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Concept

Five-bar linkage

Publications associées (24)

Pivot, process for manufacturing such a pivot, oscillator comprising such a pivot, watch movement and timepiece comprising such an oscillator

Simon Nessim Henein, Loïc Benoît Tissot-Daguette

The present invention concerns a pivot comprising two assemblies, namely a central assembly (401) and a peripheral assembly (400). These two assemblies are mobile in rotation relative to each other around an axis of rotation (A). The pivot is characterized ...

2024

Design of a Flexure-Based Flywheel for the Storage of Angular Momentum and Kinetic Energy

Simon Nessim Henein, Hubert Pierre-Marie Benoît Schneegans, Florent Cosandier, Patrick Robert Flückiger

The flywheel is a widespread mechanical component used for the storage of kinetic energy and angular momentum. It typically consists of cylindrical inertia rotating about its axis on rolling bearings, which involves undesired friction, lubrication, and wea ...

2024

C-shells: Deployable Gridshells with Curved Beams

Mark Pauly, Francis Julian Panetta, Yingying Ren, Quentin Christian Becker, Seiichi Eduardo Suzuki Erazo, Davide Pellis

We introduce a computational pipeline for simulating and designing C-shells, a new class of planar-to-spatial deployable linkage structures. A C-shell is composed of curved flexible beams connected at rotational joints that can be assembled in a stress-fre ...

Association for Computing Machinery (ACM)2023

Neurophysiological underpinnings of an intensive protocol for upper limb motor recovery in subacute and chronic stroke patients

Silvestro Micera

ABS T R A C T BACKGROUND: Upper limb (UL) motor impairment following stroke is a leading cause of functional limitations in activities of daily living. Robot-assisted therapy supports rehabilitation, but how its efficacy and the underlying neural mechanism ...

Edizioni Minerva Medica2023

Energy dissipation in fiber-polymer composites adhesive joints under cyclic loading

Ghazaleh Eslami

Sustainable development has emerged as a paramount consideration in various fields of industry, including construction, to preserve the environment and its finite resources. Lightweight structures, such as fiber-polymer composite structures, address both s ...

EPFL2023

Online active and dynamic object shape exploration with a multi-fingered robotic hand

Aude Billard, Kunpeng Yao, Farshad Khadivar, Xiao Gao

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

Elsevier2023

Rectilinear translation four-bar flexure mechanism based on four Remote Center Compliance pivots

Simon Nessim Henein, Charles Baur, Hubert Pierre-Marie Benoît Schneegans, Loïc Benoît Tissot-Daguette, Quentin Gubler

This paper presents a novel planar four-bar linkage compliant mechanism (called 4-RCC) based on four flexure-based Remote Center of Compliance (RCC) pivots. With particular configurations and dimensions, the beam shortening of the RCC pivots can compensate ...

euspen2022

Sonomyographic Prosthetic Interacion: Online Simultaneous and Proportional Control of Wrist and Hand Motions Using Semisupervised Learning

Xingchen Yang

Human hands play a very important role in daily object manipulation. Current prosthetic hands are capable of mimicking most functions of the human hand, but how to interact with prosthetic hands based on human intentions remains an open problem. In this ar ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

From kirigami to hydrogels: a tutorial on designing conformally transformable surfaces

Yingying Ren, Tian Chen

Elastic surfaces that morph between multiple geometrical configurations are of significant engineering value, with applications ranging from the deployment of space-based PV arrays, the erection of temporary shelters, and the realization of flexible displa ...

2023

Method of encoding a 3d shape into a 2d surface

Mark Pauly, Francis Julian Panetta, Mina Konakovic Lukovic

The present invention concerns a method for encoding a given 3D shape into a target 2D linkage. The method comprises: (a) providing an initial 2D surface; and (b) defining on the initial 2D surface an auxetic pattern of geometric elements planarly linked b ...

2020

Sensor system

Simon Nessim Henein, Charles Baur, Thomas Jean Julien Fussinger, Hubert Pierre-Marie Benoît Schneegans, Lisa Anaïs Jeanne Bonnefoy

Sensor system (1) comprising a frame (306) supporting a force-sensing tip (310) arranged to generate a signal based upon a force applied by said force-sensing tip (310) to a material to be tested,characterised in that said system (1) further comprises:- an ...

2020

A plane linkage and its tessellation for deployable structure

Chen Yan, Huijuan Feng

Deployable structures are widely used in space applications such as solar arrays and antennas. Recently, inspired by origami, more deployable structures have been developed. This paper outlined a novel design scheme for deployable structures by taking a pl ...

PERGAMON-ELSEVIER SCIENCE LTD2019

A Robotic Glenohumeral Simulator for Investigating Prosthetic Implant Subluxation

Kamiar Aminian, Alexandre Terrier, Alain Farron, Arash Arami, Matteo Mancuso

Total shoulder arthroplasty (TSA) is an effective treatment for glenohumeral (GH) osteoarthritis. However, it still suffers from a substantial rate of mechanical failure, which may be related to cyclic off-center loading of the humeral head on the glenoid. ...

2019

Identification of Mechanism Stiffness of Autoeliminating Clearance for Auxiliary Bearing

In this article, a method for identification of equivalent stiffness was proposed based on a genetic algorithm by studying the stiffness characteristics of autoeliminating clearance auxiliary bearing devices (ACABDs) in static condition. Subsequently, the ...

2019

Stiffness variability in jamming of compliant granules and a case study application in climbing vertical shafts

Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser

Jamming of granular media has been shown to possess the property of stiffness variation, transitioning from a soft to a quasi-solid state depending on the packing density of the granules. Recently, a gradual stiffness change for bending has been reported b ...

IEEE COMPUTER SOC2018

Modelling of the human shoulder as a parallel mechanism without constraints

Alexandre Terrier, Alain Farron, Philippe Müllhaupt, Christoph Anselm Engelhardt, David Ingram

The synthesis of shoulder kinematics, either for simulation in a model or imitation in a robot, is a challenging task because of the contact between shoulder blade and ribcage. As the shoulder moves, the shoulder blade glides over the ribcage. In kinematic ...

Elsevier2016

Parallel Inverse Kinematics for Multithreaded Architectures

Ronan Boulic, Benoît Le Callennec, Mentar Mahmudi, Pawan Kumar Harish

In this article, we present a parallel prioritized Jacobian-based inverse kinematics algorithm for multithreaded architectures. We solve damped least squares inverse kinematics using a parallel line search by identifying and sampling critical input paramet ...

Association for Computing Machinery2016

Measurement of the (B)over-bar -> X-s gamma branching fraction with a sum of exclusive decays

Olivier Schneider, Chao Wang, Yiming Li, Sun Hee Kim, Tara Nanut, Jun Yong Kim

We use 772 x 10(6) B (B) over bar meson pairs collected at the gamma(4S) resonance with the Belle detector to measure the branching fraction for (B) over bar -> X-s gamma Our measurement uses a sum-of-exclusives approach in which 38 of the hadronic final s ...

American Physical Society2015

Return mobility and scientific productivity of researchers working abroad: The role of home country linkages

Stefano Horst Baruffaldi

Through an analysis of 497 foreign researchers in Italy and Portugal we verify the impact of home linkages on return mobility choices and scientific productivity. We consider the presence of several different types of linkages of the researchers working ab ...

Elsevier Science Bv2012

Concept of Modular Kinematics to Design Ultra-high Precision Parallel Robots

Murielle Richard

Miniaturisation will be the key challenge for the next decade in numerous industrial fields, such as microelectronics, optics and biomedical engineering. Although most of their products already achieve footprints of some square millimeters, the trend towar ...

EPFL2012