Damien Chablat

Directeur de Recherche CNRS au Laboratoire des Sciences du Numérique de Nantes (LS2N) - Responsable Action Robotique à l'Agence Nationale de la Recherche (ANR) pour France 2030
370
Documents
Affiliations actuelles
  • Laboratoire des Sciences du Numérique de Nantes (LS2N)
  • Robots and Machines for Manufacturing, Society and Services (LS2N - équipe RoMas)
Identifiants chercheurs
Contact

Présentation

Damien Chablat a obtenu son diplôme de doctorat en Génie Mécanique à l'Ecole Centrale de Nantes et à l'Université de Nantes en 1998. Durant une année, il a travaillé au Centre des Machines Intelligentes (CIM) de l'Université McGill avec le Prof. Angeles. Il a rejoint le CNRS (Centre National de la Recherche Scientifique) en 1999. Il est devenu directeur de recherche au CNRS en 2011 et il est actuellement chercheur dans l'équipe ROMAS au Laboratoire des Sciences du Numérique de Nantes. Ses intérêts de recherche comprennent la robotique, la conception de manipulateur parallèle et l'évaluation de la fatigue humaine pour des tâches industrielles. Depuis février 2023, il est responsable action robotique pour l'agence nationale de la recherche (ANR).

Publications

54
32
29
29
24
19
19
16
16
16
13
13
11
9
9
9
9
8
8
8
8
7
7
7
7
6
6
6
6
6
6
6
5
5
5
5
5
5
5
5
5
5
5
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
124
56
44
35
30
20
16
16
15
15
14
13
12
11
10
9
9
9
9
8
8
8
8
8
7
7
7
7
7
7
6
6
6
6
6
6
6
5
5
5
5
5
5
5
5
5
5
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
2
2
2
2
2
4
23
13
23
18
19
21
23
7
14
9
12
3
18
11
18
18
17
12
19
11
15
9
11
6
4
4
6
2
22
12
5
4
4
3
3
3
2
2
2
2
2
2
2
2
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
18
7
7
6
6
2
1
1
1
1
1
311
30
7
4
3
2
2
2
2
1
1
1
1
1
1
1
216
100
92
52
40
24
10
7
2
1
1
1

Publications

Image document

Development of an Augmented Reality Surgical Trainer for Minimally Invasive Pancreatic Surgery

Doina Pisla , Nadim Al Hajjar , Gabriela Rus , Bogdan Gherman , Andra Ciocan et al.
Applied Sciences, 2025, 15 (7), pp.3532. ⟨10.3390/app15073532⟩
Article dans une revue hal-05004256 v1
Image document

An analysis of higher-order kinematics formalisms for an innovative surgical parallel robot

Calin Vaida , Iosif Birlescu , Bogdan Gherman , Daniel Condurache , Damien Chablat et al.
Mechanism and Machine Theory, 2025, 209, pp.105986. ⟨10.1016/j.mechmachtheory.2025.105986⟩
Article dans une revue hal-05006462 v1
Image document

Motion Prediction With Gaussian Processes for Safe Human–Robot Interaction in Virtual Environments

Stanley Mugisha , Vamsi Krishna Guda , Christine Chevallereau , Damien Chablat , Matteo Zoppi
IEEE Access, 2024, 12, pp.67470-67485. ⟨10.1109/ACCESS.2024.3400604⟩
Article dans une revue hal-04637167 v1
Image document

Design of an Efficient Non-backdrivable Mechanism with Wrap Spring for Hand Prosthesis

Come Butin , Yannick Aoustin , David Gouallier , Damien Chablat
Journal of Mechanisms and Robotics, 2024, pp.1-14. ⟨10.1115/1.4064739⟩
Article dans une revue hal-04458181 v1
Image document

An innovative mixed reality approach for Robotics Surgery

Gabriela Rus , Nadim Al Hajjar , Ionut Zima , Calin Vaida , Corina Radu et al.
IOP Conference Series: Materials Science and Engineering, 2024, 1320 (1), pp.012010. ⟨10.1088/1757-899X/1320/1/012010⟩
Article dans une revue hal-04869243 v1
Image document

Kinematic issues in 6R cuspidal robots, guidelines for path planning and deciding cuspidality

Durgesh Haribhau Salunkhe , Tobias Marauli , Andreas Muller , Damien Chablat , Philippe Wenger
The International Journal of Robotics Research, In press, ⟨10.1177/ToBeAssigned⟩
Article dans une revue hal-04712576 v1
Image document

On the Control and Validation of the PARA-SILSROB Surgical Parallel Robot

Doina Pisla , Calin Popa , Alexandru Pusca , Andra Ciocan , Bogdan Gherman et al.
Applied Sciences, 2024, 14 (17), pp.7925. ⟨10.3390/app14177925⟩
Article dans une revue hal-04690124 v1
Image document

Model-free based control of a gripper actuated by pneumatic muscles

Pol Hamon , Loïc Michel , Franck Plestan , Damien Chablat
Mechatronics, 2023, 95, pp.103053. ⟨10.1016/j.mechatronics.2023.103053⟩
Article dans une revue hal-04458140 v1
Image document

Design of a Two-Speed LAVT for Energetic Optimization of an Accessible Prosthetic Hand

Côme Butin , Damien Chablat , Yannick Aoustin , David Gouaillier
Journal of Mechanisms and Robotics, 2023, 15 (1), pp.11. ⟨10.1115/1.4054273⟩
Article dans une revue hal-03625182 v1
Image document

Mapping the Tilt and Torsion Angles for a 3-SPS-U Parallel Mechanism

Swaminath Venkateswaran , Damien Chablat
Robotics, 2023, 12 (2), pp.50. ⟨10.3390/robotics12020050⟩
Article dans une revue hal-04045194 v1
Image document

Surgical Staplers in Laparoscopic Colectomy: A New Innovative Flexible Design Perspective

Dhruva Khanzode , Ranjan Jha , Alexandra Thomieres , Emilie Duchalais , Damien Chablat
Robotics, 2023, 12 (6), pp.156. ⟨10.3390/robotics12060156⟩
Article dans une revue hal-04323046 v1
Image document

On the Certification of the Kinematics of 3-DOF Spherical Parallel Manipulators

Alexandre Lê , Damien Chablat , Guillaume Rance , Fabrice Rouillier
Maple Transactions, 2023, 3 (2), ⟨10.5206/mt.v3i2.15660⟩
Article dans une revue hal-04189637 v1
Image document

A decision aid for the port placement problem in robot-assisted hysterectomy

Mohammad R Maddah , Jean-Marc Classe , Isabelle Jaffre , Keith A Watson , Katherine S Lin et al.
Laparoscopic, Endoscopic and Robotic Surgery, 2023, 6 (2), pp.43-56. ⟨10.1016/j.lers.2023.05.002⟩
Article dans une revue hal-04113365 v1
Image document

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

Côme Butin , Damien Chablat , Yannick Aoustin , David Gouallier
Journal of Computational and Nonlinear Dynamics, In press, pp.1-13. ⟨10.1115/1.4056852⟩
Article dans une revue hal-04055634 v1
Image document

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 et al.
Journal of Mechanisms and Robotics, 2022, 14 (1), ⟨10.1115/1.4051521⟩
Article dans une revue hal-03314549 v1
Image document

Necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal

Durgesh Haribhau Salunkhe , Christoforos Spartalis , Jose Capco , Damien Chablat , Philippe Wenger
Mechanism and Machine Theory, 2022, 171, pp.104729. ⟨10.1016/j.mechmachtheory.2022.104729⟩
Article dans une revue hal-03578664 v1
Image document

A New Robotic Endoscope Holder for Ear and Sinus Surgery with an Integrated Safety Device

Guillaume Michel , Philippe Bordure , Damien Chablat
Sensors, 2022, 22 (14), pp.5175. ⟨10.3390/s22145175⟩
Article dans une revue hal-03722563 v1
Image document

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

Vamsikrishna Guda , Stanley Mugisha , Christine Chevallereau , Matteo Zoppi , Rezia Molfino et al.
Journal of Mechanisms and Robotics, 2022, 14 (4), ⟨10.1115/1.4054509⟩
Article dans une revue hal-03739832 v1
Image document

A review of cuspidal serial and parallel manipulators

Philippe Wenger , Damien Chablat
Journal of Mechanisms and Robotics, 2022, pp.1-37. ⟨10.1115/1.4055677⟩
Article dans une revue hal-03809104 v1
Image document

Stability analysis of tensegrity mechanism coupled with a bio-inspired piping inspection robot

Swaminath Venkateswaran , Damien Chablat
Computer Methods in Biomechanics and Biomedical Engineering, 2022, 25 (sup1), pp.S1-S307. ⟨10.1080/10255842.2022.2116885⟩
Article dans une revue hal-03879221 v1
Image document

Improving Haptic Response for Contextual Human Robot Interaction

Stanley Mugisha , Vamsi Krisha Guda , Christine Chevallereau , Matteo Zoppi , Rezia Molfino et al.
Sensors, 2022, 22, ⟨10.3390/s22052040⟩
Article dans une revue hal-03599147 v1
Image document

Non-linear stiffness behavior of planar serial robotic manipulators

Wanda Zhao , Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
Mechanism and Machine Theory, 2022, 172 (June), pp.104783. ⟨10.1016/j.mechmachtheory.2022.104783⟩
Article dans une revue hal-03578506 v1
Image document

An efficient combined local and global search strategy for optimization of parallel kinematic mechanisms with joint limits and collision constraints

Durgesh Haribhau Salunkhe , Guillaume Michel , Shivesh Kumar , Marcello Sanguineti , Damien Chablat
Mechanism and Machine Theory, 2022, 173, pp.104796. ⟨10.1016/j.mechmachtheory.2022.104796⟩
Article dans une revue hal-03586503 v1
Image document

Mechanics of compliant serial manipulator composed of dual-triangle segments

Wanda Zhao , Anatol Pashkevich , Damien Chablat , Alexandr Klimchik
International Journal of Mechanical Engineering and Robotics Research, 2021, 10 (4), pp.169-176. ⟨10.18178/ijmerr.10.4.169-176⟩
Article dans une revue hal-03195185 v1
Image document

An optimal design of a flexible piping inspection robot

Swaminath Venkateswaran , Damien Chablat , Pol Hamon
Journal of Mechanisms and Robotics, 2021, 13 (3), pp.035002. ⟨10.1115/1.4049948⟩
Article dans une revue hal-03126584 v1
Image document

Balancing of the Orthoglide taking into account its varying payload

Jing Geng , Vigen Arakelian , Damien Chablat , Philippe Lemoine
Robotics, 2021, 10 (1), pp.30. ⟨10.3390/robotics10010030⟩
Article dans une revue hal-03144744 v1
Image document

Workspace Analysis in the Design Parameter Space of a 2-DOF Spherical Parallel Mechanism for a Prescribed Workspace: Application to the Otologic Surgery

Damien Chablat , Guillaume Michel , Philippe Bordure , Swaminath Venkateswaran , Ranjan Jha
Mechanism and Machine Theory, 2021, 157, pp.104224. ⟨10.1016/j.mechmachtheory.2020.104224⟩
Article dans une revue hal-03106584 v1
Image document

Elastostatic modeling of multi-link flexible manipulator based on 2D dual-triangle tensegrity mechanism

Wanda Zhao , Anatol Pashkevich , Alexandr Klimchik , Damien Chablat
Journal of Mechanisms and Robotics, 2021, ⟨10.1115/1.4051789⟩
Article dans une revue hal-03300149 v1
Image document

Kinematic design of a translational parallel mechanism based on sub-kinematic chain determined workspace superposition

Huiping Shen , Yinan Zhao , Guanglei Wu , Ju Li , Damien Chablat
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2021, pp.095440622110046. ⟨10.1177/09544062211004653⟩
Article dans une revue hal-03241640 v1
Image document

Literature Review on Endoscopic Robotic Systems in Ear and Sinus Surgery

Guillaume Michel , Durgesh Haribhau Salunkhe , Philippe Bordure , Damien Chablat
Journal of Medical Devices, 2021, ⟨10.1115/1.4052516⟩
Article dans une revue hal-03353721 v1
Image document

Geometric Atlas of the Middle Ear and Paranasal Sinuses for Robotic Applications

Guillaume Michel , Durgesh Haribhau Salunkhe , Philippe Bordure , Damien Chablat
Surgical Innovation, 2021, 29 (3), pp.329-335. ⟨10.1177/1553⟩
Article dans une revue hal-03363479 v1
Image document

Robots cuspidaux : théorie et applications

Philippe Wenger , Damien Chablat
Les Techniques de l'Ingenieur, 2021, ⟨10.51257/a-v1-s7857⟩
Article dans une revue hal-03345018 v2
Image document

A novel partially-decoupled translational parallel manipulator with symbolic kinematics, singularity identification and workspace determination

Huiping Shen , Yinan Zhao , Ju Li , Guanglei Wu , Damien Chablat
Mechanism and Machine Theory, 2021, 164, pp.104388. ⟨10.1016/j.mechmachtheory.2021.104388⟩
Article dans une revue hal-03251019 v1
Image document

Computer-aided mobility analysis of parallel mechanisms

Xiaorong Zhu , Huiping Shen , Chengqi Wu , Damien Chablat , Tingli Yang
Mechanism and Machine Theory, 2020, 148, pp.103810. ⟨10.1016/j.mechmachtheory.2020.103810⟩
Article dans une revue hal-02477808 v1
Image document

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 et al.
Journal of Mechanisms and Robotics, 2020, 12 (2), ⟨10.1115/1.4045972⟩
Article dans une revue hal-02469329 v1
Image document

Numerical and Experimental Validation of the Prototype of A Bio-Inspired Piping Inspection Robot

Swaminath Venkateswaran , Damien Chablat , Frédéric Boyer
Robotics, 2019, 8 (2), pp.32. ⟨10.3390/robotics8020032⟩
Article dans une revue hal-02108495 v1
Image document

Self-Motion conditions for a 3-PPPS Parallel Robot with Delta-Shaped Base

Damien Chablat , Erika Ottaviano , Swaminath Venkateswaran
Mechanism and Machine Theory, 2019, 135, pp.109-114. ⟨10.1016/j.mechmachtheory.2019.02.006⟩
Article dans une revue hal-02014982 v1
Image document

NAVARO II, a Novel Scissor-Based Planar Parallel Robot 1

Damien Chablat , Luc Rolland
Journal of Mechanisms and Robotics, 2019, 11 (4), pp.044501. ⟨10.1115/1.4043330⟩
Article dans une revue hal-02204732 v1
Image document

Combining precision and power to maximize performance: a case study of the woodpecker’s neck

C. Böhmer , M. Furet , B. Fasquelle , Damien Chablat , P. Wenger et al.
Computer Methods in Biomechanics and Biomedical Engineering, 2019, 22 (sup1), pp.S20-S21. ⟨10.1080/10255842.2020.1713463⟩
Article dans une revue hal-03545754 v1
Image document

Kinetostatic analysis and solution classification of a class of planar tensegrity mechanisms

Philippe Wenger , Damien Chablat
Robotica, 2019, 37 (7), pp.1214-1224. ⟨10.1017/S026357471800070X⟩
Article dans une revue hal-01861785 v1
Image document

Influence of Design Parameters on the Singularities and Workspace of a 3-RPS Parallel Robot

Ranjan Jha , Damien Chablat , Luc Baron
Transactions of the Canadian Society for Mechanical Engineering, 2018, 42 (1), pp.30-37. ⟨10.1139/tcsme-2017-0011⟩
Article dans une revue hal-01797575 v1
Image document

Workspace, Joint space and Singularities of a family of Delta-Like Robot

Ranjan Jha , Damien Chablat , Luc Baron , Fabrice Rouillier , Guillaume Moroz
Mechanism and Machine Theory, 2018, 127, pp.73-95. ⟨10.1016/j.mechmachtheory.2018.05.004⟩
Article dans une revue hal-01796066 v1
Image document

Optimization of Radar Search Patterns in Localized Clutter and Terrain Masking under Direction-Specific Scan Update Rates Constraints

Yann Briheche , Frédéric Barbaresco , Fouad Bennis , Damien Chablat
IET Radar Sonar and Navigation, In press, ⟨10.1049/iet-rsn.2017.0244⟩
Article dans une revue hal-01705380 v2
Image document

Theoretical Complexity of Grid Cover Problems Used in Radar Applications

Yann Briheche , Frédéric Barbaresco , Fouad Bennis , Damien Chablat
Journal of Optimization Theory and Applications, 2018, ⟨10.1007/s10957-018-1354-x⟩
Article dans une revue hal-01862803 v1
Image document

An industrial security system for human-robot coexistence

Philip Long , Christine Chevallereau , Damien Chablat , Alexis Girin
Industrial Robot: An International Journal, 2018, 45 (2), pp.220-226. ⟨10.1108/IR-09-2017-0165⟩
Article dans une revue hal-01671012 v1
Image document

Mechanical Design Optimization of a Piping Inspection Robot

Damien Chablat , Swaminath Venkateswaran , Frédéric Boyer
Procedia CIRP, 2018, 70, pp.307-312. ⟨10.1016/j.procir.2018.02.015⟩
Article dans une revue hal-01763204 v1
Image document

Kinematics, Workspace and Singularity Analysis of a Parallel Robot with Five Operation Modes *

Damien Chablat , Xianwen Kong , Chengwei Zhang
Journal of Mechanisms and Robotics, 2018, 10 (3), ⟨10.1115/1.4039400⟩
Article dans une revue hal-01797872 v1
Image document

Fundamentals of manipulator stiffness modeling using matrix structural analysis

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
Mechanism and Machine Theory, 2018, 133, pp.365-394. ⟨10.1016/j.mechmachtheory.2018.11.023⟩
Article dans une revue hal-01984946 v1

MSA-technique for stiffness modeling of manipulators with complex and hybrid structures

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
IFAC-PapersOnLine, 2018, 51 (22), pp.37-43. ⟨10.1016/j.ifacol.2018.11.515⟩
Article dans une revue hal-01980769 v1
Image document

Validation of a New Dynamic Muscle Fatigue Model and DMET Analysis

Deep Seth , Damien Chablat , Bennis Fouad , Sophie Sakka , Marc Jubeau et al.
International Journal of Virtual Reality, 2016, The International Journal of Virtual Reality, 2016 (16), ⟨10.20870/ijvr.2016.16.1.2879⟩
Article dans une revue hal-01420684 v1
Image document

Predictive model of the human muscle fatigue: application to repetitive push-pull tasks with light external load

Sophie Sakka , Damien Chablat , Ruina Ma , Fouad Bennis
International Journal of Human Factors Modelling and Simulation, 2015, 5 (1), pp.81-97. ⟨10.1504/IJHFMS.2015.068124⟩
Article dans une revue hal-01128581 v1
Image document

Static stability of manipulator configuration: Influence of the external loading

Alexandr Klimchik , Damien Chablat , Anatol Pashkevich
European Journal of Mechanics - A/Solids, 2015, 51, pp.193-203. ⟨10.1016/j.euromechsol.2014.12.010⟩
Article dans une revue hal-01201685 v1
Image document

A Branch and Prune Algorithm for the Computation of Generalized Aspects of Parallel Robots

Stéphane Caro , Damien Chablat , Alexandre Goldsztejn , Daisuke Ishii , Christophe Jermann
Artificial Intelligence, 2014, 211, pp.34--50. ⟨10.1016/j.artint.2014.02.001⟩
Article dans une revue hal-00971348 v1
Image document

Kinematic analysis of a single-loop reconfigurable 7R mechanism with multiple operation modes

Xiuyun He , Xianwen Kong , Damien Chablat , Stéphane Caro , Guangbo Hao
Robotica, 2014, 32 (7), pp.1171-1188. ⟨10.1017/S0263574713001197⟩
Article dans une revue hal-01084545 v1
Image document

Stiffness modeling for perfect and non-perfect parallel manipulators under internal and external loadings

Alexandr Klimchik , Damien Chablat , Anatol Pashkevich
Mechanism and Machine Theory, 2014, 79, pp.1-28. ⟨10.1016/j.mechmachtheory.2014.04.002⟩
Article dans une revue hal-01065144 v1
Image document

CAD-based approach for identification of elasto-static parameters of robotic manipulators

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
Finite Elements in Analysis and Design, 2013, 75, pp.19-30
Article dans une revue hal-00909587 v1
Image document

Determination of subject-specific muscle fatigue rates under static fatiguing operations

Liang Ma , Wei Zhang , Bo Hu , Damien Chablat , Fouad Bennis et al.
Ergonomics, 2013, 56 (12), pp.1889-1900
Article dans une revue hal-00943279 v1
Image document

A Six-Dof Epicyclic-Parallel Manipulator

Chao Chen , Thibault Gayral , Stéphane Caro , Damien Chablat , Guillaume Moroz et al.
Journal of Mechanisms and Robotics, 2012, 4 (4), ⟨10.1115/1.4007489⟩
Article dans une revue hal-00684803 v1
Image document

Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators

Montserrat Manubens , Guillaume Moroz , Damien Chablat , Philippe Wenger , Fabrice Rouillier
Journal of Mechanisms and Robotics, 2012, pp.1-10
Article dans une revue hal-00690975 v1
Image document

Internal joint forces in dynamics of a 3-PRP planar parallel robot

Stefan Staicu , Damien Chablat
Proceedings of the Romanian Academy - Series A (Mathematics, Physics, Technical Sciences, Information Science), 2012, 13 (3), pp.235-242
Article dans une revue hal-00731174 v1
Image document

Compliance error compensation technique for parallel robots composed of non-perfect serial chains

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat , Geir Hovland
Robotics and Computer-Integrated Manufacturing, 2012, 29 (2), pp.385-393. ⟨10.1016/j.rcim.2012.09.008⟩
Article dans une revue hal-00756997 v1
Image document

Human Arm simulation for interactive constrained environment design

Liang Ma , Ruina Ma , Damien Chablat , Fouad Bennis
International Journal on Interactive Design and Manufacturing, 2012, pp.1-12. ⟨10.1007/s12008-012-0162-z⟩
Article dans une revue hal-00705161 v1
Image document

Stiffness matrix of manipulators with passive joints: computational aspects

Alexandr Klimchik , Anatol Pashkevich , Stéphane Caro , Damien Chablat
IEEE Transactions on Robotics, 2012, 28 (4), pp.1-4. ⟨10.1109/TRO.2012.2187395⟩
Article dans une revue hal-00670255 v1
Image document

A novel approach for determining fatigue resistances of different muscle groups in static cases

Liang Ma , Damien Chablat , Fouad Bennis , Wei Zhang , Bo Hu et al.
International Journal of Industrial Ergonomics, 2011, 41 (1), pp.10-18. ⟨10.1016/j.ergon.2010.11.005⟩
Article dans une revue hal-00583680 v1
Image document

Can virtual reality predict body part discomfort and performance of people in realistic world for assembling tasks?

Bo Hu , Liang Ma , Wei Zhang , Gaverial Salvendy , Damien Chablat et al.
International Journal of Industrial Ergonomics, 2011, 41 (1), pp.64-71
Article dans une revue hal-00583675 v1
Image document

Enhanced stiffness modeling of manipulators with passive joints

Anatol Pashkevich , Alexandr Klimchik , Damien Chablat
Mechanism and Machine Theory, 2011, 46 (5), pp.662-679. ⟨10.1016/j.mechmachtheory.2010.12.008⟩
Article dans une revue hal-00583167 v1
Image document

A Framework for Interactive Work Design based on Digital Work Analysis and Simulation

Liang Ma , Wei Zhang , Huanzhang Fu , Yang Guo , Damien Chablat et al.
Human Factors and Ergonomics in Manufacturing and Service Industries, 2010, 20 (4), pp.339-352. ⟨10.1002/hfm.20178⟩
Article dans une revue hal-00495004 v2
Image document

A new muscle fatigue and recovery model and its ergonomics application in human simulation

Liang Ma , Damien Chablat , Fouad Bennis , Wei Zhang , François Guillaume
Virtual and Physical Prototyping, 2010, 5 (3), pp.123 - 137. ⟨10.1080/17452759.2010.504056⟩
Article dans une revue hal-00530230 v1
Image document

Fatigue evaluation in maintenance and assembly operations by digital human simulation

Liang Ma , Damien Chablat , Fouad Bennis , Wei Zhang , Bo Hu et al.
Virtual Reality, 2010, 14 (1), pp.339-352. ⟨10.1007/s10055-010-0156-8⟩
Article dans une revue hal-00495263 v1
Image document

Multiobjective Path Placement Optimization of Parallel Kinematics Machines Based on Energy Consumption, Shaking Forces and Maximum Actuators Torques: Application to the Orthoglide

Raza Ur-Rehman , Stéphane Caro , Damien Chablat , Philippe Wenger
Mechanism and Machine Theory, 2010, 45 (8), pp.1125-1141. ⟨10.1016/j.mechmachtheory.2010.03.008⟩
Article dans une revue hal-00553166 v1
Image document

On the determination of cusp points of 3-R\underline{P}R parallel manipulators

Guillaume Moroz , Fabrice Rouillier , Damien Chablat , Philippe Wenger
Mechanism and Machine Theory, 2010, 45 (11), pp.1555-1567. ⟨10.1016/j.mechmachtheory.2010.06.016⟩
Article dans une revue hal-00545502 v1
Image document

Kinematics of A 3-PRP planar parallel robot

Damien Chablat , Stefan Staicu
Scientific Bulletin - "Politehnica" University of Bucharest. Series D, Mechanical engineering, 2009, 71 (1), pp.3-16
Article dans une revue hal-00372634 v1
Image document

Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions

Anatol Pashkevich , Damien Chablat , Philippe Wenger
Mechatronics, 2009, 19 (4), pp.478-488. ⟨10.1016/j.mechatronics.2008.11.008⟩
Article dans une revue hal-00418777 v1
Image document

Singularity Analysis of Lower-Mobility Parallel Manipulators Using Grassmann-Cayley Algebra

Daniel Kanaan , Philippe Wenger , Stéphane Caro , Damien Chablat
IEEE Transactions on Robotics, 2009, 25 (5), pp.995-1004. ⟨10.1109/TRO.2009.2017132⟩
Article dans une revue hal-00425361 v1
Image document

Stiffness Analysis Of Multi-Chain Parallel Robotic Systems

Anatol Pashkevich , Alexandr Klimchik , Damien Chablat , Philippe Wenger
Journal of Automation, Mobile Robotics and Intelligent Systems, 2009, 3 (3), pp.75-82
Article dans une revue hal-00418768 v1
Image document

Kinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine

Daniel Kanaan , Philippe Wenger , Damien Chablat
Mechanism and Machine Theory, 2009, 44 (2), pp.487-498. ⟨10.1016/j.mechmachtheory.2008.03.002⟩
Article dans une revue hal-00342928 v1
Image document

Stiffness Analysis of Overconstrained Parallel Manipulators

Anatol Pashkevich , Damien Chablat , Philippe Wenger
Mechanism and Machine Theory, 2009, 44 (5), pp.966-982. ⟨10.1016/j.mechmachtheory.2008.05.017⟩
Article dans une revue hal-00372638 v1
Image document

Multi-Objective Optimisation Method for Posture Prediction and Analysis with Consideration of Fatigue Effect and its Application Case

Liang Ma , Wei Zhang , Damien Chablat , Fouad Bennis , François Guillaume
Computers & Industrial Engineering, 2009, 57 (4), pp.1235-1246. ⟨10.1016/j.cie.2009.06.003⟩
Article dans une revue hal-00430645 v1
Image document

Dynamic Muscle Fatigue Evaluation in Virtual Working Environment

Liang Ma , Damien Chablat , Fouad Bennis , Wei Zhang
International Journal of Industrial Ergonomics, 2009, 39 (1), pp.211-220. ⟨10.1016/j.ergon.2008.04.004⟩
Article dans une revue hal-00349573 v1
Image document

A new simple dynamic muscle fatigue model and its validation

Liang Ma , Damien Chablat , Fouad Bennis , Wei Zhang
International Journal of Industrial Ergonomics, 2009, 39 (1), pp.211-220. ⟨10.1016/j.ergon.2008.04.004⟩
Article dans une revue hal-03508883 v1
Image document

Dynamics of the Orthoglide parallel robot

Damien Chablat , Philippe Wenger , Stefan Staicu
Scientific Bulletin - "Politehnica" University of Bucharest. Series D, Mechanical engineering, 2009, 71 (3), pp.3-16
Article dans une revue hal-00425143 v1
Image document

Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis

Raza Ur-Rehman , Stéphane Caro , Damien Chablat , Philippe Wenger
Transactions of the Canadian Society for Mechanical Engineering, 2009, pp.1-19
Article dans une revue hal-00425337 v1
Image document

Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators

Mazen Zein , Philippe Wenger , Damien Chablat
Mechanism and Machine Theory, 2008, 23 (4), pp.480-490. ⟨10.1016/j.mechmachtheory.2007.03.011⟩
Article dans une revue hal-00261669 v1
Image document

Self-Motions of General 3-RPR Planar Parallel Robots

Sébastien Briot , Ilian Bonev , Damien Chablat , Philippe Wenger , Vigen Arakelian
The International Journal of Robotics Research, 2008, 27 (7), pp. 855-866. ⟨10.1177/0278364908092466⟩
Article dans une revue hal-00310393 v1
Image document

Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators

Philippe Wenger , Damien Chablat , Mazen Zein
Journal of Mechanical Design, 2007, 129 (12), pp.1-6
Article dans une revue hal-00162649 v1
Image document

Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators

Mazen Zein , Philippe Wenger , Damien Chablat
Robotica, 2007, 25 (6), pp.717-724. ⟨10.1017/S0263574707003785⟩
Article dans une revue hal-00184991 v1
Image document

The Optimization of a Novel Prismatic Drive

Damien Chablat , Stéphane Caro , Emilie Bouyer
Problems of Mechanics, 2007, 26 (1), pp.32-42
Article dans une revue hal-00144820 v1
Image document

Parametric stiffness analysis of the Orthoglide

Félix Majou , Clément Gosselin , Philippe Wenger , Damien Chablat
Mechanism and Machine Theory, 2007, 42 (3), pp.296-311
Article dans une revue hal-00168332 v1
Image document

Workspace Analysis of the Parallel Module of the VERNE Machine

Daniel Kanaan , Philippe Wenger , Damien Chablat
Problems of Mechanics, 2006, 25 (4), pp.26-42
Article dans une revue hal-00160062 v1
Image document

Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide

Anatol Pashkevich , Damien Chablat , Philippe Wenger
Robotica, 2006, 24 (1), pp.39-49
Article dans une revue hal-00168340 v1
Image document

Stratégies de conception pour optimiser la transmission Slide-o-cam

Damien Chablat , Jorge Angeles
Mechanics & Industry, 2006, 7, pp.301-309
Article dans une revue hal-00144857 v1
Image document

An Exhaustive Study of the Workspaces Tolopogies of all 3R Orthogonal Manipulators with Geometric Simplifications

Mazen Zein , Philippe Wenger , Damien Chablat
Mechanism and Machine Theory, 2006, 41 (8), pp.971-986. ⟨10.1016/j.mechmachtheory.2006.03.013⟩
Article dans une revue hal-00168501 v1
Image document

Sensitivity Analysis of the Orthoglide: A 3-DOF Translational Parallel Kinematic Machine

Stéphane Caro , Philippe Wenger , Fouad Bennis , Damien Chablat
Journal of Mechanical Design, 2006, 128, pp.392-402. ⟨10.1115/1.2166852⟩
Article dans une revue hal-00169005 v2
Image document

The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine

Damien Chablat , Jorge Angeles
Journal of Mechanical Design, 2006, 128 (4), pp.710-718
Article dans une revue hal-00583260 v1
Image document

A DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions

Philippe Wenger , Damien Chablat , Maher Baili
Journal of Mechanical Design, 2005, 127, pp.150-155
Article dans une revue hal-00169594 v1
Image document

Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms

Anatol Pashkevich , Philippe Wenger , Damien Chablat
Mechanism and Machine Theory, 2005, 40 (8), pp.907-930
Article dans une revue hal-00168494 v1
Image document

An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines

Damien Chablat , Philippe Wenger , Félix Majou , Jean-Pierre Merlet
The International Journal of Robotics Research, 2004, 23 (6), pp.615-624
Article dans une revue hal-00166631 v1
Image document

Haptic devices and objects, robots and mannequin simulation in a CAD-CAM software: eM-Virtual Desktop

Damien Chablat , Fouad Bennis , Bernard Hoessler , Matthieu Guibert
Mechanics & Industry, 2004, 5 (2), pp.189-197
Article dans une revue hal-00583249 v1

Geometric synthesis of orthoglide-type mechanisms

Philippe Wenger , Damien Chablat , Anatol Pashkevich
Transactions of Belarusian Engineering Academy, 2004, 17 (1), pp.69-72
Article dans une revue hal-00169635 v1
Image document

Kinematic Analysis of a Family of 3R Manipulators

Maher Baili , Philippe Wenger , Damien Chablat
Problems of Mechanics, 2004, 15 (2), pp.27-32
Article dans une revue hal-00162645 v1
Image document

A distributed Approach for Access and Visibility Task with a Manikin and a Robot in a Virtual Reality Environment

Patrick Chedmail , Damien Chablat , Christophe Le Roy
IEEE Transactions on Industrial Electronics, 2003, 50 (4), pp.692-698
Article dans une revue hal-00583208 v1
Image document

The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture

Damien Chablat , Jorge Angeles
Journal of Mechanical Design, 2003, 125 (2), pp.275-280
Article dans une revue hal-00162644 v1
Image document

Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide

Damien Chablat , Philippe Wenger
IEEE Transactions on Robotics and Automation, 2003, 19 (3), pp.403-410
Article dans une revue hal-00168179 v1
Image document

On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators

Damien Chablat , Jorge Angeles
Mechanism and Machine Theory, 2002, pp.351-374
Article dans une revue hal-00145154 v1
Image document

A Comparative Study of Parallel Kinematic Architectures for Machining Applications

Philippe Wenger , Clément Gosselin , Damien Chablat
Electronic Journal of Computational Kinematics, 2001, 1 (1), pp.23
Article dans une revue hal-01703831 v1
Image document

Séparation des Solutions aux Modèles Géométriques Direct et Inverse pour les Manipulateurs Pleinement Parallèles

Damien Chablat , Philippe Wenger
Mechanism and Machine Theory, 2001, 36 (6), pp.763-783
Article dans une revue hal-00145142 v1
Image document

Improving Welding Robotization via Operator Skill Identification, Modeling, and Human-Machine Collaboration: Experimental Protocol Implementation

Antoine Lénat , Olivier Cheminat , Damien Chablat , Camilo Charron
26TH INTERNATIONAL CONFERENCE ON HUMAN-COMPUTER INTERACTION, Jun 2024, Washington DC, United States
Communication dans un congrès hal-04460386 v1
Image document

A flexible instrument for robotic assisted minimally invasive esophagectomy

Paul Tucan , Iosif Birlescu , Alexandra Puscasu , Bogdan Gherman , Daniel Jucan et al.
9th European Conference on Mechanism Science, Sep 2024, Padova, Italy
Communication dans un congrès hal-04644139 v1
Image document

Comparison of robot morphologies and base positioning for welding applications

Nicolas Gautier , Yves Guillermit , Yazid Sebsadji , Mathieu Porez , Damien Chablat
International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, ASME, Aug 2024, Washignton DC, United States
Communication dans un congrès hal-04637286 v1
Image document

Inertial line-of-sight stabilization using a 3-dof spherical parallel manipulator with coaxial input shafts

Alexandre Lê , Guillaume Rance , Fabrice Rouillier , Damien Chablat
OPTRO2024 - 11th International Symposium on Optronics in defence & security, Jan 2024, Bordeaux, France
Communication dans un congrès hal-04483255 v1
Image document

Certified Kinematic Tools for the Design and Control of Parallel Robots (Extended abstract)

Alexandre Lê , Fabrice Rouillier , Guillaume Rance , Damien Chablat
Mechanism and Machine Theory Symposium, Jun 2024, Guimarães, Portugal
Communication dans un congrès hal-04646790 v1
Image document

A novel method for 3d workspace estimation of robotic surgical instruments in minimally invasive surgery using medical imaging data

Dhruva Khanzode , Alexandra Thomieres , Ranjan Jha , Emilie Duchalais , Damien Chablat
Mechanism and Machine Theory Symposium, Jun 2024, Guimares, Portugal
Communication dans un congrès hal-04658045 v1
Image document

The control architecture of a spherical robot for Minimally Invasive Surgery

Gabriela Rus , Nadim Al Hajjar , Paul Tucan , Ionut Zima , Calin Vaida et al.
6th IFToMM Symposium on Mechanism Design for Robotics, Jun 2024, Timişoara, Romania
Communication dans un congrès hal-04644109 v1
Image document

Enhancing Otological Surgery: Co-Designing a Parallel Robot with Surgeon Input

Durgesh Haribhau Salunkhe , Guillaume Michel , Shivesh Kumar , Damien Chablat
Workshope "Co-design in Robotics: Theory, Practice, and Challenges" (ICRA 2024), May 2024, Yokohama, Japan
Communication dans un congrès hal-04645659 v1
Image document

Trajectory planning issues in cuspidal commercial robots

Durgesh Haribhau Salunkhe , Damien Chablat , Philippe Wenger
International Conference on Robotics and Automation, IEEE, May 2023, London, United Kingdom
Communication dans un congrès hal-04055520 v1
Image document

On the development of an innovative surgical parallel robotic system

Alexandru Pusca , Iulia Andras , Andrei Cailean , Nicolae Crisan , Calin Vaida et al.
11th IEEE International Conference on E-Health and Bioengineering, Nov 2023, Bucharest (RO), Romania
Communication dans un congrès hal-04337696 v1
Image document

A New 3-Dof 2t1r Parallel Mechanism : Topology Design And Kinematics

Huiping Shen , Zhongqiu Du , Damien Chablat , Ju Li , Guanglei Wu
IDETC-CIE 2023 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, ASME, Aug 2023, Boston, France
Communication dans un congrès hal-04135310 v1
Image document

Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots

Tobias Marauli , Durgesh Haribhau Salunkhe , Hubert Gattringer , Andreas Müller , Damien Chablat et al.
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2023, Detroit, France. pp.10014-10019, ⟨10.1109/IROS55552.2023.10341420⟩
Communication dans un congrès hal-04472473 v1
Image document

Deciding Cuspidality of Manipulators through Computer Algebra and Algorithms in Real Algebraic Geometry

Damien Chablat , Rémi Prébet , Mohab Safey El Din , Durgesh Salunkhe , Philippe Wenger
ISSAC 2022 - 47th International Symposium on Symbolic and Algebraic Computation, Jul 2022, Lille, France. ⟨10.1145/3476446.3535477⟩
Communication dans un congrès hal-03596704 v3
Image document

Une nouvelle main robotique avec des doigts sous-actionnés avec des mouvement spatiaux

Damien Chablat , Franck Plestan , Michel Loïc , Hamon Pol
25e Congrès Français de Mécanique, Nantes, Aug 2022, Nantes, France
Communication dans un congrès hal-04280160 v1
Image document

Design optimization of a parallel manipulator for otological surgery

Durgesh Salunkhe , Guillaume Michel , Elise Olivier , Shivesh Kumar , Marcello Sanguineti et al.
Congrès Français de Mécanique, Aug 2022, Nantes, France
Communication dans un congrès hal-03811347 v2
Image document

Design optimization of a parallel manipulator for otological surgery

Durgesh Salunkhe , Guillaume Michel , Elise Olivier , Shivesh Kumar , Marcello Sanguineti et al.
In 2022 Workshop: "New frontiers of parallel robotics" (second edition), (ICRA-2022), May 2022, Philadelphia, United States
Communication dans un congrès hal-03757437 v1
Image document

Control of a gripper finger actuated by a pneumatic muscle: new schemes based on a model-free approach

Pol Hamon , Loïc Michel , Franck Plestan , Damien Chablat
The 9th IFAC Symposium on Mechatronic Systems (Mechatronics 2022), Sep 2022, Los Angeles, United States
Communication dans un congrès hal-03787446 v1
Image document

Une nouvelle main basée sur la conception de doigts aux mouvement spatiaux

Pol Hamon , Damien Chablat , Franck Plestan , Loïc Michel
25ème Congrès Français de Mécanique, Aug 2022, Nantes, France
Communication dans un congrès hal-03716011 v1
Image document

Stapler Design with Stacked Tensegrity Mechanisms for Surgical Procedures

Dhruva Khanzode , Ranjan Jha , Damien Chablat , Emilie Duchalais
Proceedings of the ASME 2022 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2022, Saint Louis, United States
Communication dans un congrès hal-03788641 v1
Image document

Stability analysis of tensegrity mechanism coupled with a bioinspired piping inspection robot

Swaminath Venkateswaran , Damien Chablat
47ème congrès de la Société de Biomécanique, Oct 2022, Monastir, Tunisia
Communication dans un congrès hal-03811356 v1
Image document

Cinématique d'une Prothèse de Main Myoélectrique Accessible avec Actionneur Unique et Rétropulsion Passive du Pouce

Côme Butin , Damien Chablat , Yannick Aoustin , David Gouaillier
Congrès Français de Mécanique, Aug 2022, Nantes, France
Communication dans un congrès hal-03753041 v1
Image document

Kinematic Control of compliant serial manipulators composed of dual-triangles

Wanda Zhao , Anatol Pashkevich , Alexandr Klimchik , Damien Chablat
ICCCR 2021 : International Conference on Computer, Control and Robotics, Jan 2021, Shanghai, China. pp.93-97, ⟨10.1109/ICCCR49711.2021.9349285⟩
Communication dans un congrès hal-03145096 v1
Image document

A NEW ROBOTIC HAND BASED ON THE DESIGN OF FINGERS WITH SPATIAL MOTIONS

Pol Hamon , Damien Chablat , Franck Plestan
ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference., Aug 2021, Online, United States. ⟨10.1115/DETC2021-70233⟩
Communication dans un congrès hal-03252778 v1
Image document

Trajectory Planning for a 3-SPS-U Tensegrity Mechanism

Swaminath Venkateswaran , Damien Chablat
ASME 2021 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2021, Virtual, United States
Communication dans un congrès hal-03233463 v1
Image document

Non-linear stiffness modeling of multi-link compliant serial manipulator composed of multiple tensegrity segments

Wanda Zhao , Anatol Pashkevich , Damien Chablat
IEEE 2021 International Conference on Automation Science and Engineering, Aug 2021, Lyon, France
Communication dans un congrès hal-03311948 v1
Image document

Redundancy Resolution in Kinematic Control of Serial Manipulators in Multi-Obstacle Environment

Wanda Zhao , Anatol Pashkevich , Damien Chablat
IFIP International Conference on Advances in Production Management Systems (APMS), Sep 2021, Nantes, France. pp.449-456, ⟨10.1007/978-3-030-85910-7_47⟩
Communication dans un congrès hal-03311952 v1
Image document

Stiffness Modeling of Compliant Serial Manipulators Based on Tensegrity Mechanism under External Loading

Wanda Zhao , Anatol Pashkevich , Damien Chablat
18th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Jul 2021, Paris, France. ⟨10.5220/0010506102540262⟩
Communication dans un congrès hal-03311957 v1
Image document

Safe collaboration between human and robot in a context of intermittent haptique interface

Stanley Mugisha , Matteo Zoppi , Rezia Molfino , Vamsi Guda , Christine Chevallereau et al.
ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2021, Virtual, United States
Communication dans un congrès hal-03265711 v1
Image document

Mechanics of compliant serial manipulator composed of dual-triangle segments

Damien Chablat , Wanda Zhao , Anatol Pashkevich , Alexandr Klimchik
3rd International Conference on Control and Robots, Dec 2020, Tokyo, Japan. ⟨10.18178/ijmerr⟩
Communication dans un congrès hal-02994193 v1
Image document

Stiffness Analysis of a New Tensegrity Mechanism Based on Planar Dual-triangles

Wanda Zhao , Anatol Pashkevich , Alexandr Klimchik , Damien Chablat
ICINCO 2020: 17th International Conference on Informatics in Control, Automation and Robotics, Jul 2020, Paris, France. pp.402-411, ⟨10.5220/0009803104020411⟩
Communication dans un congrès hal-03311961 v1
Image document

Design of a piping inspection robot by optimization approach

Swaminath Venkateswaran , Damien Chablat , Pol Hamon
The ASME 2020 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference,IDETC/CIE 2020, Aug 2020, Saint-Louis, Missouri, United States. ⟨10.1115/DETC2020-22021⟩
Communication dans un congrès hal-02626029 v2
Image document

Equilibrium configurations of compliant tensegrity mechanism based on planar dual-triangles

Wanda Zhao , Anatol Pashkevich , Alexandr Klimchik , Damien Chablat
ICINCO 2020: International Conference on Informatics in Control, Automation and Robotics, Jul 2020, Paris, France. pp.316-337, ⟨10.1007/978-3-030-92442-3_17⟩
Communication dans un congrès hal-03311969 v1
Image document

Shaking Force Balancing of the Delta Robot

Damien Chablat , Jing Geng , Vigen Arakelian
The ASME 2020 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, IDETC/CIE 2020, Aug 2020, Saint Louis, United States. ⟨10.1115/1.0005249v⟩
Communication dans un congrès hal-02994201 v1
Image document

The Stability and Stiffness Analysis of a Dual-Triangle Planar Rotation Mechanism

Wanda Zhao , Anatol Pashkevich , Alexandr Klimchik , Damien Chablat
ASME 2020 : International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2020, Virtual, United States. ⟨10.1115/DETC2020-22076⟩
Communication dans un congrès hal-03147414 v1
Image document

A bio-inspired 3-DOF light-weight manipulator with tensegrity X-joints

Benjamin Fasquelle , Matthieu Furet , Parag Khanna , Damien Chablat , Christine Chevallereau et al.
ICRA'2020, May 2020, Paris, France. ⟨10.1109/icra40945.2020.9196589⟩
Communication dans un congrès hal-02517339 v1
Image document

Etat de l'art des systèmes robotisés en vue d'une application pour la chirurgie otologique

M. Dreux , L Ginzburg , Philippe Bordure , Guillaume Michel , Damien Chablat
Congrès Français de Mécanique, Aug 2019, Brest, France
Communication dans un congrès hal-02264280 v1
Image document

Design and analysis of a tensegrity mechanism for a bio-inspired robot

Swaminath Venkateswaran , Matthieu Furet , Damien Chablat , Philippe Wenger
The ASME 2019 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2019, Aug 2019, Annaheim, California, United States, Aug 2019, Annaheim, CA, United States. ⟨10.1115/DETC2019-97544⟩
Communication dans un congrès hal-02189437 v1
Image document

Haptic control of the parallel robot Orthoglide

Philippe Lemoine , Pierre-Philippe P Robet , Damien Chablat , Yannick Aoustin , Maxime Gautier
24ème Congrès Français de Mécanique, CFM 2019, Aug 2019, Brest, France
Communication dans un congrès hal-02264290 v1
Image document

Prototyping a piping inspection robot using a BeagleBone black board

Swaminath Venkateswaran , Damien Chablat , Ramakrishnan Ramachandran
24éme Congrès Français de Mécanique, Aug 2019, Brest, France
Communication dans un congrès hal-02190720 v1
Image document

Topology design and analysis of a novel 3-translational parallel mechanism with analytical direct position solutions and partial motion decoupling

Boxiong Zeng , Ting-Li Yang , Huiping Shen , Damien Chablat
International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2019, Anaheim, United States. ⟨10.1115/DETC2019-97077⟩
Communication dans un congrès hal-02189152 v1
Image document

Combining precision and power to maximize performance: a case study of the woodpecker's neck

Christine Böhmer , Anick Abourachid , Philippe Wenger , Benjamin Fasquelle , Matthieu Furet et al.
44ème congrès de la Société de Biomécanique, Oct 2019, Poitiers, France. ⟨10.1080/10255842.2020.1713463⟩
Communication dans un congrès hal-02265058 v1
Image document

Analyse du besoin en assistance robotique dans la chirurgie de l'oreille

Guillaume Michel , Philippe Bordure , F Péchereau , P Schegg , Damien Chablat
Congrès Français de Mécanique, Aug 2019, Brest, France
Communication dans un congrès hal-02264282 v1
Image document

Stiffness modeling of NAVARO II transmission system

A. Klimchik , Anatol Pashkevich , Damien Chablat
9th IFAC Conference Manufacturing Modelling, Management and Control MIM, Aug 2019, Berlin, Germany. ⟨10.1016/j.ifacol.2019.11.151⟩
Communication dans un congrès hal-02217257 v1
Image document

Automatic mobility analysis of parallel mechanisms: an algorithm approach based on position and orientation characteristic equations

Xiaorong Zhu , Huiping Shen , Chengqi Wu , Damien Chablat , Tingli Yang
International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2019, Anaheim, United States. ⟨10.1115/DETC2019-97007⟩
Communication dans un congrès hal-02189159 v1
Image document

Prototype of a tensegrity manipulator to mimic bird necks

Matthieu Furet , Damien Chablat , Benjamin Fasquelle , Parag Khanna , Christine Chevallereau et al.
24ème Congrès Français de Mécanique, Aug 2019, Brest, France
Communication dans un congrès hal-02264288 v1
Image document

Modelling, design and control of a bird neck using tensegrity mechanisms

A. Abourachid , C Böhmer , Philippe Wenger , Damien Chablat , Christine Chevallereau et al.
ICRA'2019 Worskhop on Tensegrity, May 2019, Montréal, Canada
Communication dans un congrès hal-02355070 v1
Image document

Topological design of an asymmetric 3-translational parallel mechanism with zero coupling degree and motion decoupling

Huiping Shen , Chengqi Wu , Damien Chablat , Guang Wu , Ting-Li Yang
Proceedings of the International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2018, Québec, Canada. pp.V05AT07A038, ⟨10.1115/DETC2018-85709⟩
Communication dans un congrès hal-01796776 v1

Variable Actuation Modes in Parallel Manipulators: Impact on the Stiffness Behavior

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
FRUCT 2018 : 23rd Conference of Open Innovations Association, Nov 2018, Bologne, Italy. ⟨10.23919/FRUCT.2018.8588031⟩
Communication dans un congrès hal-01980669 v1

Stiffness Analysis of Parallel Manipulator NaVaRo with Dual Actuation Modes

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
RusAutoCon 2018 : International Russian Automation Conference, Sep 2018, Sotchi, Russia. ⟨10.1109/RUSAUTOCON.2018.8501754⟩
Communication dans un congrès hal-01980681 v1
Image document

NAVARO II, A new parallel robot with eight actuation modes

Damien Chablat , Luc Rolland
International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, ASME, Aug 2018, Québec, Canada. ⟨10.1115/DETC2018-85949⟩
Communication dans un congrès hal-01808509 v1

MSA - Technique for Stiffness Modeling of Manipulators with Complex and Hybrid Structures

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
SYROCO 2018 : 12TH IFAC Symposium on Robot Control, Aug 2018, Budapest, Hungary. ⟨10.1016/j.ifacol.2018.11.515⟩
Communication dans un congrès hal-01862858 v1
Image document

Kinematics and workspace analysis of a 3ppps parallel robot with u-shaped base

Damien Chablat , Luc Baron , Ranjan Jha
International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2017, Cleveland, United States. ⟨10.1115/detc2017-67087⟩
Communication dans un congrès hal-01521850 v1

Update Rates Constraints in Fixed-Panel Radar Search Pattern Optimization with Limited Time Budget

Yann Briheche , Frédéric Barbaresco , Fouad Bennis , Damien Chablat
18th International Radar Symposium IRS 2017, Jun 2017, Prague, Czech Republic. ⟨10.23919/irs.2017.8008155⟩
Communication dans un congrès hal-01559652 v1

Reduction methods for grid cover problem used in radar applications

Yann Briheche , Frédéric Barbaresco , Fouad Bennis , Damien Chablat
PGMODAYS, Nov 2017, Paris-Saclay, France
Communication dans un congrès hal-01709015 v1
Image document

Kinematics, workspace and singularity analysis of a multi-mode parallel robot

Damien Chablat , Xianwen Kong , Chengwei Zhang
International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, ASME, Aug 2017, Cleveland, United States. ⟨10.1115/DETC2017-67284⟩
Communication dans un congrès hal-01521731 v2
Image document

Influence of design parameters on the singularities and workspace of a 3-RPS parallel robot

Ranjan Jha , Damien Chablat , Luc Baron
CCToMM Symposium on Mechanisms, Machines, and Mechatronics, May 2017, Montréal, Canada
Communication dans un congrès hal-01519620 v1
Image document

A Framework for the Control of a Parallel Manipulator with Several Actuation Modes

Damien Chablat , Ranjan Jha , Stéphane Caro
14th International Conference on Industrial Informatics, Jul 2016, Poitiers, France
Communication dans un congrès hal-01313376 v1

Optimization of Radar Search Patterns for Multiple Scanning Missions in Localized Clutter

Yann Briheche , Frédéric Barbaresco , Fouad Bennis , Damien Chablat
Antenna Measurements & Applications (CAMA), 2016 IEEE Conference on, Oct 2016, Syracuse, United States. ⟨10.1109/CAMA.2016.7815761⟩
Communication dans un congrès hal-01559445 v1
Image document

New Dynamic Muscle Fatigue Model to Limit Musculo-Skeletal Disorder

Deep Seth , Damien Chablat , Bennis Fouad , Sophie Sakka , Marc Jubeau et al.
Laval virtual, Mar 2016, Laval, France
Communication dans un congrès hal-01309156 v1
Image document

Influence of the trajectory planning on the accuracy of the orthoglide 5-axis

Ranjan Jha , Damien Chablat , Fabrice Rouillier , Guillaume Moroz
ASME International Design Engineering Technical Conference and the Computer and Information in Engineering Conference (IDETC/CIE), Aug 2016, Charlotte, NC, United States
Communication dans un congrès hal-01309190 v1
Image document

Design of mechanisms with scissor linear joints for swept volume reduction

Damien Chablat , Luc Rolland
The 4 th Joint International Conference on Multibody System Dynamics, May 2016, Montréal, Canada
Communication dans un congrès hal-01309180 v1

Optimisation de la Couverture d’un Radar 3D à Balayage Électronique par Programmation Linéaire en Nombres Entiers

Yann Briheche , Frédéric Barbaresco , Fouad Bennis , Damien Chablat
18ème édition du congrès annuel de la Société Française de Recherche Opérationnelle et d'Aide à la Décision, ROADEF2017, Feb 2016, Metz, France
Communication dans un congrès hal-01559648 v1

Non-Uniform Constrained Optimization of Radar Search Patterns in Direction Cosines Space Using Integer Programming

Yann Briheche , Frédéric Barbaresco , Fouad Bennis , Damien Chablat
Radar Symposium (IRS), 2016 17th International, May 2016, Krakow, Poland. ⟨10.1109/IRS.2016.7497343⟩
Communication dans un congrès hal-01559432 v1
Image document

Estimating the EMG response exclusively to fatigue during sustained static maximum voluntary contraction

Jing Chang , Damien Chablat , Fouad Bennis , Liang Ma
7th International Conference on Applied Human Factors and Ergonomics, Jul 2016, Orlando, United States
Communication dans un congrès hal-01319907 v1
Image document

Experimental Validation of a New Dynamic Muscle Fatigue Model

Deep Seth , Damien Chablat , Sophie Sakka , Fouad Bennis
18th International Conference on Human-Computer Interaction, Jul 2016, Toronto, Canada
Communication dans un congrès hal-01309155 v1

Identification of the Dynamic Parameters of NaVARo, a parallel robot with multiple actuation modes

Alberto Landini , Stéphane Caro , Damien Chablat
The 4th Joint International Conference on Multibody System Dynamics, May 2016, Montreal, Canada
Communication dans un congrès hal-02947175 v1
Image document

ALPHA: A hybrid self-adaptable hand for a social humanoid robot

Giulio Cerruti , Damien Chablat , David Gouaillier , Sophie Sakka
IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2016, IEEE, Oct 2016, Daejeon, South Korea
Communication dans un congrès hal-01361054 v1
Image document

Kinematic Analysis and Trajectory Planning of the Orthoglide 5-Axis

Stéphane Caro , Damien Chablat , Philippe Lemoine , Philippe Wenger
International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2015, Boston, United States. ⟨10.1115/DETC2015-46292⟩
Communication dans un congrès hal-01143102 v1
Image document

Design method for an anthropomorphic hand able to gesture and grasp

Giulio Cerruti , Damien Chablat , David Gouaillier , Sophie Sakka
IEEE International Conference on Robotics and Automation, May 2015, Seattle, United States
Communication dans un congrès hal-01139344 v1
Image document

Workspace and Singularity analysis of a Delta like family robot

Ranjan Jha , Damien Chablat , Fabrice Rouillier , Guillaume Moroz
4th IFTOMM International Symposium on Robotics and Mechatronics, Jun 2015, Poitiers, France
Communication dans un congrès hal-01142465 v1
Image document

An algebraic method to check the singularity-free paths for parallel robots

Ranjan Jha , Damien Chablat , Fabrice Rouillier , Guillaume Moroz
International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, ASME, Aug 2015, Boston, United States
Communication dans un congrès hal-01142989 v1
Image document

AUTOMATIC PLACEMENT OF THE HUMAN HEAD THANKS TO ERGONOMIC AND VISUAL CONSTRAINTS

Bilal Boualem , Damien Chablat , Abdelhak Moussaoui
Proceedings of the ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2015, Boston, United States
Communication dans un congrès hal-01160624 v1
Image document

Workspace and joint space analysis of the 3-RPS parallel robot

Damien Chablat , Ranjan Jha , Fabrice Rouillier , Guillaume Moroz
ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2014, Buffalo, United States. pp.1-10
Communication dans un congrès hal-01006614 v1
Image document

Assembly Conditions of Parallel Manipulators Considering Geometric Errors, Joint Clearances, Link Flexibility and Joint Elasticity

Davide Corradi , Stéphane Caro , Damien Chablat , Philippe Cardou
2014 IEEE International Conference on Robotics and Automation (ICRA 2014), May 2014, Hong Kong, China. ⟨10.1109/ICRA.2014.6907450⟩
Communication dans un congrès hal-01941644 v1
Image document

Multi-Objective Design Optimization of the Leg Mechanism for a Piping Inspection Robot

Renaud Henry , Damien Chablat , Mathieu Porez , Frédéric Boyer , Daniel Kanaan
Proceedings of the ASME 2014 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2014, Buffalo, United States. pp.1-10
Communication dans un congrès hal-01008793 v1
Image document

Type Synthesis of Kinematically Redundant 3T1R Parallel Manipulators

Xianwen Kong , Damien Chablat , Stéphane Caro , Jingjun Yu , Clément M Gosselin
ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2013, Portland, United States. pp.V06AT07A047, ⟨10.1115/DETC2013-12575⟩
Communication dans un congrès hal-02264893 v1
Image document

Non-Singular Assembly Mode Changing Trajectories of a 6-DOF Parallel Robot

Stéphane Caro , Philippe Wenger , Damien Chablat
ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2012, Chicago, United States. pp.1-10, ⟨10.1115/DETC2012-70662⟩
Communication dans un congrès hal-00692371 v1
Image document

STABILITY OF MANIPULATOR CONFIGURATION UNDER EXTERNAL LOADING

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
Proceedings of the 11th Biennial Conference on Engineering Systems Design and Analysis, Jul 2012, Nantes, France. pp.1-10
Communication dans un congrès hal-00759865 v1
Image document

Elastostatic modeling and shape optimization of a 6-dof haptic interface device

Stéphane Caro , Damien Chablat , Chao Chen
11th Biennial Conference on Engineering Systems Design and Analysis, ASME/ESDA 2012, Jul 2012, Nantes, France. pp.1-10, ⟨10.1115/ESDA2012-82369⟩
Communication dans un congrès hal-00685896 v1
Image document

Stiffness modeling of non-perfect parallel manipulators

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Oct 2012, Vilamoura, Portugal. pp.2781-2788
Communication dans un congrès hal-00756998 v1
Image document

Stiffness Modeling of Robotic-Manipulators Under Auxiliary Loadings

Alexandr Klimchik , Anatol Pashkevich , Stéphane Caro , Damien Chablat
ASME International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE), Aug 2012, Chicago, United States. ⟨10.1115/DETC2012-70457⟩
Communication dans un congrès hal-00693154 v1
Image document

A Branch and Prune Algorithm for the Computation of Generalized Aspects of Parallel Robots

Stéphane Caro , Damien Chablat , Alexandre Goldsztejn , Daisuke Ishii , Christophe Jermann
18th international conference on Principles and Practice of Constraint Programming, 2012, Québec City, Canada. pp.867-882
Communication dans un congrès hal-02005023 v1
Image document

Cartesian stiffness matrix of manipulators with passive joints: analytical approach

Anatol Pashkevich , Alexandr Klimchik , Stéphane Caro , Damien Chablat
IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Franisco, United States. pp.1-8, ⟨10.1109/IROS.2011.6094419⟩
Communication dans un congrès hal-00610306 v1
Image document

A comparative study of 4-cable planar manipulators based on cylindrical algebraic decomposition

Damien Chablat , Erika Ottaviano , Guillaume Moroz
Proceedings of the ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2011, Washington, United States. pp.1-10
Communication dans un congrès hal-00597924 v1
Image document

Uniqueness domains and non singular assembly mode changing trajectories

Damien Chablat , Guillaume Moroz , Philippe Wenger
International Conference on Robotics and Automation, May 2011, Shanghai, China. pp.1-6
Communication dans un congrès hal-00583302 v1
Image document

Modélisation de la raideur de mécanismes parallèles possédant des boucles fermées

Damien Chablat , Alexandr Klimchik , Anatol Pashkevich
12e congrès annuel de la Société française de Recherche Opérationnelle et d'Aide à la Décision, Mar 2011, Saint Etienne, France. pp.1-2
Communication dans un congrès hal-00598317 v1
Image document

Reduced Elastodynamic Modelling of Parallel Robots for the Computation of their Natural Frequencies

Sébastien Briot , Anatol Pashkevich , Damien Chablat
13th World Congress in Mechanism and Machine Science, Jun 2011, Guanajuato, Mexico
Communication dans un congrès hal-00553090 v1
Image document

Singular surfaces and cusps in symmetric planar 3-RPR manipulators

Michel Coste , Philippe Wenger , Damien Chablat
IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Franisco, United States. pp.1453-1458, ⟨10.1109/IROS.2011.6094724⟩
Communication dans un congrès hal-00610313 v1
Image document

A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes

Abdel Kader Zaiter , Philippe Wenger , Damien Chablat
4th International Congress Design and Modeling of Mechanical Systems, May 2011, Sousse, Tunisia. pp.1-8
Communication dans un congrès hal-00598302 v1
Image document

Performance evaluation of parallel manipulators for milling application

Anatol Pashkevich , Alexandr Klimchik , Sébastien Briot , Damien Chablat
20th CIRP Design Conference, May 2010, Nantes, France. pp.1-8
Communication dans un congrès hal-00544855 v1
Image document

Cusp points in the parameter space of RPR-2PRR parallel manipulators

Guillaume Moroz , Damien Chablat , Philippe Wenger , Fabrice Rouillier
3rd European Conference on Mechanism Science : EUCOMES 2010, Sep 2010, Cluj-Napoca, Romania. pp.29-37, ⟨10.1007/978-90-481-9689-0_4⟩
Communication dans un congrès hal-00545445 v1
Image document

Stiffness Analysis of Parallel Manipulators with Preloaded Passive Joints

Anatol Pashkevich , Alexandr Klimchik , Damien Chablat
12th International Symposium on Advances in Robot Kinematics, Jun 2010, Ljubljana, Slovenia. pp.465-474
Communication dans un congrès hal-00544851 v1
Image document

Using virtual human for an interactive customer-oriented constrained environment design

Liang Ma , Ruina Ma , Damien Chablat , Fouad Bennis
IDMME / Virtual Concept, Oct 2010, Bordeaux, France. pp.1-6
Communication dans un congrès hal-00548799 v1
Image document

Integrating digital human modeling into virtual environment for ergonomic oriented design

Liang Ma , Damien Chablat , Fouad Bennis , Bo Hu , Wei Zhang
World Conference on Innovative Virtual Reality, May 2010, France. pp.1-8
Communication dans un congrès hal-00545014 v1
Image document

Technology-Oriented Optimization of the Secondary Design Parameters of Robots for High-Speed Machining Applications

Sébastien Briot , Anatol Pashkevich , Damien Chablat
ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE, Aug 2010, Montréal, Canada. pp.DETC2010-28107, ⟨10.1115/DETC2010-28107⟩
Communication dans un congrès hal-00468932 v1
Image document

Optimal Technology-Oriented Design of Parallel Robots for High-Speed Machining Applications

Sébastien Briot , Anatol Pashkevich , Damien Chablat
the 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), May 2010, Anchorage, United States
Communication dans un congrès hal-00451898 v1
Image document

Multiobjective Design Optimization of 3-PRR Planar Parallel Manipulators

Raza Ur-Rehman , Stéphane Caro , Damien Chablat , Philippe Wenger
20th CIRP Design conference, Apr 2010, Nantes, France. ⟨10.1007/978-3-642-15973-2_37⟩
Communication dans un congrès hal-00464101 v1
Image document

Comparison of Planar Parallel Manipulator Architectures based on a Multi-objective Design Optimization Approach

Damien Chablat , Stéphane Caro , Raza Ur-Rehman , Philippe Wenger
34th Annual Mechanisms and Robotics Conference (MR), Aug 2010, Montréal, Canada. pp.1-8
Communication dans un congrès hal-00545466 v1
Image document

Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators

Philippe Wenger , Damien Chablat
International Workshop on Computational Kinematics, May 2009, Duisburg, Germany. pp.1-8
Communication dans un congrès hal-00412923 v1
Image document

Nonlinear Effects in Stiffness Modeling of Robotic Manipulators

Anatol Pashkevich , Alexandr Klimchik , Damien Chablat
International Conference on Computer and Automation Technology, Oct 2009, Venise, Italy. pp.168-173
Communication dans un congrès hal-00439590 v1
Image document

On the optimal design of parallel robots taking into account their deformations and natural frequencies

Sébastien Briot , Anatol Pashkevich , Damien Chablat
ASME Design Engineering Technical Conferences, Aug 2009, San Diego, United States. pp.1-8
Communication dans un congrès hal-00411845 v1
Image document

Design optimization of parallel manipulators for high-speed precision machining applications

Anatol Pashkevich , Damien Chablat , Philippe Wenger
13th IFAC Symposium on Information Control Problems in Manufacturing, Jun 2009, Moscou, Russia. pp.1-6
Communication dans un congrès hal-00414240 v1
Image document

The eel-like robot

Frédéric Boyer , Damien Chablat , Philippe Lemoine , Philippe Wenger
ASME Design Engineering Technical Conferences, Aug 2009, San Diego, United States. pp.1-8
Communication dans un congrès hal-00411844 v2
Image document

Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis

Raza Ur-Rehman , Stéphane Caro , Damien Chablat , Philippe Wenger
Troisième Congrès International. Conception et Modélisation des Systèmes Mécaniques, Mar 2009, Hammamet, Tunisia. pp.1-8
Communication dans un congrès hal-00372622 v1
Image document

Accuracy Improvement for Stiffness Modeling of Parallel Manipulators

Anatol Pashkevich , Alexandr Klimchik , Damien Chablat , Philippe Wenger
42ème CIRP Conference on Manufacturing Systems, Jun 2009, Grenoble, France. pp.1-8
Communication dans un congrès hal-00414207 v1
Image document

Kinematic Analysis of the vertebra of an eel like robot

Damien Chablat
32nd Annual Mechanisms and Robotics Conference (MR), Aug 2008, New-York, United States. pp.1-10
Communication dans un congrès hal-00284509 v1
Image document

Framework for Dynamic Evaluation of Muscle Fatigue in Manual Handling Work

Liang Ma , Fouad Bennis , Damien Chablat , Wei Zhang
International Conference On Industrial Technology, Apr 2008, Chengdu, China. pp.1-6
Communication dans un congrès hal-00322749 v1
Image document

Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra

Daniel Kanaan , Philippe Wenger , Damien Chablat
11th International Symposium on Advances in Robot Kinematics, Jun 2008, France. pp.1-10
Communication dans un congrès hal-00322720 v1
Image document

Path Planner for Objects, Robots and Mannequins by Multi-Agents Systems or Motion Captures

Damien Chablat
International Conference on Digital Enterprise Technology, Oct 2008, Nantes, France. pp.1-10
Communication dans un congrès hal-00330776 v2
Image document

SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra

Patricia Ben-Horin , Moshe Shoham , Stéphane Caro , Damien Chablat , Philippe Wenger
Advances in Robot Kinematics, Jun 2008, Batz sur Mer, France. pp.1-10
Communication dans un congrès hal-00322730 v1
Image document

Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators

Anatol Pashkevich , Damien Chablat , Philippe Wenger
ICRA IEEE Int. Conference on Robotics and Automation, May 2008, Pasadena, United States. pp.6
Communication dans un congrès hal-00257728 v1
Image document

A new muscle fatigue and recovery model and its ergonomics application in human simulation

Liang Ma , Damien Chablat , Fouad Bennis , Wei Zhang , François Guillaume
IDMME - Virtual Concept, Oct 2008, Beijing, China. pp.1-10
Communication dans un congrès hal-00350663 v1
Image document

Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots

Ilian Bonev , Sébastien Briot , Philippe Wenger , Damien Chablat
2nd International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Sep 2008, Montpellier, France. pp.1-4
Communication dans un congrès hal-00323101 v1
Image document

Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique

Anatol Pashkevich , Damien Chablat , Philippe Wenger
5eme Assises Machines et Usinage à grande vitesse, Jun 2008, Nantes, France. pp.1-10
Communication dans un congrès hal-00340626 v1
Image document

Stiffness Analysis Of Multi-Chain Parallel Robotic Systems

Anatol Pashkevich , Damien Chablat , Philippe Wenger
9th IFAC Workshop on Intelligent Manufacturing Systems, Oct 2008, France. pp.1-6
Communication dans un congrès hal-00326672 v1
Image document

A Vision-based Computed Torque Control for Parallel Kinematic Machines

Flavien Paccot , Philippe Lemoine , Nicolas Andreff , Damien Chablat , Philippe Martinet
IEEE International Conference on Robotics and Automation, ICRA 2008, May 2008, Pasadena, United States. ISBN: 978-1-4244-1647-9, pp. 1556-1561
Communication dans un congrès hal-00330762 v1
Image document

Kinematic and Dynamic Analyses of the Orthoglide 5-axis

Raza Ur-Rehman , Stéphane Caro , Damien Chablat , Philippe Wenger
Congress on Mechatronics, May 2008, Le Grand-Bornand, France. pp.1-6
Communication dans un congrès hal-00322702 v1
Image document

Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation

Novona Rakotomanga , Damien Chablat , Stéphane Caro
Advances in Robot Kinematics, Jun 2008, France. pp.1-10
Communication dans un congrès hal-00322760 v1
Image document

Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances

Anatol Pashkevich , Philippe Wenger , Damien Chablat
ICRA, Apr 2007, Rome, Italy. pp.1-6
Communication dans un congrès hal-00164595 v1
Image document

Workspace and Kinematic Analysis of the VERNE machine

Daniel Kanaan , Philippe Wenger , Damien Chablat
AIM, Sep 2007, Zürich, Switzerland. pp.1-6
Communication dans un congrès hal-00164877 v1
Image document

Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators

Mazen Zein , Philippe Wenger , Damien Chablat
Jun 2007, Besançon, France. pp.1-6
Communication dans un congrès hal-00145398 v1
Image document

The Kinetostatic Optimization of a Novel Prismatic Drive

Damien Chablat , Stéphane Caro
12th World Congress in Mechanism and Machine Science, Jun 2007, Besançon, France. pp.1-6
Communication dans un congrès hal-00164982 v1
Image document

Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide

Anatol Pashkevich , Roman Gomolitsky , Philippe Wenger , Damien Chablat
May 2007, Angers, France. pp.1-8
Communication dans un congrès hal-00145161 v1
Image document

The Multiobjective Optimization of a Prismatic Drive

Emilie Bouyer , Stéphane Caro , Damien Chablat , Jorge Angeles
ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Sep 2007, Las Vegas, United States. pp.1-9, ⟨10.1115/DETC2007-34795⟩
Communication dans un congrès hal-00144879 v1
Image document

A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications

Mazen Zein , Philippe Wenger , Damien Chablat
Mar 2007, Monastir, Tunisia. pp.1-8
Communication dans un congrès hal-00162690 v1
Image document

Kinematics analysis of the parallel module of the VERNE machine

Daniel Kanaan , Philippe Wenger , Damien Chablat
The 12th World Congress in Mechanism and Machine Science, Jun 2007, Besançon, France. pp.1-6
Communication dans un congrès hal-00145391 v1
Image document

Global Optimization of Performance of & 2PRR Parallel Manipulator for Cooperative Tasks

Hector Moreno , Alfonso Pamanes , Philippe Wenger , Damien Chablat
3rd International Conference on Informatics in Control, Aug 2006, Setubal, Portugal. pp.1-7
Communication dans un congrès hal-00169506 v1
Image document

Working and Assembly Modes of the Agile Eye

Ilian Bonev , Damien Chablat , Philippe Wenger
IEEE International Conference On Robotics And Automation, May 2006, Orlando, United States. pp.2317-2322
Communication dans un congrès hal-00168519 v1
Image document

Kinematic analysis of the 3-RPR parallel manipulator

Damien Chablat , Philippe Wenger , Ilian Bonev
10th International Symposium on Advances in Robot Kinematics, Jun 2006, Ljubljana, Slovenia. pp.221-228
Communication dans un congrès hal-00168606 v1
Image document

A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye

Damien Chablat , Philippe Wenger
IDETC, 2006, Philadelphie, United States. pp.1-8
Communication dans un congrès hal-00164992 v1
Image document

A Framework to Illustrate Kinematic Behavior of Mechanisms by Haptic Feedback

Qinqin Zhang , Damien Chablat , Fouad Bennis , Wei Zhang
Virtual Concept, Nov 2006, Playa Del Carmen, Mexico. pp.1-6
Communication dans un congrès hal-00163753 v1
Image document

Kinematic Calibration of the Orthoglide-Type Mechanisms

Anatol Pashkevich , Damien Chablat , Philippe Wenger
2006, Saint Etienne, France. pp.1-6
Communication dans un congrès hal-00145163 v1
Image document

Singular curves and cusp points in the joint space of 3-RPR parallel manipulators

Mazen Zein , Philippe Wenger , Damien Chablat
2006, Orlando, United States. pp.1-6
Communication dans un congrès hal-00160809 v1
Image document

Animation of virtual mannequins, robot-like simulation or motion captures

Damien Chablat
Jun 2006, Paris, France. pp.1-12
Communication dans un congrès hal-00163759 v1
Image document

An Algorithm for Computing Cusp Points in the Joint Space of 3-RPR Parallel Manipulators

Mazen Zein , Philippe Wenger , Damien Chablat
European Conference on Mechanism Science, Feb 2006, Obergurgl, Austria. pp.1-12
Communication dans un congrès hal-00145468 v1
Image document

An Integrated Simulation System for Human Factors Study

Ying Wang , Wei Zhang , Fouad Bennis , Damien Chablat
The Institute of Industrial Engineers Annual Conference, May 2006, Orlando, United States. pp.1-6
Communication dans un congrès hal-00169494 v1
Image document

Balanced Virtual Humans Interacting with their Environment

Antoine Rennuit , Alain Micaelli , Xavier Merlhiot , Claude Andriot , François Guillaume et al.
Summer Computer Simulation Conference, Aug 2005, France. pp.1-7
Communication dans un congrès hal-00165095 v1
Image document

Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux

Maher Baili , Damien Chablat , Philippe Wenger
Congrès international Conception et Modélisation des Systèmes Mécaniques, Mar 2005, Hammamet, Tunisie. pp.1-12
Communication dans un congrès hal-00165061 v1
Image document

An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications

Mazen Zein , Philippe Wenger , Damien Chablat
Proceedings of CK2005, International Workshop on Computational Kinematics, May 2005, Cassino, Italy. pp.1-12
Communication dans un congrès hal-00165015 v1
Image document

Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot

Damien Chablat , Philippe Wenger
ICRA, Apr 2005, Barcelone, Spain. pp.1-6
Communication dans un congrès hal-00162717 v1
Image document

Virtual reality: A human centered tool for improving Manufacturing

Fouad Bennis , Damien Chablat , Philippe Dépincé
Virtual Concept, Nov 2005, Biarritz, France. pp.1-8
Communication dans un congrès hal-00165089 v1
Image document

Strategies for the Design of a Slide-o-Cam Transmission

Damien Chablat , Jorge Angeles
May 2005, Italy. pp.1-10
Communication dans un congrès hal-00144934 v1
Image document

A New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile Eye

Damien Chablat , Philippe Wenger
Virtual Concept, Nov 2005, France. pp.1-6
Communication dans un congrès hal-00165085 v1
Image document

Passive Control Architecture for Virtual Humans

Antoine Rennuit , Alain Micaelli , Xavier Merlhiot , Claude Andriot , François Guillaume et al.
Aug 2005, Edmonton, Canada. pp.1-6
Communication dans un congrès hal-00162733 v1
Image document

Integration of a Balanced Virtual Manikin in a Virtual Reality Platform aimed at Virtual Prototyping

Antoine Rennuit , Alain Micaelli , Xavier Merlhiot , Claude Andriot , François Guillaume et al.
Virtual Concept, Nov 2005, Biarritz, France. pp.1-9
Communication dans un congrès hal-00165075 v1
Image document

A Comparative Study between Two Three-DOF Parallel Kinematic Machines using Kinetostatic Criteria and Interval Analysis

Damien Chablat , Philippe Wenger , Jean-Pierre Merlet
Apr 2004, Tianjin, China. pp.1-6
Communication dans un congrès hal-00163905 v1
Image document

A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace

Maher Baili , Philippe Wenger , Damien Chablat
ICRA, Apr 2004, Barcelona, Spain. pp.1-6
Communication dans un congrès hal-00163907 v1
Image document

Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine

Stéphane Caro , Philippe Wenger , Fouad Bennis , Damien Chablat
ASME Design Engineering Technical Conferences, Sep 2004, Salt Lake City, United States. pp.1-10, ⟨10.1115/1.2166852⟩
Communication dans un congrès hal-00170102 v1
Image document

The Virtual Manufacturing concept: Scope, Socio-Economic Aspects and Future Trends

Damien Chablat , Philippe Dépincé , Eric Noël , Peer-Oliver Woelk
DETC, Sep 2004, Salt Lake City, United States. pp.1-6
Communication dans un congrès hal-00163908 v1
Image document

Designing a Virtual Manikin Animation Framework Aimed at Virtual Prototyping

Antoine Rennuit , Alain Micaelli , Claude Andriot , François Guillaume , Nicolas Chevassus et al.
Laval Virtual, Apr 2004, Laval, France. pp.1-10
Communication dans un congrès hal-00170017 v1
Image document

The Orthoglide: Kinematics and Workspace Analysis

Anatol Pashkevich , Damien Chablat , Philippe Wenger
2004, Sestri-Levante, Italy. pp.1-10
Communication dans un congrès hal-00145372 v1
Image document

Virtual Manufacturing : Tools for improving Design and Production

Philippe Dépincé , Damien Chablat , Peer-Oliver Woelk
CIRP International Design Seminar, 2004, Caire, Egypt. pp.1-12
Communication dans un congrès hal-00166317 v1
Image document

A Workspace based Classification of 3R Orthogonal Manipulators

Philippe Wenger , Maher Baili , Damien Chablat
2004, Sestri-Levante, Italy. pp.1-10
Communication dans un congrès hal-00145373 v1
Image document

The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator

Damien Chablat , Philippe Wenger
15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (Romansy), 2004, Montréal, Canada. pp.1-7
Communication dans un congrès hal-00144971 v1
Image document

Parametric Stiffness Analysis of the Orhtoglide

Félix Majou , Clément Gosselin , Philippe Wenger , Damien Chablat
International Symposium on Robotics, Mar 2004, Paris, France. pp.1-7
Communication dans un congrès hal-00168400 v1
Image document

The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine

Jérome Renotte , Damien Chablat , Jorge Angeles
2004, Salt Lake City, United States. pp.1-10
Communication dans un congrès hal-00144913 v1
Image document

Subjective Evaluation of Forms in an Immersive Environment

Jean-François Petiot , Damien Chablat
2003, Biarritz, France. pp.1-6
Communication dans un congrès hal-00145370 v1
Image document

A New Concept of Modular Parallel Mechanism for Machining Applications

Damien Chablat , Philippe Wenger
2003, Taipei, Taiwan. pp.1-6
Communication dans un congrès hal-00145368 v1
Image document

Classification of one family of 3R positioning Manipulators

Maher Baili , Philippe Wenger , Damien Chablat
The 11Th International Conference on Advanced Robotics, 2003, Coimbra, Portugal. pp.1-6
Communication dans un congrès hal-00145367 v1
Image document

The Optimal Design of Three Degree-of-Freedom Parallel Mechanisms for Machining Applications

Damien Chablat , Philippe Wenger , Félix Majou
ICRA, 2003, Coimbra, Portugal. pp.1-6
Communication dans un congrès hal-00145366 v1
Image document

Realistic Rendering of Kinetostatic Indices of Mechanisms

Damien Chablat , Fouad Bennis
2003, Biarritz, France. pp.1-8
Communication dans un congrès hal-00145369 v1
Image document

Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide

Sylvain Guegan , Wisama Khalil , Damien Chablat , Philippe Wenger
CIFA, Jul 2002, Nantes, France. pp.1-6
Communication dans un congrès hal-00162630 v1
Image document

Robots à Architecture Complexe : De la Conception à la Performance et l'Autonomie

Nicolas Andreff , Belhassen-Chedli Bouzgarrou , Etienne Dombre , Damien Chablat , Olivier Company et al.
ROBEA 2002 - 2es Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, 2002, Toulouse, France. pp.7-11
Communication dans un congrès lirmm-00268624 v1
Image document

Workspace Analysis of the Orthoglide using Interval Analysis

Damien Chablat , Philippe Wenger , Jean-Pierre Merlet
2002, Caldes de Malavella, Spain. pp.1-10
Communication dans un congrès hal-00145304 v1
Image document

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators

Damien Chablat , Philippe Wenger , Stéphane Caro , Jorge Angeles
ASME 29th Design Automation Conference, Sep 2002, Montreal, Canada. pp.1-6, ⟨10.1115/DETC2002/MECH-34268⟩
Communication dans un congrès hal-00168513 v1
Image document

Design of a 3 Axis Parallel Machine Tool for High Speed Machining: The Orthoglide

Félix Majou , Philippe Wenger , Damien Chablat
IDMME, 4ème conférence internationale sur la conception et la fabrication intégrées en mécanique, May 2002, Clermont-Ferrand, France. pp.1-10
Communication dans un congrès hal-00145262 v1
Image document

Périphériques haptiques et simulation d'objets, de robots et de mannequins dans un environnement de CAO-Robotique : eM-Virtual Desktop

Damien Chablat , Fouad Bennis , Bernard Hoessler , Matthieu Guibert
2002, Biarritz, France. pp.51-56
Communication dans un congrès hal-00145274 v1
Image document

Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide

Philippe Wenger , Damien Chablat
2002, Québec, Canada. pp.1-9
Communication dans un congrès hal-00145281 v1
Image document

A Novel method for the design of 2-DOF Parallel mechanisms for machining applications

Félix Majou , Philippe Wenger , Damien Chablat
2002, Caldes de Malavella, Spain. pp.1-11
Communication dans un congrès hal-00145299 v1
Image document

L'orthoglide : une machine-outil rapide d'architecture parallèle isotrope

Philippe Wenger , Damien Chablat , Félix Majou
2ème Assises Machines et Usinage à Grande Vitesse, Mar 2002, France. pp.1-9
Communication dans un congrès hal-00165111 v1
Image document

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators

Damien Chablat , Stéphane Caro , Philippe Wenger , Jorge Angeles
2002, Clermont-Ferrand, France. pp.1-10
Communication dans un congrès hal-00145264 v1
Image document

The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture

Damien Chablat , Jorge Angeles
WCK, May 2001, Séoul, South Korea. pp.1-10
Communication dans un congrès hal-00165168 v1
Image document

A distributed Approach for Access and Visibility Task under Ergonomic Constraints with a Manikin in a Virtual Reality Environment

Florence Bidault , Damien Chablat , Patrick Chedmail , Laurent Pino
ROMAN, Sep 2001, Bordeaux, France. pp.1-6
Communication dans un congrès hal-00162576 v1
Image document

A Comparative Study of Parallel Kinematic Architectures for Machining Applications

Philippe Wenger , Clément Gosselin , Damien Chablat
WCK, May 2001, Séoul, South Korea. pp.1-6
Communication dans un congrès hal-00165167 v1
Image document

The Design of Parallel Kinematic Machine Tools Using Kinetostatic Performance Criteria

Félix Majou , Philippe Wenger , Damien Chablat
The 3rd INTERNATIONAL CONFERENCE ON METAL CUTTING AND HIGH SPEED MACHINING, 2001, Metz, France. pp.1-10
Communication dans un congrès hal-00145122 v1
Image document

On Isotropic Sets of Points in the Plane. Application to the Design of Robot Archirectures

Jorge Angeles , Damien Chablat
ARK, 2000, pp.1-10
Communication dans un congrès hal-00145119 v1
Image document

A New Three-DOF Parallel Mechanism: Milling Machine Applications

Damien Chablat , Philippe Wenger
2000, Chemnitz, Germany. pp.1-9
Communication dans un congrès hal-00145120 v1
Image document

Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide

Philippe Wenger , Damien Chablat
ARK, 2000, Slovenia. pp.1-11
Communication dans un congrès hal-00165169 v1
Image document

Conception Isotropique d'une morphologie parallèle : Application à l'usinage

Damien Chablat , Philippe Wenger , Jorge Angeles
IDMME, May 2000, Montréal, Canada. pp.1-10
Communication dans un congrès hal-00162571 v1
Image document

La parcourabilité pour les manipulateurs pleinement parallèles

Damien Chablat , Philippe Wenger
La Plagne AIP-Priméca, 1999, La Plagne, France. pp.1-8
Communication dans un congrès hal-00145086 v1
Image document

On the characterization of the regions of feasible trajectories in the workspace of parallel manipulators

Damien Chablat , Philippe Wenger
Tenth World Congress On The Theory Of Machines And Mechanisms, Jun 1999, Oulu, Finland. pp.1-6
Communication dans un congrès hal-00428530 v1
Image document

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

Damien Chablat , Philippe Wenger
Tenth World Congress on the Theory of Machines and Mechanisms, Jun 1999, Oulu, Finland. pp.1-6
Communication dans un congrès hal-00145125 v1
Image document

The Kinematics of Manipulators Built From Closed Planar Mechanisms

Leonid Slutski , Damien Chablat , Jorge Angeles
International Conference on Advanced Intelligent Mechatronics, Aug 1999, Atlanta, United States. pp.531-536, ⟨10.1109/AIM.1999.803226⟩
Communication dans un congrès hal-00162227 v1
Image document

The Isoconditioning Loci of A Class of Closed-Chain Manipulators

Damien Chablat , Philippe Wenger , Jorge Angeles
May 1998, Bruxelle, Belgium. pp.1970-1976
Communication dans un congrès hal-00162274 v1
Image document

Working Modes and Aspects in Fully-Parallel Manipulator

Damien Chablat , Philippe Wenger
International Conference on Robotics and Automation, May 1998, Bruxelle, Belgium. pp.1964-1969, ⟨10.1109/ROBOT.1998.680601⟩
Communication dans un congrès hal-00162268 v1
Image document

Moveability and Collision Analysis for Fully-Parallel Manipulators

Damien Chablat , Philippe Wenger
RoManSy, Jul 1998, Paris, France. pp.1-8
Communication dans un congrès hal-00162334 v1
Image document

The Kinematic design of a 3-dof Hybrid Manipulator

Damien Chablat , Philippe Wenger , Jorge Angeles
Integrated Design and Manufacturing in Mechanical Engineering, 1998, Compiègne, France. pp.1-8
Communication dans un congrès hal-00145047 v1
Image document

Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study

Philippe Wenger , Damien Chablat
ARK, 1998, Austria. pp.117-126
Communication dans un congrès hal-00162563 v1
Image document

Uniqueness Domains in the Workspace of Parallel Manipulators

Philippe Wenger , Damien Chablat
1997, Nantes, France. pp.1-6
Communication dans un congrès hal-00145036 v1
Image document

Definition sets for the Direct Kinematics of Parallel Manipulators

Philippe Wenger , Damien Chablat
8th International Conference in Advanced Robotics, Jul 1997, Monterey, United States. pp.859 - 864, ⟨10.1109/ICAR.1997.620282⟩
Communication dans un congrès hal-00144986 v1

Stiffness Modeling of Parallel Robots

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat
Springer, 1, 248 p., 2025, Parallel Robots: Theory and Applications, 978-3031763199
Ouvrages hal-04960170 v1
Image document

Kinematic analysis of a parallel robot for minimally invasive surgery

Calin Vaida , Bogdan Gherman , Iosif Birlescu , Paul Tucan , Alexandru Pusca et al.
19th International Symposium on Advances in Robot Kinematics, Springer, 2024
Chapitre d'ouvrage hal-04596568 v1
Image document

Design of a flexible bio-inspired robot for inspection of pipelines

Swaminath Venkateswaran , Damien Chablat
Biologically Inspired Series-Parallel Hybrid Robots: Design, Analysis, and Control, Elsevier, pp.427-449, 2024, 978-0323884822. ⟨10.1016/B978-0-32-388482-2.00030-5⟩
Chapitre d'ouvrage hal-04861021 v1
Image document

Workspace Analysis for Laparoscopic Rectal Surgery : A Preliminary Study

Alexandra Thomieres , Dhruva Khanzode , Emilie Duchalais , Ranjan Jha , Damien Chablat
33rd International Conference on Robotics in Alpe-Adria-Danube Region, 2024
Chapitre d'ouvrage hal-04462315 v1
Image document

On a Software Joint Velocity Limitation of a Spherical Parallel Manipulator with Coaxial Input Shafts

Alexandre Lê , Guillaume Rance , Fabrice Rouillier , Arnaud Quadrat , Damien Chablat
Jadran Lenarčič; Manfred Husty. Advances in Robot Kinematics, 31, Springer, pp.43 - 52, 2024, Springer Proceedings in Advanced Robotics, ⟨10.1007/978-3-031-64057-5_6⟩
Chapitre d'ouvrage hal-04645118 v1
Image document

Accuracy and repeatability of a parallel robot for personalised minimally invasive surgery

Doina Pisla , Paul Tucan , Damien Chablat , Nadim Al Hajjar , Andra Ciocan et al.
33rd International Conference on Robotics in Alpe-Adria-Danube Region, Springer, 2024
Chapitre d'ouvrage hal-04548641 v1
Image document

Continuous-Time Robust Control for Cancer Treatment Robots

Vlad Mihaly , Iosif Birlescu , Mircea Şuşcă , Damien Chablat , Petru Dobra
Advances in Service and Industrial Robotics, 157, Springer Nature Switzerland, pp.175-183, 2024, Mechanisms and Machine Science, ⟨10.1007/978-3-031-59257-7_19⟩
Chapitre d'ouvrage hal-04658061 v1
Image document

Mixed-Reality-Guided Teleoperation of a Collaborative Robot for Surgical Procedures

Gabriela Rus , Nadim Al Hajjar , Paul Tucan , Andra Ciocan , Calin Vaida et al.
33rd International Conference on Robotics in Alpe-Adria-Danube Region, 2024
Chapitre d'ouvrage hal-04462118 v1
Image document

Design of a surgical stapler for laparoscopic colectomy

Dhruva Khanzode , Ranjan Jha , Alexandra Thomieres , Emilie Duchalais , Damien Chablat
8th International Workshop on New Trends in Medical and Service Robots, Springer, 2023
Chapitre d'ouvrage hal-04029163 v1
Image document

Introduction of a Cobot as intermittent haptic contact interfaces in virtual reality

V. Guda , Stanley Mugisha , Christine Chevallereau , Damien Chablat
25th International conference on human-computer interaction, 14028, Springer Nature Switzerland, pp.497-509, 2023, Lecture Notes in Computer Science, 978-3-031-35740-4. ⟨10.1007/978-3-031-35741-1_36⟩
Chapitre d'ouvrage hal-04055526 v1
Image document

Stacked Tensegrity Mechanism for Medical Application

Dhruva Khanzode , Ranjan Jha , Emilie Duchalais , Damien Chablat
Oscar Altuzarra - Andrés Kecskeméthy. Advances in Robot Kinematics 2022, Springer, pp.139-148, 2022, 978-3-031-08139-2. ⟨10.1007/978-3-031-08140-8_16⟩
Chapitre d'ouvrage hal-03624828 v1
Image document

Trajectory planning in Dynamics Environment : Application for Haptic Perception in Safe HumanRobot Interaction

A Gutierrez , V K Guda , S Mugisha , C Chevallereau , Damien Chablat
Vincent G. Duffy. Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management, Springer, Cham, pp.313-328, 2022, ⟨10.1007/978-3-031-06018-2_22⟩
Chapitre d'ouvrage hal-03583589 v1
Image document

Design of a robot for the automatic charging of an electric car

Damien Chablat , Riccardo Mattacchione , Erika Ottaviano
Andrés Kecskeméthy, Vincenzo Parenti-Castelli. ROMANSY 24 - Robot Design, Dynamics and Control, CISM International Centre for Mechanical Sciences Courses and Lectures (6), Springer, pp.311-321, 2022, 978-3-031-06408-1. ⟨10.1007/978-3-031-06409-8_33⟩
Chapitre d'ouvrage hal-03624780 v1
Image document

Evaluating the Risk of Muscle Injury in Football-kicking Training with OpenSim

Jing Chang , Wenrui Wang , Damien Chablat , Fouad Bennis
Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Human Body, Motion and Behavior, 2021, 978-3-030-77816-3
Chapitre d'ouvrage hal-03173264 v1
Image document

Shaking Force Balancing of the Orthoglide

Jing Geng , Vigen Arakelian , Damien Chablat
In: Zeghloul S., Laribi M., Sandoval Arevalo J. (eds) Advances in Service and Industrial Robotics. RAAD 2020. Mechanisms and Machine Science, vol 84. Springer, pp.227-234, 2020, 2211-0984. ⟨10.1007/978-3-030-48989-2_25⟩
Chapitre d'ouvrage hal-02882988 v1
Image document

Branch-and-Bound Method for Just-in-Time Optimization of Radar Search Patterns

Yann Briheche , Frédéric Barbaresco , Fouad Bennis , Damien Chablat
Nature-Inspired Methods for Metaheuristics Optimization, pp.465-488, 2020, ⟨10.1007/978-3-030-26458-1_25⟩
Chapitre d'ouvrage hal-02474341 v1
Image document

Joint space and workspace analysis of a 2-DOF Spherical Parallel Mechanism

Guillaume Michel , Philippe Bordure , Ranjan Jha , Swaminath Venkateswaran , Damien Chablat
New Trends in Mechanism and Machine Science, 2020, ⟨10.1007/978-3-030-55061-5_21⟩
Chapitre d'ouvrage hal-02568293 v1
Image document

Evaluating the Effect of Crutch-using on Trunk Muscle Loads

Jing Chang , Wenrui Wang , Damien Chablat , Fouad Bennis
22nd International Conference on Human-Computer Interaction, 2020
Chapitre d'ouvrage hal-02910387 v1
Image document

Investigation of the stresses exerted by an exosuit of a human arm

Morgan Langard , Yannick Aoustin , Vigen Arakelian , Damien Chablat
Advanced Technologies in Robotics and Intelligent Systems, Mechanisms and Machine Science 80., 2020
Chapitre d'ouvrage hal-02365461 v1
Image document

Using Maple to analyse parallel robots

Damien Chablat , Guillaume Moroz , Fabrice Rouillier , Philippe Wenger
Jürgen Gerhard; Ilias Kotsireas. Maple in Mathematics Education and Research, Springer, Cham, pp.50-64, 2020, Maple in Mathematics Education and Research, 978-3-030-41257-9. ⟨10.1007/978-3-030-41258-6_4⟩
Chapitre d'ouvrage hal-02289699 v1
Image document

Singularity and workspace analysis of 3-SPS-U and 4-SPS-U tensegrity mechanisms

Swaminath Venkateswaran , Damien Chablat
Advances in Robot Kinematics 2020, 15, 2020, ⟨10.1007/978-3-030-50975-0_28⟩
Chapitre d'ouvrage hal-02568290 v1
Image document

A new RCM mechanism for an ear and facial surgical application

Guillaume Michel , Durgesh H Salunkhe , Damien Chablat , Philippe Bordure
Advances in Service and Industrial Robotics, 84, Springer, pp.408-418, In press, Advances in Service and Industrial Robotics, 978-3-030-48988-5. ⟨10.1007/978-3-030-48989-2_44⟩
Chapitre d'ouvrage hal-02568263 v1
Image document

Safety in a Human Robot Interactive: Application to Haptic Perception

Vamsi Krishna K Guda , Damien Chablat , Christine Chevallereau
Virtual, Augmented and Mixed Reality. Design and Interaction, pp.562-574, 2020, ⟨10.1007/978-3-030-49695-1_38⟩
Chapitre d'ouvrage hal-02994640 v1
Image document

A Full-chain OpenSim Model and Its Application on Posture Analysis of an Overhead Drilling Task

Jing Chang , Damien Chablat , Fouad Bennis , Liang Ma
Vincent G. Duffy. Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Human Body and Motion, 11581, Springer, Cham, 2019, Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Human Body and Motion, 978-3-030-22215-4
Chapitre d'ouvrage hal-02014992 v1
Image document

A new inspection robot for pipelines with bends and junctions

Swaminath Venkateswaran , Damien Chablat
Tadeusz Uhl. Advances in Mechanism and Machine Science, 73, Springer, Cham, pp.33-42, 2019, Mechanisms and Machine Science, 978-3-030-20130-2. ⟨10.1007/978-3-030-20131-9_4⟩
Chapitre d'ouvrage hal-02098350 v1
Image document

Key Features of the Coupled Hand-operated Balanced Manipulator (HOBM) and Lightweight Robot (LWR)

Yang Zhang , Vigen Arakelian , Baptiste Veron , Damien Chablat
Advances in Mechanism and Machine Science, Springer, Cham, pp.2289-2298, 2019
Chapitre d'ouvrage hal-02264268 v1
Image document

Dynamic Model of a Bio-Inspired Robot for Piping Inspection

Damien Chablat , Swaminath Venkateswaran , Frédéric Boyer
Vigen Arakelian, Philippe Wenger. ROMANSY 22 – Robot Design, Dynamics and Control, 584, Springer, Cham, pp.42-51, 2018, CISM International Centre for Mechanical Sciences (Courses and Lectures), 978-3-319-78962-0. ⟨10.1007/978-3-319-78963-7_7⟩
Chapitre d'ouvrage hal-01807189 v1
Image document

Self-Motion of the 3-PPPS Parallel Robot with Delta-Shaped Base

Damien Chablat , E Ottaviano , Swaminath Venkateswaran
EuCoMeS 2018, Mechanisms and Machine Science, pp.317-324, 2018, 978-3-319-98019-5. ⟨10.1007/978-3-319-98020-1_37⟩
Chapitre d'ouvrage hal-01808551 v1
Image document

Hidden cusps

Michel Coste , Philippe Wenger , Damien Chablat
Jadran Lenarcic; Jean-Pierre Merlet. Advances in Robot Kinematics 2016, 4, Springer, pp.129-138, 2018, Springer Proceedings in Advanced Robotics, 978-3-319-56801-0. ⟨10.1007/978-3-319-56802-7_14⟩
Chapitre d'ouvrage hal-01309185 v1
Image document

Advancement of MSA-technique for stiffness modeling of serial and parallel robotic manipulators

Alexandr Klimchik , Damien Chablat , Anatol Pashkevich
ROMANSY 22–Robot Design, Dynamics and Control, Springer, Cham, pp.355-362, 2018, ⟨10.1007/978-3-319-78963-7_45⟩
Chapitre d'ouvrage hal-01800044 v1
Image document

The 3-PPPS parallel robot with U-shape Base, a 6-DOF parallel robot with simple kinematics

Damien Chablat , Luc Baron , Ranjan Jha , Luc Rolland
Advances in Robot Kinematics 2018, 2018, 978-3-319-93187-6. ⟨10.1007/978-3-319-93188-3_23⟩
Chapitre d'ouvrage hal-01782286 v1
Image document

Using 3D Scan to Determine Human Body Segment Mass in OpenSim Model

Jing Chang , Damien Chablat , Liang Ma , Fouad Bennis
Digital Human Modeling. Applications in Health, Safety, Ergonomics, and Risk Management, 10917, 2018, Lecture Notes in Computer Science, 978-3-319-91396-4. ⟨10.1007/978-3-319-91397-1_3⟩
Chapitre d'ouvrage hal-01771866 v1
Image document

Muscle Fatigue Analysis Using OpenSim

Jing Chang , Damien Chablat , Fouad Bennis , Liang Ma
Digital Human Modeling. Applications in Health, Safety, Ergonomics, and Risk Management: Ergonomics and Design, 10286, Springer, Cham, 2017, 978-3-319-58462-1. ⟨10.1007/978-3-319-58463-8_9⟩
Chapitre d'ouvrage hal-01521854 v1
Image document

Kinetostatic Analysis and Solution Classification of a Planar Tensegrity Mechanism

Philippe Wenger , Damien Chablat
Computational Kinematics. Mechanisms and Machine Science, 50, Springer, Cham, 2017, 978-3-319-60866-2. ⟨10.1007/978-3-319-60867-9_48⟩
Chapitre d'ouvrage hal-01525686 v1
Image document

Optimal Motion of Flexible Objects with Oscillations Elimination at the Final Point

Natalia Varminska , Damien Chablat
New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, Springer, Cham, pp.281-291, 2016, 978-3-319-44155-9. ⟨10.1007/978-3-319-44156-6_29⟩
Chapitre d'ouvrage hal-01327787 v1
Image document

Kinematic and Dynamic Modeling of a Parallel Manipulator with Eight Actuation Modes

Stéphane Caro , Damien Chablat , Philippe Wenger , Xianwen Kong
New Trends in Medical and Service Robots, pp.315 - 329, 2014, 978-3-319-05431-5. ⟨10.1007/978-3-319-05431-5_21⟩
Chapitre d'ouvrage hal-01592330 v1
Image document

Stiffness modeling of robotic manipulator with gravity compensator

Alexandr Klimchik , Stéphane Caro , Yier Wu , Damien Chablat , Benoît Furet et al.
Thomas F.; Perez Gracia A. Mechanisms and Machine Science, 15, Springer, Dordrecht, pp.161-168, 2014, 978-94-007-7213-7. ⟨10.1007/978-94-007-7214-4_21⟩
Chapitre d'ouvrage hal-00909555 v1
Image document

Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot

Damien Chablat , Ranjan Jha , Fabrice Rouillier , Guillaume Moroz
Jadran Lenarčič, Oussama Khatib. Advances in Robot Kinematics, Springer, pp.149 - 159, 2014, 978-3-319-06697-4
Chapitre d'ouvrage hal-00956325 v1
Image document

Nonsingular change of assembly mode without any cusp

Michel Coste , Damien Chablat , Philippe Wenger
Jadran Lenarcic; Oussama Khatib. Advances in Robot Kinematics, Springer, pp.105-112, 2014, 978-3-319-06697-4. ⟨10.1007/978-3-319-06698-1_12⟩
Chapitre d'ouvrage hal-00959842 v1
Image document

Compensation of compliance errors in parallel manipulators composed of non-perfect kinematic chains

Alexandr Klimchik , Anatol Pashkevich , Damien Chablat , Geir Hovland
Lenarcic J., Husty M. Latest Advances in Robot Kinematics, Springer, Dordrecht, pp.51-58, 2012, 978-94-007-4620-6
Chapitre d'ouvrage hal-00686239 v1
Image document

Human Muscle Fatigue Model in Dynamic Motions

Ruina Ma , Damien Chablat , Fouad Bennis , Liang Ma
Latest Advances in Robot Kinematics, Springer, Dordrecht, pp.349-356, 2012, 978-94-007-4620-6. ⟨10.1007/978-94-007-4620-6_44⟩
Chapitre d'ouvrage hal-00686180 v1
Image document

Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation

Sébastien Briot , Vigen Arakelian , Damien Chablat , Philippe Wenger
Romansy 19 – Robot Design, Dynamics and Control, Springer, pp.109-116, 2012, CISM International Centre for Mechanical Sciences, 978-3-7091-1378-3. ⟨10.1007/978-3-7091-1379-0_14⟩
Chapitre d'ouvrage hal-00687694 v1
Image document

A new approach to muscle fatigue evaluation for Push/Pull task

Ruina Ma , Damien Chablat , Fouad Bennis
Romansy 19 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, Springer, Vienna, pp.309-316, 2012, 978-3-7091-1378-3
Chapitre d'ouvrage hal-00705172 v1
Image document

Solution regions in the parameter space of a 3-RRR decoupled robot for a prescribed workspace

Damien Chablat , Guillaume Moroz , Vigen Arakelian , Sébastien Briot , Philippe Wenger
Lenarcic J., Husty M. Latest Advances in Robot Kinematics, Springer, Dordrecht, pp.357-364, 2012, 978-94-007-4619-0
Chapitre d'ouvrage hal-00687005 v1
Image document

Perturbation of symmetric 3-RPR manipulators and asymptotic singularities

Michel Coste , Damien Chablat , Philippe Wenger
F. Viadero, M. Ceccarelli. New Trends in Mechanism and Machine Science, Springer, pp.23--31, 2012, Mechanisms and Machine Science vol. 7, 978-94-007-4901-6. ⟨10.1007/978-94-007-4902-3⟩
Chapitre d'ouvrage hal-00674039 v1
Image document

A framework of motion capture system based human behaviours simulation for ergonomic analysis

Ruina Ma , Damien Chablat , Fouad Bennis , Liang Ma
HCI International 2011 – Posters’ Extended Abstracts, 174, pp.360-364, 2011, Communications in Computer and Information Science, 978-3-642-22094-4
Chapitre d'ouvrage hal-00583300 v1
Image document

Singularity Analysis of a Six-dof Parallel Manipulator using Grassmann-Cayley Algebra and Gröbner Bases

Stéphane Caro , Guillaume Moroz , Thibault Gayral , Damien Chablat , Chao Chen
Angeles J., Boulet B., Clark J.J., Kövecses J., Siddiqi K. Brain, Body and Machine. Advances in Intelligent and Soft Computing, 83, pp.341-352, 2010, 978-3-642-16258-9. ⟨10.1007/978-3-642-16259-6_26⟩
Chapitre d'ouvrage hal-00545747 v1
Image document

Stiffness modelling of parallelogram-based parallel manipulators

Anatol Pashkevich , Alexandr Klimchik , Stéphane Caro , Damien Chablat
Pisla D., Ceccarelli M., Husty M., Corves B. New Trends in Mechanism Science. Mechanisms and Machine Science, 5, Springer, Dordrecht, pp.675-682, 2010, 978-90-481-9688-3
Chapitre d'ouvrage hal-00545384 v1
Image document

Joint space and workspace analysis of a two-DOF closed-chain manipulator

Damien Chablat
V. Parenti-Castelli, W. Schiehlen. ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, Springer, Vienna, pp.81-90, 2010, 978-3-7091-0276-3. ⟨10.1007/978-3-7091-0277-0_9⟩
Chapitre d'ouvrage hal-00545489 v1
Image document

Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations

Anatol Pashkevich , Damien Chablat , Philippe Wenger , Roman Gomolitsky
Jee-Hwan Ryu. Parallel Manipulators, New Developments, I-Tech Education and Publishing, pp.225-240, 2008
Chapitre d'ouvrage hal-00428919 v1
Image document

Kinematic calibration of orthoglide-type mechanisms

Anatol Pashkevich , Damien Chablat , Philippe Wenger
Alexandre Dolgui, Gérard Morel and Carlos E. Pereira. Information Control Problems in Manufacturing 2006, Elsevier, pp.149-154, 2006, A Proceedings Volume from the 12th IFAC Conference 17-19 May 2006, Saint-Etienne, France
Chapitre d'ouvrage hal-00186773 v1
Image document

The Isoconditioning Loci of Planar Three-Dof Parallel Manipulators

Stéphane Caro , Damien Chablat , Philippe Wenger , Jorge Angeles
Recent Advances in Integrated Design and Manufacturing in Mechanical Engineering, Kluwer, pp.129-138, 2006, ⟨10.1007/978-94-017-0161-7_13⟩
Chapitre d'ouvrage hal-00463599 v1
Image document

Robot anguille sous-marin en 3D

Frédéric Boyer , Mazen Alamir , Damien Chablat , Wisama Khalil , Alban Leroyer et al.
Techniques de l'Ingénieur, Edition Techniques de l'Ingénieur, pp.S 7 856: 1-16, 2006, ⟨10.51257/a-v1-s7856⟩
Chapitre d'ouvrage hal-00186672 v1

Système automatisé pour la chirurgie mini-invasive assistée par robot

Doina Pisla , Damien Chablat , Iosif Birlescu , Calin Vaida , Alexandru Pusca et al.
France, Patent n° : FR2414038. 2024
Brevet hal-04932662 v1

AUTOMATIC INSTRUMENT FOR ROBOT-ASSISTED MINIMALLY INVASIVE SURGERY

Doina Pisla , Damien Chablat , Iosif Birlescu , Calin Vaida , Alexandru Pusca et al.
Romania, Patent n° : RO138293A0. 2024, pp.15
Brevet hal-04698696 v1

Système robotique parallèle pour la chirurgie mini-invasive du pancréas

Calin Vaida , Bogdan Gherman , Paul Tucan , Iosif Birlescu , Doina Pisla et al.
France, Patent n° : FR2414265. 2024
Brevet hal-04932701 v1

Hand intended to equip a humanoid robot

Giulio Cerruti , Vincent Clerc , Damien Chablat , David Gouaillier
United States, Patent n° : US 11,376,746. 2022
Brevet hal-03815581 v1

A Mobile X-Ray Imaging System Including a Parallel Robotic Structure

Carlos Martinez Ferreira , Adolfo Suarez Roos , Stéphane Caro , Damien Chablat
United States, Patent n° : US 10,820,871 B1. 2020
Brevet hal-02530508 v1

Dispositif d’aide à la chirurgie

Damien Chablat , Guillaume Michel , Philippe Bordure
France, N° de brevet: FR 3100969. 2019
Brevet hal-02530499 v1

Système et procédé de branchement d’un organe de connexion à un organe de connexion complémentaire porté par un véhicule automobile

Ahmed Ketfi-Cherif , Damien Chablat , Philippe Wenger , Malek Ghanes
France, N° de brevet: 1852014. 2018
Brevet hal-01862805 v1

Robot de soudage

Damien Chablat , Paul Yvain
France, N° de brevet: 1856274. 2018
Brevet hal-01862807 v1

Main destinée à équiper un robot à caractère humanoïde

Giulio Cerruti , Damien Chablat , Vincent Clerc , David Gouaillier
France, Patent n° : WO2018007346. REV_HCERES2020. 2016
Brevet hal-01703838 v1

Procédé et dispositif de drapage et de soudage d’une bande textile comprenant un chauffage par micro-ondes

Damien Chablat , Guillaume François , Paul Yvain
France, N° de brevet: FR3033728A1. REV_HCERES2020. 2015
Brevet hal-02526055 v1

Procédé de perçage et machine pour la mise en oeuvre de ce procédé

Damien Chablat , Philippe Le Vacon
France, N° de brevet: FR1463186. 2014
Brevet hal-01170024 v1

Interface tangible pour environnement virtuel

Paul Yvain , Damien Chablat , François Guillaume
France, N° de brevet: FR1461393. 2014
Brevet hal-01170023 v1

Procédé de détermination quantitative de fatigue musculaire induite par une activité

François Guillaume , Damien Chablat , Fouad Bennis , Liang Ma
France, N° de brevet: FR2936642. 2010, pp.43
Brevet hal-00547913 v1

Dispositif de déplacement et d'orientation d'un objet dans l'espace et utilisation en usinage rapide

Damien Chablat , Philippe Wenger
France, Patent n° : FR2850599. 2003, pp.27
Brevet hal-00186783 v1