13 citations
- Laboratoire des Sciences du Numérique de NantesFR5 papers
- Nantes UniversitéFR4 papers
- Centre National de la Recherche ScientifiqueFR2 papers
- Centre Hospitalier Universitaire de NantesFR1 paper
- École Centrale de NantesFR1 paper
- IMT AtlantiqueFR1 paper
- LIP6FR1 paper
- Sorbonne UniversitéFR1 paper
- Tsinghua UniversityCN1 paper
- Universität InnsbruckAT1 paper
- Université Paris CitéFR1 paper
5 papers
Deciding Cuspidality of Manipulators through Computer Algebra and Algorithms in Real Algebraic Geometry
Damien Chablat, Rémi Prébet, Mohab Safey El Din +2
Cuspidal robots are robots with at least two inverse kinematic solutions that can be connected by a singularity-free path. Deciding the cuspidality of generic 3R robots has been st…
Necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal
Durgesh Haribhau Salunkhe, Christoforos Spartalis, Jose Capco +2
Cuspidal robots can travel from one inverse kinematic solution to another without meeting a singularity. The name cuspidal was coined based on the existence of a cusp point in the…
Literature Review on Endoscopic Robotic Systems in Ear and Sinus Surgery
Guillaume Michel, Durgesh Haribhau Salunkhe, Philippe Bordure +1
In otolaryngologic surgery, endoscopy is increasingly used to provide a better view of hard-to-reach areas and to promote minimally invasive surgery. However, the need to manipulat…
Non-linear stiffness modeling of multi-link compliant serial manipulator composed of multiple tensegrity segments
Wanda Zhao, Anatol Pashkevich, Damien Chablat
The paper focuses on the stiffness modeling of a new type of compliant manipulator and its non-linear behavior while interacting with the environment. The manipulator under study i…
Evaluating the Effect of Crutch-using on Trunk Muscle Loads
Jing Chang, Wenrui Wang, Damien Chablat +1
As a traditional tool of external assistance, crutches play an important role in society. They have a wide range of applications to help either the elderly and disabled to walk or…