Publications by Reymond Clavel

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This paper presents a novel reeducation device for paraplegics that combines hybrid orthoses and closed-loop electrical muscle stimulation. Based on the so called Cyberthosis concept, the WalkTrainer enables an active muscular participation of the subject ...

There is a firm will in the metrology community to redefine the kilogram in the International System of units by linking it to a fundamental physical constant. The watt balance is a promising way to link the mass unit to the Planck constant h. At the Feder ...

This paper furnishes the theoretical basis to perform the calibration of one or more ultra-high-precision industrial robots operating in the same workspace. We propose a new calibration procedure that keeps in account the factors that lower the robot accuracy at nanometer scale. To validate this approach, we present the practical case of the calibration of a two industrial robots system. Finally, we propose nano- indentation as an alternative method to evaluate the final accuracy reached by the system after

Pelvic motion is of great importance when walking, and have thus to be taken into account while developing rehabilitation robotics. This paper describes the implementation of a pelvic motion amplitude prediction model on a pelvic orthosis and tests on vali ...

Standard reeducation methods for paraplegic people rely on manual or robotic mobilization on a treadmill. However in both cases the motion is generated by an exterior force, the training is thus called passive. In this context the Swiss Fondation for Cyber ...

Ce projet consistait à développer un gripper par capillarité destiné à la manipulation d'objets de 50um. Ce gripper a ainsi été réalisé et une première caractérisation des opérations de prise/dépose a été effectuée prouvant ainsi la viabilité de ce principe.

In this paper we present the key phases to design and calibrate ultra-high-precision industrial robots (i.e. submicrometric precision robots). The first part of our study will cover the robot design aspects, from the choice of the kinematics with the help ...

A machining process based on Electro Discharge Machining (EDM) has been developed and allows producing flexible and low-cost tweezers-like grippers or grippers shaped for a specific application. It can be easily included in a micromanipulation setup and requires no additional hardware except the sparks generator: the machining is realized by the manipulator itself and due to this "in-situ" technique created grippers are exempt of misalignment errors. We have shown that precise micromachining of micro-parts

Robots are excellent tools for providing motion. Their motion is precise, stiff and as repeatable as we need. This led the Swiss Foundation for Cyberthosis (SFC) to exploit robotics jointly with the muscle electrostimulation as intelligent rehabilitation d ...

This work deals with the calibration of industrial robots operating at sub-micrometric precision. We demonstrate that the cutting-forces generated by the robot manufacturing process cause a significant deformation of the robot geometry, lo- wering its abso ...

Le but de ce projet est de concevoir un robot compact à 4 degrés de liberté qui sera monté sur un structure mécanique réglable passive. Le robot manipulera un trocart utilisé lors de la pose de vis transarticulaires.

The Hita-STT is a five-axis parallel kinematics machine-tool designed for machining and polishing complex parts for applications in medical, automotive components, watch industries. The kinematics of Hita-STT prototype presents an over-constrained design i ...

Each year, following an accident or illness, over 200 new cases of paraplegia occur in Switzerland, and 1000 in France. This makes 7’000, respectively 40'000 para- etraplegic patients in these countries. Since the Second World War, methods available for the treatment of medullar trauma at the moment of lesion, and for re-education, have evolved considerably. Nowadays, these methods allow in around 80% of medullar injuries, limitation of the damage to a partial lesion of the spinal cord. Unfortunately, only

Doped silicon nanowires (NWs) were epitaxially grown on silicon substrates by pulsed laser deposition following a vapour-liquid-solid process, in which dopants together with silicon atoms were introduced into the gas phase by laser ablation of lightly and ...

In this paper we present a motorized hip orthosis to assist elderly people while walking, stair climbing and during the sit-to-stand transitions. The design is based on biomechanics considerations. Ranges of motion, velocities and torques of the hip joint ...

Le but de ce travail est d'évaluer la possibilité d'effectuer le recalage rigide de la vertèbre d'un patient avec son modèle virtuelle en se basant sur des images échographiques 3D.

Micro manipulation tasks with micro tweezers were operated in different configurations. This paper discusses the main issues of pick and place operations with micro tweezers as geometric consideration, grasping force and quality of the contact surfaces. This study is based on positioning repeatability measurements and success rate of the tasks operated automatically on our micro manipulation setup. Results for a MEMS micro gripper show a high reliability of more than 90% of success rate and positioning repe

The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery (MIS), a compact and accurate positioning mechanism ...

Dans le cadre de projets européens, le LSRO a développé de nombreux micro-robots mobiles de très haute précision fonctionnant sur le principe du stick-slip et de l’ultrasonique. Cependant, la génération de signaux et le contrôle se font bien souvent par un PC et des équipements encombrants externes au micro-robot. L’étudiant a été chargé de concevoir et d’implémenter, à l’aide d’un microcontrôleur, l’électronique de la génération de divers signaux et de développer une communication sans fil.

Reymond Clavel

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The WalkTrainer, a New Generation of Walking Reeducation Device Combining Orthoses and Muscle Stimulation

Development and integration of high straightness flexure guiding mechanisms dedicated to the METAS watt balance Mark II

Ultra-high-precision Industrial Robots Calibration

Pelvic Motion Implementation on the WalkTrainer

The WalkTrainer: A Robotic System for Walking Rehabilitation

Micro préhenseur ultra sensible

Design and Calibration of Ultra-high-precision Industrial Robots

In situ micro gripper shaping by electro discharge machining

The WalkTrainer™: A Robotic System for Walking Rehabilitation*

Modeling and compensation of cutting-forces generated during the EDM process for ultra high-precision robots

Partie active d'un porte trocart: Neuroglide

Improving the accuracy of the 5-axis parallel kinematics machine-tool Hita-STT (Stiffness Tracking Technology)

Cyberthosis: Rehabilitation robotics with controlled electrical muscle stimulation

Growth of doped silicon nanowires by pulsed laser deposition and their analysis by electron beam induced current imaging

A Ball-Screw Driven Motorized Hip Orthosis

Recalage rigide sans contact d'une vertèbre

The Linear Delta: Developments and Applications

Characterization of micro manipulation tasks operated with various controlled conditions by microtweezers

Dionis: A novel remote-center-of-motion parallel manipulator for Minimally Invasive Surgery

ELECTRONIQUE EMBARQUEE POUR LE CONTROLE DE MICROROBOTS MOBILES SANS FILS