3-D printing on a fixed surface, like trailer tarpaulin for example. The robot is composed...
Article
Full-text available
Lors de la manipulation d’un objet par une main mécanique, il devient nécessaire de repositionner les doigts sur l’objet avant de poursuivre la tâche en cours dés lors qu’une limite articulaire ou une collision apparaissent. Nous proposons donc une méthode qui résout ce problème de reconfiguration et qui permet ainsi la réalisation de mouvements d’...
Article
In order to widen the potentialities of manipulation of the Laboratoire de Mcanique des solides (LMS) mechanical hand, we developed a new planning approach based on the use of a specific exoskeleton. This one has kinematics architecture and dimensions identical to the mechanical hand. This feature allows us to obtain manipulation trajectories for t...
Article
Manipulating objects with a mechanical hand requires to study a particular situation : the regrasping problem. When we manipulate an object by mechanical hand, one finger can reach a joint limit or a collision between parts can occur. In such a situation, regrasping must be done without changing the object position and orientation inside the hand....
Chapter
This paper presents a comprehensive study of the distribution of the forces made by an anthropomorphic mechanical hand taking hold of an object by power grasp. First of all, we made an experimental study of an object - human finger type of contact in order to define the relations between the normal forces, the tangential forces and the relative dis...
Article
Ces travaux entrent dans le cadre des études nécessaires à la mise au point d'une structure déformable actionnée par fils en alliage à mémoire de forme. L'application visée est son utilisation comme module de locomotion d'un microrobot intratubulaire autonome de type “ lombric ”. Un module est constitué d'un cadre élastique carré forcé en post-flam...
Article
This paper presents the development of a strategy adapted for the fine manipulation of objects with an articulated mechanical hand: the hand of the Laboratoire de mécanique des solides de Poitiers (LMS). The strategy selected is mainly based on the geometrical reasoning, and on the modeling of the contact between the grasped object and the finger....
Conference Paper
Full-text available
The work deals with the development of the control of an articulated mechanical hand with the aim of fine manipulation of objects. This hand possess four fingers with four degrees of freedom. The sixteen joints are actuated using cable transmission and sixteen DC servo actuators. Position and force controls as well as their performances are present...
Conference Paper
In this paper, three peculiar in-pipe microrobots are presented. They are the result of investigations of 3 laboratories involved in the microrobotics workgroup of the French National Centre of the Scientific Research (CNRS). They have been conceived to answer the locomotion problem inside industrial tubes of small diameter. Each of them is specifi...
Chapter
This paper presents a comprehensive study of the power grasp which takes into account the elasticity of human fingers and as far as possible, real life conditions of contact. Therefore we modelize the hand in order to have a distribution of forces as well as a mechanical behaviour similar to that of the human hand. First, an experimental study has...
Article
Full-text available
In order * to widen the potentialities of manipulation of the LMS mechanical hand, we developed a new planning approach based on the use of a specific exoskeleton. Its kinematics architecture and dimensions are identical to the mechanical hand. This feature allows us to obtain manipulation trajectories for the mechanical hand, very easily and very...
Article
Ce papier concerne le développement et la mise en oeuvre d'un exosquelette particulier que nous avons développé pour la main mécanique à 16 ddl du LMS. Celui-ci possède une architecture cinématique et des dimensions identiques à cette main mécanique. Cette particularité permet d'obtenir très rapidement et très facilement des trajectoires de manipul...

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Projects

Projects (4)
Project
The present collaborative research project aims to develop a safe robotic platform for spine surgery. The proposed system will consist of a collaborative robotic arm and a haptic interface. The entire system will assist the surgeon in a co-manipulation or tele-operation scheme. The use of the robotic tool aims to improve accuracy and reduce the complication rate. The coupling of this robotic system to medical imaging through the use of augmented reality and 3D printing will be implemented and be a major asset. Thanks to this assisted robotic technology, surgeons and neurosurgeons in particular will be able to plan procedures preoperatively and obtain reproducible results.
Project
SISCob aims at developing a new intelligent and modular device mimicking the functions of biological articulations and their synergy for collaborative robots (cobots). For further details, we invite you to check our website : http://anr-siscob.prd.fr/presentation/siscob-abstract/
Project
RoBioSS team proposed a new design of finger (CNRS Patent WO2016059121 A1) : it is a fully actuated bio-inspired 4 d.o.f. finger driven by four actuators. It has been developed in the context of a project that aims at performing fine manipulation with fingertips like human do, with a high degree of interaction with the environment. Based on the finger design, we developed a robotic hand for inside hand fine manipulation and adaptive grasping. The finger design is based on an anatomical model of a human finger. Thus several fingers can be assembled for building a human sized dextrous hand with anthropomorphic look. The modular design offers the ability to choose the number of fingers to be used as well as the right finger placement based on the manipulation task requirement. The tendon based actuation presents a routing of the tendons that minimizes friction, kinematic and static coupling between different finger axes in the transmission from motors to joints. Unlike many existing robotic hands, among which our first anthropomorphic hand (The LMS Hand), we address the difficulties by decoupling joint motions with a new solution for the universal joint at the base of the finger. Results obtained demonstrate the excellent dynamic behaviour and accuracy of the finger motion. Finally the new finger design led to the development of a fully actuated mechanical hand with four fingers and 16 degrees of freedom : the RoBioSS Hand. The hand was embedded on an industrial robot. A manipulation task that uses simultaneously abduction-adduction motion and flexion-extension motion of the finger demonstrates the potential of the hand for accurate manipulation. See the video on the link : https://www.youtube.com/watch?v=O_P69haNA4A