Publications by Reymond Clavel

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Two types of electrostatically actuated tensile stages for in situ electron microscopy mechanical testing of 1-D nanostructures were designed, microfabricated, and tested. Testing was carried out for mechanical characterization of silicon nanowires (SiNWs) ...

If you need to design ultra-high precision devices for mechanisms with multiple axes there are not a lot of ways leading around flexure-based joints. Using this type of articulations totally eliminates backlash and friction and is, by this, providing an ac ...

The accuracy of a machine-tool depends on manufacturing and assembly errors, backlash in the structure and the links, thermal variations, vibrations, and others. The method presented in this paper deals with manufacturing and assembly errors but it can be adapted to other sources of errors. This method uses the concept of Small Displacement Torsors (SDT) to the calibration of parallel kinematics machine-tools. The following hypothesis is made: the defaults of the structure can be modelled by a combination o

High-speed laser manipulation is a key technology in applications such as fast optical switches for coupling light into optical fibres, 2D beam steering for optical scanners, laser printers or 2D sensors. A novel design of a Polyvinylidene Fluoride (PVDF) bimorph actuator is proposed in this work as high speed switching element in the kHz range. The actuator of several cm length and 200 microns thickness takes advantage of the structural and electromechanical capabilities of the PVDF. A 0.164 g compact mirr

Thermal expansion is the major source of inaccuracy for ultra high-precision robots. In this paper we propose a strategy to model and compensate this effect. The experiment is run using a 1 DOF (degree-of-freedom) parallel robot equipped with ten temperatu ...

A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several articulated surgical instruments and robotic systems for surgery or other applications involving remote manipulation, it enables the design of a novel fully mechanical surgical instrument, which offer the advantages of: conventional laparoscopy (low cost,

The “Modulated Friction Inertial Drive (MFID) principle” is presented as a locomotion solution for mmsize micro robots dealing with both size constraints and limitations in terms of power consumption. Based on one of the configurations of this locomotion p ...

We present a compact 3 degrees of freedom (dof) (X-Y-θz) absolute position sensor offering a sub-micrometric resolution. The travelling range is 15x15mm2 (translations) and ±180° (rotation), with an absolute precision better than 10μm over the whole travelling range and of less than 1μm of resolution (0.02° for rotation). The position acquisition frequency is 10Hz. The sensor is composed of a CCD camera chip, a silicon target with a pattern of holes constituting a digital code and a luminescent polymer shee

A new 3 degrees of freedom (dof) structure is presented. It features rotation on two axes with a fixed remote center of motion (RCM) i.e. it always aims at the same point. The third axis is a linear movement in direction of the fixed point. This type of ki ...

The concept of monolithic shape memory alloys (SMA) micro-devices is to integrate all device functions within the same piece of material. This is very interesting in the field of micro-systems, because assembly is avoided. In such devices, the main problem is to create a reversible motion. Recently, the use of the two-way shape memory effect has been investigated. A simpler solution could be to integrate a pullback spring within the monolithic structure. This implies introducing shape memory properties only

Ce projet s’inscrit dans le cadre du travail mené par le LSRO autour de la Cyberthèse qui vise la rééducation de patients paraplégiques. Le but principal de ce projet est de vérifier que Webots (un logiciel de réalité virtuelle) est capable de simuler fidèlement un système aussi complexe que les membres inférieurs d'un humain en mouvement et, pour ce faire, de créer un modèle humanoïde qui sera soumis à divers tests de validation.

En rééducation motrice il est essentiel de travailler un mouvement ou un ensemble de mouvements de manière précise et aussi physiologique que possible. Pour la rééducation de la marche, cette exigence est à l’origine de méthodes d’entraînement sur tapis roulant. La mise en oeuvre de cette technique demande aux thérapeutes beaucoup de temps et d'énergie. Le contrôle du mouvement des membres inférieurs par les thérapeutes est d’autant plus difficile que l’atteinte motrice est importante. Une robotisation du d

This paper presents a novel locomotion concept for mobile micro robots: the “friction drive principle”. It allows for easy miniaturization and high velocities for low power consumption and simple onboard electronics. A prototype (Ø20 mm × 7.5 mm) with two ...

Robot motion controllers consist of a very important component in a robotic infrastructure. The flexibility is more and more needed to allow fastness in development and adaptation from one robot to another. The laboratory of robotic systems of the Ecole Po ...

"MotionMakertrade" is a stationary programmable test and training system for the lower limbs developed at the 'Ecole Polytechnique Federale de Lausanne' with the 'Fondation Suisse pour les Cybertheses'. The system is composed of two robotic orthoses compri ...

The Two-Way Shape Memory Effect (TWSME) has been widely studied in the literature. However, little attention has been paid about the out-of-equilibrium behavior of the TWSME. This paper reports some experiments, which were performed on specimens, previously trained in bending according a constrained temperature cycling process. Once the training process was done, specimens were deformed in their martensitic state such as a permanent deformation remains. In other words, specimens were set in a position that

In this paper, we present a new method for calibrating a 6 degree-of-freedom (DOF) high-precision flexure parallel robot. The innovative contributions of this work are either in the technological challenge of calibrating a 6 DOF robot with sub-micrometer a ...

This paper introduces a new methodology to design modular industrial ultra-high precision robots; it aims at significantly reducing both the complexity of their design and their development time. This modular concept can be considered as a robotic Lego®, w ...

Flexures are used in precision engineering where highly accurate, wear-free, smooth and repeatable motion is desired. Flexures are based on deformation of material to achieve a motion between elastically joined parts. They are used in a variety of precision mechanisms such as high-resolution balances or high accuracy optical positioning stages. Shape memory alloys (SMA) are an attractive option in designing flexures. Superelastic flexures can withstand larger deformations for the same weight as a convention

This paper describes a microgripper used for the micro-assembly of an artificial scaffold for tissue engineering. The porous sponge-like scaffold is a three dimensional construct built by tiny unit parts of biodegradable polymer. This application requires the assembly of several parts by applying a suitable level of force. In this framework, a monolithicshape memory alloy (SMA) microgripper was developed. It consists of two small fingers for grasping, an active part that changes its shape when heated and a

Reymond Clavel

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Electron Microscopy Mechanical Testing of Silicon Nanowires Using Electrostatically Actuated Tensile Stages

Orion MinAngle: A flexure-based, double-tilting parallel kinematics for ultra-high precision applications requiring high angles of rotation

Calibration of parallel kinematics machine-tools using small displacement torsors

A Polyvinylidene fluoride (PVDF) based bimorph actuator for high speed laser beam manipulation

Thermal Behavior of an Ultra High-Precision Linear Axis Operating in Industrial Environment

Mechanical manipulator for surgical instruments

Friction based locomotion module for mobile MEMS robots

Absolute and high precision 3 degrees of freedom position sensor

Delta Thales, a novel architecture for an orientating device with fixed RCM (remote center of movement) and linear movement in direction of the RCM

Local annealing of complex mechanical devices: a new approach for developing monolithic micro-devices

Environnement virtuel de modélisation de mouvements humains et de stimulation musculaire

Conception de dispositifs de rééducation motrice et d’assistance à la marche associant orthèse et électromyostimulation transcutanée rétrocontrôlée (Cyberthèse).

Novel locomotion principle for mobile micro robots

A Windows PC based robot controller: An open architecture

Improvement of rehabilitation possibilities with the MotionMaker™

Experimental study of the out-of-equilibrium behavior of the two-way shape memory effect

Calibration of the 6 DOF High-Precision Flexure Parallel Robot "Sigma 6"

Modularity and parallel kinematics: an original design methodology applied to high precision

Shape memory alloy flexures

A Monolithic Shape Memory Alloy Microgripper for 3-D Assembly of Tissue Engineering Scaffolds