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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 implementation that we refer to as Prismatic Compliant...
The majority of recent researches have been focused on developing compliant joint for rotary motion. Few authors contributed to the problematic of safety in pure linear motion, i.e. prismatic joint. The contribution of this work is to present a new design capable of achieving, passively, a nonlinear elastic behavior for prismatic joint implementation, the so-called Prismatic Compliant Joint (PCJ)...
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 designed by an optimal approach balancing safety criteria...
In this paper, dynamic simulation methods for reliability evaluation of common industry-based control system architectures are investigated. Control system design often employs complex reliability structures in the forms of several levels of software and hardware redundancies, hot and cold standby systems. This is required in order to achieve certain plant availability and safety functions. Control...
The aim of this work is to improve the safety and control robustness of robots interacting physically with humans by enhancing their contact perception. More specifically in the abdominal area, respiratory motions are clearly influencing the contact dynamics but have not yet been accounted for in the estimation of the contact impedance. We propose here a combined mechanical-respiratory model of impedance...
The overall objective of this work is to develop a system composed of master, slave and a control system for special medical applications. A PROMIS (Pprime RObot for Minimally Invasive Surgery) system is designed to be cost-effective with a less complication of use and an application-specific for collaborative operations between the surgeon and the robot.
In tele-operation applications, especially in surgery, haptic devices need to exhibit a high degree of rigidity and accuracy. This paper deals with the development of a spherical parallel manipulator (SPM) that enables the satisfaction of those characteristics. The parallel architecture enables the use of this kind of robot as master in a tele-operation system. Moreover, the SPM has a center of rotation...
This paper revisits global kinematical performance indexes within the scope of manually teleoperated serial robots in accounting for the human operator. The proposed theory is grounded on the knowledge of a human-centered coordinate system to parameterize the task space. Perceptual parameters are also introduced in the Man-system interaction effort. The resulting expression is used to derive a local...
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 more effectively. Based on an extensive database surgical...
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 examinations. These studies have been carried out using a...
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