Publications associées à Joint manipulation

Adaptive Fingers Coordination for Robust Grasp and In-Hand Manipulation Under Disturbances and Unknown Dynamics

We present a control framework for achieving a robust object grasp and manipulation in hand. In-hand manipulation remains a demanding task as the object is never stable and task success relies on carefully synchronizing the fingers' dynamics. Indeed, finge ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Development of a Robotic Microsurgeon for Embryonic Research

Ece Özelçi

Understanding how biological matter takes its shape is instrumental to biology, bioengineering, medicine, and bioinspired engineering. Gaining information on the principles of morphogenesis could enable clinicians to correct developmental abnormalities, ev ...

EPFL2023

Optically Triggered Neel Vector Manipulation of a Metallic Antiferromagnet Mn2Au under Strain

Alexey Sapozhnik

The absence of stray fields, their insensitivity to external magnetic fields, and ultrafast dynamics make antiferromagnets promising candidates for active elements in spintronic devices. Here, we demonstrate manipulation of the Neel vector in the metallic ...

AMER CHEMICAL SOC2022

A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots

Aude Billard, Salman Faraji, Nadia Barbara Figueroa Fernandez, Mikhail Koptev

In this paper, we present an integrated approach that provides compliant control of an iCub humanoid robot and adaptive reaching, grasping, navigating and co-manipulating capabilities. We use state-dependent dynamical systems (DS) to (i) coordinate and dri ...

IEEE2020

A Logic Synthesis Toolbox for Reducing the Multiplicative Complexity in Logic Networks

Giovanni De Micheli, Mathias Soeken, Luca Gaetano Amarù, Eleonora Testa, Heinz Riener

Logic synthesis is a fundamental step in the realization of modern integrated circuits. It has traditionally been employed for the optimization of CMOS-based designs, as well as for emerging technologies and quantum computing. Recently, it found applicatio ...

IEEE2020

Lumbar and thoracic kinematics during step-up: Comparison of three-dimensional angles between patients with chronic low back pain and asymptomatic individuals

Julien Favre, Brigitte Jolles-Haeberli, Guillaume Christe

While alterations in spinal kinematics have been repeatedly observed in patients with chronic low back pain (CLBP), their exact nature is still unknown. Specifically, there is a need for comprehensive assessments of multisegment spinal angles during daily- ...

2020

Supernumerary Robotic Arm for Three-Handed Surgical Application: Behavioral Study and Design of Human-Machine Interface

Elahe Abdi

In surgical to industrial manipulation, the operator needs assistance for tasks requiring more than two hands. Teamwork may be the source of errors and inefficiency, especially if the assistant is a novice or unfamiliar with the main operator. The need for ...

EPFL2017

Chronic low back pain patients walk with locally altered spinal kinematics

Julien Favre, Brigitte Jolles-Haeberli, Guillaume Christe

Various studies have reported alterations of spinal kinematics in patients with chronic low back pain (CLBP) during gait. However, while recent findings stressed the importance of multi-segment analysis, most of prior gait studies modelled the lumbar spine ...

Elsevier Sci Ltd2017

Haptic-Enabled Handheld Mobile Robots: Design and Analysis

Pierre Dillenbourg, Francesco Mondada, Wafa Monia Benkaouar Johal, Ayberk Özgür

The Cellulo robots are small tangible robots that are designed to represent virtual interactive point-like objects that reside on a plane within carefully designed learning activities. In the context of these activities, our robots not only display autonom ...

ACM2017

In a demanding task, three-handed manipulation is preferred to two-handed manipulation

Hannes Bleuler, Mohamed Bouri, Etienne Burdet, Elahe Abdi

Equipped with a third hand under their direct control, surgeons may be able to perform certain surgical interventions alone; this would reduce the need for a human assistant and related coordination difficulties. However, does human performance improve wit ...

Nature Research2016

Multi-segment analysis of spinal kinematics during sit-to-stand in patients with chronic low back pain

Julien Favre, Thomas Legrand, Guillaume Christe

While alterations in spinal kinematics have been frequently reported in patients with chronic low back pain (CLBP), a better characterization of the kinematics during functional activities is needed to improve our understanding and therapeutic solutions fo ...

Elsevier Sci Ltd2016

Using very toxic or especially hazardous chemical substances in a research and teaching institution

Thierry Meyer, Jean-Luc Marendaz, Sebastian Brückner

Wrong manipulation, storage or disposal of chemicals can cause great damage whether it occurs on industrial plants, in academia or at home. Amongst the numerous reasons, lack of knowledge and haste are the most common ones. Except for a few substances subj ...

2016

Visuospatial viewpoint manipulation during full-body illusion modulates subjective first-person perspective

Olaf Blanke, Christian Pfeiffer, Valentin Marc Schmutz

Self-consciousness is based on multisensory signals from the body. In full-body illusion (FBI) experiments, multisensory conflict was used to induce changes in three key aspects of bodily self-consciousness (BSC): self-identification (which body 'I' identi ...

Springer Verlag2014

Fluid Manipulation Using Thermoexpandable Polymer Based on Ploydimethylsiloxane and Expancel

Lynda Metref

Nowadays, manipulation of liquids in miniaturised environments finds applications in many fields in biology and medicine such as diagnostics, toxicity analysis, drug delivery and so on. In those domains, the use of disposable devices has the great advantag ...

EPFL2010