Med Amine Laribi

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• Professor
• Professor (Full) at Université de Poitiers

This paper presents advances in master haptic devices development over the past 15 years as key component of teleoperation system, serving as leverage to both health and well-being and industries and innovation SDGs. The use of parallel architectures has predominantly guided this line of development, specifically for use in teleoperation systems a...

Variable stiffness actuators (VSAs) have attracted considerable attention in wearable robotics and soft exoskeletons due to their ability to adapt to various load conditions. This study presents a modular design for VSAs that incorporates a chain mail structure with various link topologies, allowing for a reconfiguration of stiffness. The proposed...

This article presents a bioinspired pneumatic soft actuator designed to mimic the flexo-extension movement of the human finger, with a particular focus on stiffness modulation through granular jamming. Three-chamber geometries – honeycomb, rectangular, and half-round – were evaluated to optimize curvature performance, utilizing Mold Star 15 Slow el...

This paper deals with the optimization of a new redundant spherical parallel manipulator (New SPM). This manipulator consists of two spherical five-bar mechanisms connected by the end-effector, providing three degrees of freedom, and has an unlimited self-rotation capability. Three optimization procedures based on the genetic algorithm method were...

The efficacy of treatment with removable orthodontic appliances depends to a large extent on the length of time that patients use them. Orthodontists often observe a difference between the time of appliance usage claimed by patients and the actual clinical results. To address the inconsistency in patients’ self-reported usage data, microsensors are...

This paper presents a new design of CADEL, a cable-driven elbow-assisting device, with light weighting and control improvements. The new device design is appropriate to be more portable and user-oriented solution, presenting additional facilities with respect to the original design. One of potential benefits of improved portability can be envisaged...

This paper focuses on developing a novel hybrid-haptic (nHH) device with a remote center of rotation with 4 DOFs (degrees of freedom) intendant to be used as a haptic device. The new architecture is composed of two chains handling each one a part of the motions. It has the advantages of a parallel robot as high stiffness and accuracy, and the large...

The lack of specialized personnel and assistive technology to assist in rehabilitation therapies is one of the challenges facing the health sector today, and it is projected to increase. For researchers and engineers, it represents an opportunity to innovate and develop devices that improve and optimize rehabilitation services for the benefit of so...

One of the major challenges in the science of maxillofacial radiology imaging is the various artifacts created in images taken by cone beam computed tomography (CBCT) imaging systems. Among these artifacts, motion artifact, which is created by the patient, has adverse effects on image quality. In this paper, according to the conditions and limitati...

This paper presents a structural–parametric synthesis of the four-link and Stephenson I, Stephenson II, and Stephenson III six-link path-generating mechanisms. The four-link path-generating mechanism is formed by connecting the output point and the base using an active closing kinematic chain (CKC) with two DOFs and a negative CKC of the type RR. T...

Abstract: In this paper, a method for solving the forward kinematic model of a new spherical parallel manipulator is presented. This method is based on applying the cosine law of spherical trigonometry. First, the forward kinematic model of a spherical five bar mechanism is presented. Then, the method is applied to the entire spherical parallel man...

Abstract: Cable-driven parallel robots exhibit intriguing characteristics and have found widespread application across diverse industrial and medical sectors that demand exceptional sensitivity. This study introduces a (3 DOF) cable-driven parallel robot, for which we have developed both kinematic and dynamic models, in addition to constructing a p...

Energy efficiency is inherent for autonomous robotic device. Snakes are well known for their ability to low energy consumption when swimming. However, the swimming know-how is poorly understood. Designing a snake robot inspired by snakes as a tool to find out the swimming energy efficiency crucial point will lead to the development of hyper efficie...

This article explores the integration of a hapto-visual digital twin on a master device used for bilateral teleoperation. The device, known as a quasi-spherical parallel manipulator, is currently employed for the remote center of motion control in teleoperated mini-invasive surgery. After providing detailed insights into the device’s kinematics, in...

Bilateral teleoperation has witnessed significant development since the mid-20th century, addressing challenges related to human presence in environments with constraints or a lack of skilled professionals. This paper presents the kinematic and self-collision analyses of the quasi-Spherical Parallel Manipulator, a three-legged parallel robot used a...

This paper focuses on the quasi-Spherical Parallel Manipulator (qSPM), a master device for bilateral teleoperation for telesurgery. Conceived as a haptic device for remote center of motion operation, the qSPM control architecture has been designed to implement auxiliary features, such as a reset function that automatically positions the end effecto...

This special issue of the ASME Journal of Mechanisms and Robotics (JMR) draws on papers presented at the 6th IFToMM International Conference on Mechanisms, Transmissions, and Applications (MeTrApp 2023), held in Poitiers, France in May 2023. This meeting provided an opportunity for researchers from around the world to convene and discuss topics rel...

This paper deals with the development of a 6-degrees-of-freedom (DoF) hybrid interface for a teleoperated robotic platform intended to assist surgeons in cervical spine surgery. The targeted task is the drilling of cervical vertebrae for the attachment of spinal implants. Given the complex anatomy of the cervical region, with the proximity of the s...

Energy efficiency is inherent for autonomous robotic device. Snakes are well known for their ability to low energy consumption when swimming. However, the swimming know-how is poorly understood. Designing a snake robot inspired by snakes as a tool to find out the swimming energy efficiency crucial point will lead to the development of hyper efficie...

This study introduces a novel wearable Inertial Measurement Unit (IMU)-based system for an objective and comprehensive assessment of Work-Related Musculoskeletal Disorders (WMSDs), thus enhancing workplace safety. The system integrates wearable technology with a user-friendly interface, providing magnetometer-free orientation estimation, joint angl...

In this study, we focus on a 3DOF (RRR) spherical parallel manipulator (SPM) employed as haptic interface (HI) for teleoperation application. We started by presenting the kinematic model of the interface, its different working modes and identifying singularity zones within the operational workspace (WS). As a solution, a redundant architecture is p...

In the field of laparoscopic surgery, research is currently focusing on the development of new robotic systems to assist practitioners in complex operations, improving the precision of their medical gestures. In this context, the performance of these robotic platforms can be conditioned by various factors, such as the robot's accessibility and d...

Kirigami is the art of cutting paper to create three-dimensional figures for primarily aesthetic purposes. However, it can also modify the mechanical behavior of the resulting structure. In the literature, kirigami has been applied to modify the material’s structural behavior, such as by changing its elasticity, rigidity, volume, or any other chara...

Robots have been widely investigated for active and passive rehabilitation therapy of patients with upper limb disabilities. Nevertheless, the rehabilitation assessment process is often ignored or just qualitatively performed by the physiotherapist implementing chart-based ordinal scales or observation-based measures, which tend to rely on professi...

The main objective of this paper is to discuss the experimental validation of a tele-operation system for remote center-of-motion tasks, such as laparoscopic surgery. This validation is based on the use of an extra sensor placed on the master manipulator. The tele-operation system is composed of a new hybrid haptic device (nHH) intended to be used...

Accurate prediction for mechanisms’ dynamic responses has always been a challenging task for designers. For modelling easiness purposes, mechanisms’ synthesis and optimization have been mostly limited to rigid systems, making consequently the designer unable to vow that the manufactured mechanism satisfies the target responses. To address this limi...

Service tasks on vertical surfaces such as building facades continue to be performed manually by specialized technicians operating from complex scaffolding. This way of performing these tasks, in addition to being inefficient, is costly and dangerous for personnel who must work under the risk of falls. The façade inspection task, as well as façade...

This paper studies a structural-parametric synthesis of the four-bar and Stephenson II, Stephenson III A, Stephenson III B six-bar function generators. Four-bar function generator is formed by connecting two coordinate systems with given angles of rotation using a negative closing kinematic chain (CKC) of the RR type. Six-bar function generators ar...

This paper presents a structural-parametric synthesis of the four-bar and Stephenson I, Stephenson II, Stephenson III six-bar path generating mechanisms. Four-bar path generator is formed by connecting the output point and the base using an active closing kinematic chain (CKC) with two DOF and a negative CKC of the type RR. The six-bar path generat...

In this paper a concept of a low-cost system for initial training of sonography specialists is presented. The system consists of a 6 DOF haptic device equipped with force feedback, body phantom and a special software. The haptic device is intended to help in learning and improving basic motions used during ultrasound scanning. The body phantom is n...

This study presents the design of a soft elastomeric skin, utilizing two commonly used materials in soft robotics: Ecoflex 00–30 and Ecoflex 00–50. The design includes two variants—a flat configuration and a variant with a trapezoidal kirigami pattern. The aim is to explore the potential of these materials in creating versatile and adaptive skin st...

In human-robot interaction environments, flexible mechanisms have been implemented to relate force and movement ensuring safe interaction. Variable stiffness joints add flexibility to a rigid mechanism and allow the position and the joint stiffness to be changed simultaneously. This paper presents a variable stiffness joint with an antagonistic con...

Tendon-driven continuum robots enable operation in constrained environments precluded to conventional robotic systems. Previous works usually describe their designs in function of their motion variables and geometrical parameters which explicitly appear in their models but neglecting secondary parameters that still affect their performance (e.g., o...

Conceiving robots with a variable stiffness continuum structure is a rapidly developing field of research. Swimming snakes provide an excellent bioinspiration source to design such type of robots characterized by variable compliant structures. Appropriate distribution of stiffness should permit to generate desired body shape deformations during swi...

Soft robotics is a rapidly advancing field that leverages the mechanical properties of flexible materials for applications necessitating safe interaction and exceptional adaptability within the environment. This paper focuses on developing a pneumatic soft robot bio-inspired in annelids or segmented worms. Segmentation, also called metamerism, incr...

This paper focuses on developing a novel Hybrid-Haptic (nHH) device with a remote center of rotation with 4 DOFs (degrees of freedom) intendant to be used as a haptic device. The new architecture is composed of two chains handling each one a part of the motions. It has the advantages of a parallel robot as high stiffness and accuracy, and the large...

This paper proposes a methodology for the development of cable-driven parallel robots (CDPRs) for functional rehabilitation purposes, starting from the requirements identification to the experimental validation of the designed prototype. A study of the task to be assisted by the robot is first presented, followed by the formulation of an optimizati...

This paper deals with the experimental validation of a novel hybrid haptic device (nHH) intended to be used in a robotic teleoperation platform for laparoscopic surgery. The contribution of this work is to cope with the complexity of the Forward Kinematic Model (FKM) of the nHH and to validate its resolution experimentally through the use of an add...

Robotics have advanced significantly over the years, and human–robot interaction (HRI) is now playing an important role in delivering the best user experience, cutting down on laborious tasks, and raising public acceptance of robots. New HRI approaches are necessary to promote the evolution of robots, with a more natural and flexible interaction ma...

Cable-driven parallel robots (CDPRs) continue to gain attention for their numerous advantages. However, their use is affected by certain restrictions caused by their flexible nature. Their rotational workspace is limited because of the unidirectional characteristic of their cables, which work only in traction, and because of the risk of collisions...

Robotics rehabilitation is a field of study which has proven to optimize therapy sessions. The thumb is one of the fingers most important for the human hand; the thumb gives us the ability to grasp and manipulate several kinds of objects. Due to the several activities in which it is involved, injuries are frequent. A mechanical design proposal for...

Growing demands for improved surgical-related curricula have led to new training approaches. The ability to acquire surgical skills requires consistent practice. Many suggestions show that technical skills can be learned outside the operating room. Surgical simulation is one of the most widely practiced methods of learning in laparoscopic surgery i...

The variable stiffness joints (VSJ) provide nonlinear stiffness behavior. The VSJ can be used in articulated systems to improve the safety of human-robot interaction. A new VSJ is proposed in this paper based on the principle of antagonistic springs. The stiffness behavior is tuned when the lengths of the springs are adjusted. A motor is used to co...

In this paper, we present the dynamic modelling of a geometrically non-uniform beam to predict anguilliform undulation of a bio-inspired flexible snake robot. The snake robot is proposed as a scientific tool and designed to fluidly mimic various anguilliform gait pattern. The snake skeleton consists of a series of compliant vertebrae with a variabl...

The present study shows the augmentation of the three Degrees of Freedom (DoF) translational R-CUBE into a six-DoF mechanism. To increase its number of DoF, each leg has their distal linkage modified to fully exploit the planar kinematics they rely on and one more active joint is added. In total, three angular DoF are added to the mechanism. Since...

This paper presents the design of a new hybrid interface that will be dedicated to a teleoperation robotic platform intended to assist surgeons during cervical spine surgeries. Specifically, the targeted task is the performing of drillings in specific regions of the cervical vertebrae. A literature review was therefore carried out to identify the r...

This paper presents a structural-parametric synthesis of the four-bar and Stephenson II, Stephenson III six-bar function generating linkages. Four-bar linkage is formed by connecting two coordinate systems with given angles of rotation using a negative closing kinematic chain (CKC) of the RR type. Six-bar linkages are formed by connecting two coord...

The LARMbot project intends to create a humanoid robot employing parallel mechanisms that are inspired by human anatomy. Solutions for humanoid arm are investigated combining the advantages of parallel and serial structures, as well as cable-driven architectures. A new solution has been designed for humanoid arm with a low-cost solution and user-or...

Continuum robots have often been compared with rigid-link designs through conventional performance metrics (e.g., precision and Jacobian-based indicators). However, these metrics were developed to suit rigid-link robots and are tuned to capture specific facets of performance, in which continuum robots do not excel. Furthermore, conventional metrics...

This paper illustrates the conducted effort to introduce the methodology of optimal synthesis of mechanisms through an engineering problem under Matlab. This project is part of a first course on poly-articulated mechanisms and robotics at the graduate level. The course combines both the theoretical and implementation under Matlab aspects to achieve...

This work denotes an insight into flexible multibody systems synthesis. In contrast with classical synthesis approaches, the flexible behaviour of the mechanisms’ different bodies is taken into account. A set of responses, such as drawn path, velocity, acceleration in addition to flexible bodies’ axial displacement have been combined into the same...

The optimal design and the experimental validation of a cable-driven parallel robot is discussed in this paper. This novel device is intended for assisting therapists in the rehabilitation of the head–neck joint. First, the motion of the head–neck joint was recorded by means of a Qualisys motion-capture system. The collected data was then analyzed...

The use and function of robots are evolving at a fast pace, sparking interest in creative solutions within a quickly expanding potential market in cutting-edge industries with applications including service robotics, surgical and rehabilitative robotics, and assistive robotics [...]

Replicating animal movements with robots provides powerful research tools because key parameters can be manipulated at will. Facing the lack of standard methods and the high complexity of biological systems, an incremental bioinspired approach is required. We followed this method to design a snake robot capable of reproducing the natural swimming g...

The vast diversity of morphologies, body size, and lifestyles of snakes represents an important source of information that can be used to derive bio-inspired robots through a biology-push and pull process. An understanding of the detailed kinematics of swimming snakes is a fundamental prerequisite to conceive and design bio-inspired aquatic snake r...

Practically robots involve in highly dynamic environments to execute specific tasks. To ensure a maximal performance, the optimization of architecture as well as the design parameters are frequently required. This is recurrent and more significant when the task requirements related to safety or other operating conditions must be guaranteed. The pre...

The lack of specialized personnel and assistive technology to assist in rehabilitation therapies is one of the challenges facing the health sector today, and it is projected to increase. For researchers and engineers, it represents an opportunity to innovate and develop devices that improve and optimize rehabilitation services for the benefit of so...

One of the major challenges in the science of maxillofacial radiology imaging is the various artifacts created in images taken by cone beam computed tomography (CBCT) imaging systems. Among these artifacts, motion artifact, which is created by the patient has adverse effects on image quality. In this paper, according to the conditions and limitatio...

In the field of robotic rehabilitation, the cable-driven parallel robots (CDPRs) are becoming an ideal solution for their characteristics including large workspace, easy reconfigurability, low-cost. This paper proposes a specifically developed graphic user-interface for the operation of planar cable-driven parallel robots. Its features are not limi...

Assistive robotic rehabilitation can be classified into two groups, the passive mode where the robot moves the patient’s affected member along the desired movement, and the assisted as needed mode, where the subject performs the exercises by himself and the robot interacts only to guarantee the accuracy of the movement. This paper proposes an optim...

Cable-driven parallel robots (CDPRs) are still gaining attention thanks to their interesting characteristics compared to serial or classic parallel manipulators. However, the limited range of rotation of their end-effectors reduces their application fields to predominantly translational movements. In this context, the issue of extending the rotatio...

This paper presents an approach to improve the resolution of the forward kinematic model (FKM) of parallel manipulators. This approach is based on placing sensors on one leg of the manipulator rather than placing them on the actuated joints at the base. Using this method, we aim to cope with the complexity of the FKM of parallel manipulators and to...

This paper presents design and performance of a prototype of new humanoid arm that has been developed at the LARM2 laboratory of the University of Rome “Tor Vergata”. This new arm, called LARMbot PK arm, is an upper limb that is designed for the LARMbot humanoid robot. LARMbot is a humanoid robot designed to move freely in open spaces, and able to...

Human-robot Interaction (HRI) research concerns the understanding, design, and evaluation of robotic systems for use by or with humans, and could improve the efficiency of both human and robot systems. The focus of this Research Topic is on applying machine learning algorithms, such as supervised learning, unsupervised learning, and reinforcement l...

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...

In this paper, a novel surgical robotic platform intended to assist surgeons in cervical spine surgery is presented. The purpose of this surgery is to treat cervical spine instabilities. The surgical procedure requires drilling into specific region of the vertebrae in order to attach spinal implants and ensure a normal spacing between each vertebra...

Multi-robot systems have become important in various applications. These robotic platforms consisting of several robotic arms collaborating in a common workspace are a suitable tool to perform complex tasks, such as surgical applications. However, the placement of each robotic arm has an impact on the whole system kinematics and dynamic performance...

In this paper, we develop a novel control strategy to constrain the internal motion of a robotic platform intended to assist surgeons in spine surgery. The targeted task consists in drilling into a specific region of vertebrae in order to position spinal implants and thus re-ensure the spine stability. The present plat-form includes a redundant rob...

A visual based control method based on coupling a camera with a cable-driven parallel robot (CDPR) is proposed in this paper. This work is motivated by the need of overcoming the robot uncertainties resulting from cable vibrations or inaccurate initial configurations. The poses taken by the end-effector are recorded in real time and used as feedbac...

In human-robot interaction environments, flexible mechanisms have been implemented to relate force with movement to make interaction safer. Mechanism flexibility can be established through the use of variable stiffness joints which allow simultaneous change of the position and stiffness in joints. This paper presents a Variable Stiffness Joint (VSJ...

Robotic-assisted systems have been gaining significant traction in supporting rehabilitation tasks, enabling patients to manipulate objects by using a robotic arm controlled by the means of biological signals. In this regard, electromyography (EMG) signals are key for detecting the patient’s intention of motion, that can be replicated by the roboti...

Designing and modelling bioinspired robots enables mimicking complex biomechanical process as snake swimming locomotion. Cable-driven compliant continuum robot made of separated modules was specifically designed as biology-push process to accurately reproduce snake’s locomotion. This paper aims to present the design and modelling of a bioinspired t...

COVID-19 patients are strongly affected in terms of limb motion when imbedded during the acute phase of the infection, but also during the course of recovery therapies. Peculiarities are investigated for design requirements for medical devices in limb motion assistance for those patients. Solutions are analyzed from existing medical devices to outl...

Classical surgical education has to face both a forensic reality and a technical issue: to train a learner in more complex techniques in an increasingly short time. Moreover, surgical training is still based on an empirical hierarchical relationship in which learners must reproduce a sequence of actions in a situation of strong emotional pressure....

A collaborative robot, i.e. cobot, is proposed by the CoBRA Team of Pprime Institute to serve as a medical cobot-assistant for different applications, as for Doppler sonography, minimally invasive surgery or craniotomy. Since the cobot requires a whole knowledge of its dynamic model to ensure an optimal performance in terms of accuracy, stability a...