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In this work, we present an electronic board used for conducting Interpenetrating Polymer Networks (IPNs) which can be used as sensors and/or actuators. The first prototype allows the user to generate custom signals for actuation purposes (steps, sine, triangle…). It can also record the deformations applied to the device by reading the voltage between the two electrodes. However, the voltage required...
We present an integrated optical waveguide interferometer highly compact and easy-to-use. Metrological study is focused on the resolution and the noise level of the sensor. A standard Allan deviation lower than 50 pm has been observed in standard environment. Power spectral densities up to 150 fm. Hz−1/2 at 10 kHz are achieved. The flicker level is not reached because of the environmental conditions...
In this paper, we present the second version of our system which is dedicated to Visible Light Communication (VLC) for automotive applications. It exhibits improved performances compared to the first version regarding the distance for which data are transmitted. It also includes real time variable gain adjustment in order to increase robustness against environmental conditions. The system is detailed...
Nowadays, nanometer resolution and accuracy in many nanotechnology processes are required. But accuracy is in general opposed with range. High resolution over a wide range has been made possible using interferometric translation stages, in other words by combining metrology with classical mechanical motions. The interferometry is obviously a good solution. Nevertheless, its sensitivity to the medium...
The last couple of years, the vehicle industry tends to increase the performance of lights based on led technologies. Nowadays, led systems are used as a standard by motor vehicles manufacturers. Led lights present higher reliability and are more flexible regarding design or power adjustments. Furthermore, led systems are also very convenient for intensity modulation used in telecommunication fields...
This paper presents a 2D teleoperation task at microscales with force feedback. At this scale, two major problems arise while performing manipulation tasks: the lack of 3D real time visual feedback, and the difficulty to determine the interaction forces. Therefore, indications must be provided to help the user perform a given task. In this paper, we provide the user with intuitive force feedback,...
In this paper, a new tool dedicated to the analysis and the conception of molecules is presented. It is composed of an adaptive simulation software and a haptic device used to interact with molecules while feeling either the forces applied by the environment or the internal forces. The adaptive articulated body algorithm allows fast simulations of complex flexible molecules. To handle the coupling...
This paper deals with the problem of bilateral haptic control in nanorobotics. At this scale, a human operator cannot interact directly with objects. He needs special tools manipulated through robotic systems. Therefore, force feedback devices are the only solution to provide him a sense of touch. However, the quality of the rendering strongly influences his ability to perform a given task. Stability...
The proposed robotic system provides the surgeon with an augmented sensation of the interaction forces between the instrument and the organ. Such a system aims at increasing the surgeon's dexterity for tasks requiring that only small forces be applied on the organ (eg. for micro-surgery). In the proposed setup, the surgeon manipulates a handle mounted on the instrument. This is a comanipulation system...
This paper presents a force feedback control scheme for the compensation of periodic motions of organs induced by respiration or heartbeat in minimally invasive robotized surgery. It applies surgical tasks involving a contact between an instrument and a moving organ. It is well known that conventional force control allows for compensating the motion of the environment thanks to its natural disturbance...
In this article, the problem of force feedback control of kinematically constrained manipulators (KCMs) is considered. For these robots, we show that the force component selection approach is not appropriate in general to solve the force control problem. Moreover, by formulating the problem in the joint space, we show how to properly design a stable force controller for KCMs subject to arbitrary external...
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