Publications associées à Path-following funnel control for rigid-link revolute-joint robotic systems

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

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

Mechanism balancing taxonomy

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

The balancing of mechanisms consists in distributing their moving masses, inertias, and elastic components in order to achieve key mechanical properties, such as the elimination of the shaking forces and moments exported onto their supporting structure or ...

2023

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

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

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

Soft pneumatic actuator-driven origami-inspired modular robotic ‘‘pneumagami’’

Jamie Paik, Özdemir Can Kara, Matthew Aaron Robertson

This article presents a new modular robotic platform for enabling reconfigurable, actively controlled, high-degree-of-freedom (high-DoF) systems with compact form factor. The robotic modules exploit the advantages of origami-inspired construction methods a ...

2021

Rapid Deployment of Curved Surfaces via Programmable Auxetics

Mark Pauly, Mina Konakovic Lukovic, Francis Julian Panetta

Deployable structures are physical mechanisms that can easily transition between two or more geometric configurations; such structures enable industrial, scientific, and consumer applications at a wide variety of scales. This paper develops novel deployabl ...

2018

Accelerated Sensorimotor Learning of Compliant Movement Primitives

Auke Ijspeert, Luca Colasanto, Tadej Petric

Autonomous trajectory generation through generalization requires a database of motion, which can be difficult and time consuming to obtain. In this paper, we propose a method for autonomous expansion of a database for the generation of compliant and accura ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2018

The Design of A New Rotary Hexapod with A Single Active Degree of Freedom

Jamie Paik, Alexey Fomin

This study provides a novel approach for designing a rotary hexapod with a single actuator and definable motion of a platform. Hexapod is a parallel structure mechanism with six legs and six degrees of freedom (DoF) of an end-effector. It is not an underac ...

2017

Higher-order continuation method for the rigid-body kinematic design of compliant mechanisms

Simon Nessim Henein, Lennart Rubbert

Compliant mechanisms are of great interest in precision engineering. In this paper we propose a higher order continuation method to help their rigid-body kinematic design. The method helps to investigate the choice of a mechanism configuration through the ...

2017

Interface Stresses in Cracked Concrete: Testing for Review of Its Fundamentals, High Tech Concrete: Where Technology and Engineering Meet

Aurelio Muttoni, Miguel Fernández Ruiz, Guillaume Anciaux, Max Tirassa

Aggregate interlock is one of the most significant stress transfer actions in cracked concrete and its understanding is fundamental in order to predict the strength of many concrete structures, particularly members failing in shear. Several test programmes ...

2017

A multimodal framework for the design and the assessment of robotic-assisted treatments for motor disorders

Elvira Pirondini

Robotic devices represent an undeniable alternative method to traditional therapy. However, the clinical use of robot-assisted rehabilitation for patients with hemiplegia after stroke has been restricted for decades by i) limited functional characterisatio ...

EPFL2017

Étude des engrenages de microtechnique

Quentin Theurillat-Bonjour

The research presented in this thesis addresses the design of gear drives for micro engineering applications, and was performed in collaboration with a watch manufacturer. Gears have long been found in many fields of mechanical engineering. Their use in wa ...

EPFL2016

Modelling of the human shoulder as a parallel mechanism without constraints

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

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

Cognitive Loading Affects Motor Awareness and Movement Kinematics but Not Locomotor Trajectories during Goal-Directed Walking in a Virtual Reality Environment

Kamiar Aminian, Olaf Blanke, Oliver Alan Kannape, Arnaud Barré

The primary purpose of this study was to investigate the effects of cognitive loading on movement kinematics and trajectory formation during goal-directed walking in a virtual reality (VR) environment. The secondary objective was to measure how participant ...

Public Library of Science2014

A Minimal Set of Coordinates for Describing Humanoid Shoulder Motion

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

The kinematics of the anatomical shoulder are analysed and modelled as a parallel mechanism similar to a Stewart platform. A new method is proposed to describe the shoulder kinematics with minimal coordinates and solve the indeterminacy. The minimal coordi ...

Ieee2013

Soft Cell Simulator: A tool to study Soft Multi-Cellular Robots

Dario Floreano, Manuel Stöckli, Jürg Markus Germann, Andrea Maesani

Modular or multi-cellular robots hold the promise to adapt their morphology to task and environment. However, research in modular robotics has traditionally been limited to mechanically non-adaptive systems due to hard building blocks and rigid connection ...

2013

Design of Dexterous Mechanical Systems for Intuitive Telemanipulation in Minimally Invasive Surgery

Ricardo Daniel Rita Beira

Major progress in abdominal surgery has occurred over the last decades with the introduction of laparoscopic and minimally invasive techniques in the operating room. These innovative procedures attracted much attention due to several advantages: the need f ...

EPFL2013

An Active Connection Mechanism for Soft Modular Robots

Dario Floreano, Michael Dommer, Jürg Markus Germann, Ramon Pericet Camara

To date, most modular robotic systems lack flexibility when increasing the number of modules due to their hard building blocks and rigid connection mechanisms. In order to improve adaptation to environmental changes, softness on the module level might be b ...

2012

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