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Journal Articles

Special Issue: Selected Papers from IDETC-CIE 2023

Accepted Manuscript
Dongming Gan, Ketao Zhang, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics.
Paper No: JMR-24-1565
https://doi.org/10.1115/1.4066792
Published Online: October 8, 2024
View Article titled, Special Issue: Selected Papers from IDETC-CIE 2023
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Topics: Computers, Computers and information in engineering , Design, Robotics, Robots
Journal Articles

Design of an Efficient Non-Backdrivable Mechanism With Wrap Spring for Hand Prosthesis

Côme Butin, Yannick Aoustin, David Gouaillier, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101015.
Paper No: JMR-23-1557
https://doi.org/10.1115/1.4064739
Published Online: March 29, 2024
View Article titled, Design of an Efficient Non-Backdrivable Mechanism With Wrap Spring for Hand Prosthesis
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Topics: Friction, Springs, Stress, Torque, Prostheses, Design, Manufacturing
Proceedings Papers

A New 3-DOF 2T1R Parallel Mechanism: Topology Design and Kinematics

Shen Huiping, Zhongqiu Du, Damien Chablat, Ju Li, Guanglei Wu
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A081, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114943
https://doi.org/10.1115/DETC2023-114943
View Paper titled, A New 3-DOF 2T1R Parallel Mechanism: Topology Design and Kinematics
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Topics: Design, Kinematics, Parallel mechanisms, Topology
Proceedings Papers

Design and Analysis of a Series-Parallel Hybrid 3-S P S-U Mechanism

Swaminath Venkateswaran, Damien Chablat, Denis Creusot
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A006, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115225
https://doi.org/10.1115/DETC2023-115225
View Paper titled, Design and Analysis of a Series-Parallel Hybrid 3-S P S-U Mechanism
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Topics: Design, Torsion, Algebra, Computation, Computer simulation, End effectors, Inspection, Optimization, Pipes, Robots
Journal Articles

Novel Kinematics of an Anthropomorphic Prosthetic Hand Allowing Lateral and Opposite Grasp With a Single Actuator

Côme Butin, Damien Chablat, Yannick Aoustin, David Gouaillier
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. June 2023, 18(6): 061005.
Paper No: CND-22-1260
https://doi.org/10.1115/1.4056852
Published Online: April 8, 2023
View Article titled, Novel Kinematics of an Anthropomorphic Prosthetic Hand Allowing Lateral and Opposite Grasp With a Single Actuator
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Topics: Actuators, Design, Grasping, Kinematics, Linkages, Prostheses, Rotation, Screws, Artificial limbs, Resolution (Optics)
Journal Articles

A Review of Cuspidal Serial and Parallel Manipulators

Philippe Wenger, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Review Articles
J. Mechanisms Robotics. August 2023, 15(4): 040801.
Paper No: JMR-22-1211
https://doi.org/10.1115/1.4055677
Published Online: November 15, 2022
View Article titled, A Review of Cuspidal Serial and Parallel Manipulators
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Topics: Robots
Proceedings Papers

Stapler Design With Stacked Tensegrity Mechanisms for Surgical Procedures

Dhruva Khanzode, Ranjan Jha, Damien Chablat, Emilie Duchalais
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A037, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89714
https://doi.org/10.1115/DETC2022-89714
View Paper titled, Stapler Design With Stacked Tensegrity Mechanisms for Surgical Procedures
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Topics: Design, Surgery, Tensegrity mechanisms, Optimization, Stability, Cables, Cancer, Cutting, Deflection, Parallel mechanisms
Journal Articles

Motion Strategies for a Cobot in a Context of Intermittent Haptic Interface

Vamsikrishna Guda, Stanley Mugisha, Christine Chevallereau, Matteo Zoppi, Rezia Molfino, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041012.
Paper No: JMR-21-1534
https://doi.org/10.1115/1.4054509
Published Online: June 21, 2022
View Article titled, Motion Strategies for a Cobot in a Context of Intermittent Haptic Interface
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Topics: Robots
Journal Articles

Design of a Two-Speed Load Adaptive Variable Transmission for Energetic Optimization of an Accessible Prosthetic Hand

Côme Butin, Damien Chablat, Yannick Aoustin, David Gouaillier
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011003.
Paper No: JMR-21-1738
https://doi.org/10.1115/1.4054273
Published Online: April 25, 2022
View Article titled, Design of a Two-Speed Load Adaptive Variable Transmission for Energetic Optimization of an Accessible Prosthetic Hand
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Topics: Springs, Stress, Torque, Friction, Grasping, Design, Prostheses, Artificial limbs, Motors
Proceedings Papers

A New Robotic Hand Based on the Design of Fingers With Spatial Motions

Pol Hamon, Damien Chablat, Franck Plestan
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A021, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70233
https://doi.org/10.1115/DETC2021-70233
View Paper titled, A New Robotic Hand Based on the Design of Fingers With Spatial Motions
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Topics: Actuators, Computer-aided design, Design, End effectors, Grasping, Kinematics, Machinery, Machining, Sensors, Shapes
Proceedings Papers

Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface

Stanley Mugisha, Matteo Zoppi, Rezia Molfino, Vamsi Guda, Christine Chevallereau, Damien Chablat
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A007, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71518
https://doi.org/10.1115/DETC2021-71518
View Paper titled, Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface
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Topics: Collaboration, Robots, Virtual reality, Haptics, Robotics, Algorithms, Collisions (Physics), End effectors, Mechanical admittance, Safety
Proceedings Papers

Trajectory Planning for a 3-S P S-U Tensegrity Mechanism

Swaminath Venkateswaran, Damien Chablat
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A004, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69957
https://doi.org/10.1115/DETC2021-69957
View Paper titled, Trajectory Planning for a 3-S P S-U Tensegrity Mechanism
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Topics: Tensegrity mechanisms, Trajectories (Physics), Control equipment, Junctions, Motors, Robots, Springs, Algorithms, Cables, Errors
Journal Articles

Literature Review on Endoscopic Robotic Systems in Ear and Sinus Surgery

Guillaume Michel, Durgesh Haribhau Salunkhe, Philippe Bordure, Damien Chablat
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Review Articles
J. Med. Devices. December 2021, 15(4): 040803.
Paper No: MED-21-1006
https://doi.org/10.1115/1.4052516
Published Online: October 22, 2021
View Article titled, Literature Review on Endoscopic Robotic Systems in Ear and Sinus Surgery
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Topics: Endoscopes, Endoscopic devices, Robotics, Robots, Surgery, Ear
Journal Articles

Elastostatic Modeling of Multi-Link Flexible Manipulator Based on Two-Dimensional Dual-Triangle Tensegrity Mechanism

Wanda Zhao, Anatol Pashkevich, Alexandr Klimchik, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021002.
Paper No: JMR-21-1190
https://doi.org/10.1115/1.4051789
Published Online: September 20, 2021
View Article titled, Elastostatic Modeling of Multi-Link Flexible Manipulator Based on Two-Dimensional Dual-Triangle Tensegrity Mechanism
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Topics: Buckling, Flexible manipulators, Manipulators, Shapes, Stiffness, Tensegrity mechanisms, Modeling, Deflection
Journal Articles

Identification and Control of a 3-X Cable-Driven Manipulator Inspired From the Bird’s Neck

Benjamin Fasquelle, Parag Khanna, Christine Chevallereau, Damien Chablat, Denis Creusot, Stéphane Jolivet, Philippe Lemoine, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011005.
Paper No: JMR-21-1108
https://doi.org/10.1115/1.4051521
Published Online: July 6, 2021
View Article titled, Identification and Control of a 3-X Cable-Driven Manipulator Inspired From the Bird’s Neck
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Topics: Cables, Friction, Stiffness
Journal Articles

An Optimal Design of a Flexible Piping Inspection Robot

Swaminath Venkateswaran, Damien Chablat, Pol Hamon
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2021, 13(3): 035002.
Paper No: JMR-20-1446
https://doi.org/10.1115/1.4049948
Published Online: March 12, 2021
View Article titled, An Optimal Design of a Flexible Piping Inspection Robot
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Topics: Design, Motors, Optimization, Pipes, Robots, Tensegrity mechanisms, Pipelines, Inspection, Engines
Proceedings Papers

Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators

Damien Chablat, Philippe Wenger
Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 1507-1512, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/DAC-8645
https://doi.org/10.1115/DETC99/DAC-8645
View Paper titled, Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators
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Topics: Manipulators, Construction, Kinematics, Octrees, Space
Proceedings Papers

Design of a Piping Inspection Robot by Optimization Approach

Swaminath Venkateswaran, Damien Chablat, Pol Hamon
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A018, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22021
https://doi.org/10.1115/DETC2020-22021
View Paper titled, Design of a Piping Inspection Robot by Optimization Approach
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Topics: Design, Inspection, Optimization, Pipes, Robots, Motors, Dimensions, Engineering prototypes, Junctions, Pipelines
Proceedings Papers

Shaking Force Balancing of the Delta Robot

Jing Geng, Vigen Arakelian, Damien Chablat
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A052, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22296
https://doi.org/10.1115/DETC2020-22296
View Paper titled, Shaking Force Balancing of the Delta Robot
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Topics: Robots, Center of mass, Computer simulation, Control systems
Journal Articles

A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics

Huiping Shen, Damien Chablat, Boxiong Zeng, Ju Li, Guanglei Wu, Ting-Li Yang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2020, 12(2): 021112.
Paper No: JMR-19-1424
https://doi.org/10.1115/1.4045972
Published Online: February 6, 2020
View Article titled, A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics
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Topics: Kinematics, Topology, Design, Parallel mechanisms