ABSTRACT This study introduces a comparative performance analysis of the technological solutions ... more ABSTRACT This study introduces a comparative performance analysis of the technological solutions that have been used to build distal active articulations for minimally invasive medical procedures. The aim is to provide a practical and concise database and classification tool for anyone that wants to learn more about the technologies involved in minimally invasive medical devices, or for any designer interested in further improving these devices. A review of the different articulations developed in this field is therefore performed and organized by both actuation technology and structural architecture. Details are presented concerning the mechanical structures as well as the actuation and the mechanical transmission technologies available. The solutions are evaluated keeping as a reference some chosen required performances and characteristics for minimally invasive surgical procedures. Finally, a quantified comparison chart of these devices is given regarding selected criteria of interest for minimally invasive surgical application.
The bond graph modeling, simulation, and reflex control study of the Planetary Automatic Vehicle ... more The bond graph modeling, simulation, and reflex control study of the Planetary Automatic Vehicle are considered. A simulator derived from a complete bond graph model of the vehicle is presented. This model includes both knowledge and representation models of the mechanical structure, the floor contact, and the Mars site. The MACSYMEN (French acronym for aided design method of multi-energetic systems) is used and applied to study the input-output power transfers. The reflex control is then considered. Controller architecture and locomotion specificity are described. A numerical stage highlights some interesting results of the robot and the controller capabilities.
Ce chapitre aborde le problème de l'analyse de l'équilibre et de la synthèse par la omman... more Ce chapitre aborde le problème de l'analyse de l'équilibre et de la synthèse par la ommande de la coordination des mouvements d'humains virtuels pour la simulation réaliste d'activités physiques quotidiennes ou professionnelles. nous discutons dans un premier temps les notions d'équilibre postural et de stabilité de cet équilibre dans le cadre particulier des mannequins numériques. Nous introduisons un modèle mécanique pour des mannequins en interaction physique avec l'environnement. À partir d'une formulation générale du problème de l'équilibre, nous examinons un certain nombre de moyens proposés pour caractériser et quantifier la stabilité de l'équilibre des systèmes mécaniques contraints. Nous introduisons la notion de perturbation admissible pour la dynamique posturale vis-à-vis des contraintes de persistance et de non-glissement des appuis. Enfin, nous proposons des techniques de synthèse par la commande de fonctions motrices pour une coordin...
Computational models of the human hand are key elements in the mechanical analysis of grasping an... more Computational models of the human hand are key elements in the mechanical analysis of grasping and manipulation tasks, with applications in the ergonomics of industrial processes and products. This includes the modeling of soft tissues involved in the contact with objects, starting with the case of the fingertips. Although the influence of material properties in the modeling of fingertip soft tissues has been studied (either in the framework of linear elasticity as in [2] and or hyperelasticity as in [1] and [4]), the influence of the geometry of these tissues is not well known. To model the shape of fingertips, two approaches are encountered: while the first one relies on segmentations from CT or MR scans ([2], [3]), the second one consists in the construction of an idealized geometry based on simple primitives like portions of spheres, ellipsoids and elliptic cylinders ([4]). Based on finite element simulations, we present a study which quantifies the impact of variations in the geometry of the fingertip on its global response to contact against a plane surface. Figure 1: Geometry from the Visible Human (left) and idealized (right) and simulation of compression.
This study is focused on assembly or handling workstations ergonomic assessment, more precisely o... more This study is focused on assembly or handling workstations ergonomic assessment, more precisely on biomechanical risk factor assessment (for instance musculoskeletal disorder risk). One way of proceeding is to analyze exertions and posture measurements on operators who perform the actual tasks, but it requires heavy instrumentation and is usually not suitable for an industrial assembly line. A second way is to use software like HUMAN, RAMSIS, JACK, even at the design stage. However, in this case, the possible assessments are based principally on static and average characteristics. In this article, we propose a new approach for ergonomic evaluation using a dynamic force controlled virtual manikin. This is an important contribution in this context, since a dynamic manikin with a dynamic force control leading to realistic behaviour model in terms of motion and force would fill the gap between measures of the actual task and static virtual manikin. In order to accomplish this objective,...
Ergonomic methods for biomechanical risk factors assessment during work activity are usually base... more Ergonomic methods for biomechanical risk factors assessment during work activity are usually based on human operator's postures and forces while performing the work task. A basic analysis of the task can rely on questionnaires, interviews and video analysis, but a more accurate and comprehensive analysis requires collection of exertion (force sensor and/or electromyography) and posture data (e.g. motion capture technique). Such an analysis entails complex and expensive instrumentation that may hamper task performance. In recent years, an alternative solution appeared with the use of digital human models (DHM) for ergonomics analysis. Actually, using industrial DHM software packages available for ergonomic assessment is usually a complex and time-consuming task. For instance, simulation may be built up like a cartoon through interactive manual positioning of the DHM with mouse, menus and keyboard, which entails expert skills in ergonomics and human motion. One can also use a trac...
Cette communication propose une méthode, rapide et inspirée de la biologie, de recouvrement de la... more Cette communication propose une méthode, rapide et inspirée de la biologie, de recouvrement de la profondeur à partir des images stéréoscopiques. Deux principes sont mis en oeuvre afin d'améliorer la phase d'appariement d'images : l'activation effective d'un neurone (génération d'un potentiel d'action) et le codage convenable d'un voisinage du neurone considéré (du pixel). Ces principes permettent de réduire le temps de calculs et augmentent leur robustesse. La méthode proposée a été testée avec succès sur les stéréogrammes aléatoires de Julesz (taux d'erreur inférieur à 0.01%).
Digital human models can be used for biomechanical risk factors assessment of a workstation and w... more Digital human models can be used for biomechanical risk factors assessment of a workstation and work activity design for which there is no physical equipment that can be tested using actual human postures and forces. Yet, using digital human model software packages is usually complex and time-consuming. A challenging aim therefore consists in developing an easy-to-use digital human model capable of computing dynamic, realistic movements and internal characteristics in quasi-real time, based on a simple description of future work tasks, in order to achieve reliable ergonomics assessments of various work task scenarios. We developed such a dynamic digital human model, which is automatically controlled in force and acceleration and inspired by human motor control and based on robotics and physics simulation. In our simulation framework, the digital human model motion was controlled by real-world Newtonian physical and mechanical laws. We also simulated and assessed experimental insert-fitting activities according to the occupational repetitive actions (OCRA) ergonomic index. Simulation led to satisfactory results: experimental and simulated ergonomics evaluations were consistent, and both joint torques and digital human model movements were realistic and coherent with human-like behaviours and performances.
Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 1994
This paper presents a feedback nonlinear control law for a train-like vehicle (TLV) used in nucle... more This paper presents a feedback nonlinear control law for a train-like vehicle (TLV) used in nuclear power-station maintenance. The front cart is either manual or automated guided. The rear carts are feedback controlled. The control objective is to ensure that the rear carts track the path produced (online) by the front cart. This controller was experimentally tested on the TLV-prototype
2004 IEEE International Symposium on Industrial Electronics, 2004
Page 1. Biologically inspired 3D scene depth recovery from stereo images '2Flavien Maing... more Page 1. Biologically inspired 3D scene depth recovery from stereo images '2Flavien Maingreaud, EdwigePissaloux, 'Christophe Leroux and 'Alain Micaelli MaingreaudF@ zoe.cea.fr;[email protected] Na,tional Nutclear ...
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998
... Initially devoted to robot control, these methods can be extended to teleoperation by conside... more ... Initially devoted to robot control, these methods can be extended to teleoperation by considering that an operator may replace programmed commands along specified force or motion directions [3], [9]. ... Figure 1 Virtual mechanism and robot controller C ...
ABSTRACT This study introduces a comparative performance analysis of the technological solutions ... more ABSTRACT This study introduces a comparative performance analysis of the technological solutions that have been used to build distal active articulations for minimally invasive medical procedures. The aim is to provide a practical and concise database and classification tool for anyone that wants to learn more about the technologies involved in minimally invasive medical devices, or for any designer interested in further improving these devices. A review of the different articulations developed in this field is therefore performed and organized by both actuation technology and structural architecture. Details are presented concerning the mechanical structures as well as the actuation and the mechanical transmission technologies available. The solutions are evaluated keeping as a reference some chosen required performances and characteristics for minimally invasive surgical procedures. Finally, a quantified comparison chart of these devices is given regarding selected criteria of interest for minimally invasive surgical application.
The bond graph modeling, simulation, and reflex control study of the Planetary Automatic Vehicle ... more The bond graph modeling, simulation, and reflex control study of the Planetary Automatic Vehicle are considered. A simulator derived from a complete bond graph model of the vehicle is presented. This model includes both knowledge and representation models of the mechanical structure, the floor contact, and the Mars site. The MACSYMEN (French acronym for aided design method of multi-energetic systems) is used and applied to study the input-output power transfers. The reflex control is then considered. Controller architecture and locomotion specificity are described. A numerical stage highlights some interesting results of the robot and the controller capabilities.
Ce chapitre aborde le problème de l'analyse de l'équilibre et de la synthèse par la omman... more Ce chapitre aborde le problème de l'analyse de l'équilibre et de la synthèse par la ommande de la coordination des mouvements d'humains virtuels pour la simulation réaliste d'activités physiques quotidiennes ou professionnelles. nous discutons dans un premier temps les notions d'équilibre postural et de stabilité de cet équilibre dans le cadre particulier des mannequins numériques. Nous introduisons un modèle mécanique pour des mannequins en interaction physique avec l'environnement. À partir d'une formulation générale du problème de l'équilibre, nous examinons un certain nombre de moyens proposés pour caractériser et quantifier la stabilité de l'équilibre des systèmes mécaniques contraints. Nous introduisons la notion de perturbation admissible pour la dynamique posturale vis-à-vis des contraintes de persistance et de non-glissement des appuis. Enfin, nous proposons des techniques de synthèse par la commande de fonctions motrices pour une coordin...
Computational models of the human hand are key elements in the mechanical analysis of grasping an... more Computational models of the human hand are key elements in the mechanical analysis of grasping and manipulation tasks, with applications in the ergonomics of industrial processes and products. This includes the modeling of soft tissues involved in the contact with objects, starting with the case of the fingertips. Although the influence of material properties in the modeling of fingertip soft tissues has been studied (either in the framework of linear elasticity as in [2] and or hyperelasticity as in [1] and [4]), the influence of the geometry of these tissues is not well known. To model the shape of fingertips, two approaches are encountered: while the first one relies on segmentations from CT or MR scans ([2], [3]), the second one consists in the construction of an idealized geometry based on simple primitives like portions of spheres, ellipsoids and elliptic cylinders ([4]). Based on finite element simulations, we present a study which quantifies the impact of variations in the geometry of the fingertip on its global response to contact against a plane surface. Figure 1: Geometry from the Visible Human (left) and idealized (right) and simulation of compression.
This study is focused on assembly or handling workstations ergonomic assessment, more precisely o... more This study is focused on assembly or handling workstations ergonomic assessment, more precisely on biomechanical risk factor assessment (for instance musculoskeletal disorder risk). One way of proceeding is to analyze exertions and posture measurements on operators who perform the actual tasks, but it requires heavy instrumentation and is usually not suitable for an industrial assembly line. A second way is to use software like HUMAN, RAMSIS, JACK, even at the design stage. However, in this case, the possible assessments are based principally on static and average characteristics. In this article, we propose a new approach for ergonomic evaluation using a dynamic force controlled virtual manikin. This is an important contribution in this context, since a dynamic manikin with a dynamic force control leading to realistic behaviour model in terms of motion and force would fill the gap between measures of the actual task and static virtual manikin. In order to accomplish this objective,...
Ergonomic methods for biomechanical risk factors assessment during work activity are usually base... more Ergonomic methods for biomechanical risk factors assessment during work activity are usually based on human operator's postures and forces while performing the work task. A basic analysis of the task can rely on questionnaires, interviews and video analysis, but a more accurate and comprehensive analysis requires collection of exertion (force sensor and/or electromyography) and posture data (e.g. motion capture technique). Such an analysis entails complex and expensive instrumentation that may hamper task performance. In recent years, an alternative solution appeared with the use of digital human models (DHM) for ergonomics analysis. Actually, using industrial DHM software packages available for ergonomic assessment is usually a complex and time-consuming task. For instance, simulation may be built up like a cartoon through interactive manual positioning of the DHM with mouse, menus and keyboard, which entails expert skills in ergonomics and human motion. One can also use a trac...
Cette communication propose une méthode, rapide et inspirée de la biologie, de recouvrement de la... more Cette communication propose une méthode, rapide et inspirée de la biologie, de recouvrement de la profondeur à partir des images stéréoscopiques. Deux principes sont mis en oeuvre afin d'améliorer la phase d'appariement d'images : l'activation effective d'un neurone (génération d'un potentiel d'action) et le codage convenable d'un voisinage du neurone considéré (du pixel). Ces principes permettent de réduire le temps de calculs et augmentent leur robustesse. La méthode proposée a été testée avec succès sur les stéréogrammes aléatoires de Julesz (taux d'erreur inférieur à 0.01%).
Digital human models can be used for biomechanical risk factors assessment of a workstation and w... more Digital human models can be used for biomechanical risk factors assessment of a workstation and work activity design for which there is no physical equipment that can be tested using actual human postures and forces. Yet, using digital human model software packages is usually complex and time-consuming. A challenging aim therefore consists in developing an easy-to-use digital human model capable of computing dynamic, realistic movements and internal characteristics in quasi-real time, based on a simple description of future work tasks, in order to achieve reliable ergonomics assessments of various work task scenarios. We developed such a dynamic digital human model, which is automatically controlled in force and acceleration and inspired by human motor control and based on robotics and physics simulation. In our simulation framework, the digital human model motion was controlled by real-world Newtonian physical and mechanical laws. We also simulated and assessed experimental insert-fitting activities according to the occupational repetitive actions (OCRA) ergonomic index. Simulation led to satisfactory results: experimental and simulated ergonomics evaluations were consistent, and both joint torques and digital human model movements were realistic and coherent with human-like behaviours and performances.
Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 1994
This paper presents a feedback nonlinear control law for a train-like vehicle (TLV) used in nucle... more This paper presents a feedback nonlinear control law for a train-like vehicle (TLV) used in nuclear power-station maintenance. The front cart is either manual or automated guided. The rear carts are feedback controlled. The control objective is to ensure that the rear carts track the path produced (online) by the front cart. This controller was experimentally tested on the TLV-prototype
2004 IEEE International Symposium on Industrial Electronics, 2004
Page 1. Biologically inspired 3D scene depth recovery from stereo images '2Flavien Maing... more Page 1. Biologically inspired 3D scene depth recovery from stereo images '2Flavien Maingreaud, EdwigePissaloux, 'Christophe Leroux and 'Alain Micaelli MaingreaudF@ zoe.cea.fr;[email protected] Na,tional Nutclear ...
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998
... Initially devoted to robot control, these methods can be extended to teleoperation by conside... more ... Initially devoted to robot control, these methods can be extended to teleoperation by considering that an operator may replace programmed commands along specified force or motion directions [3], [9]. ... Figure 1 Virtual mechanism and robot controller C ...
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