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Damien Chablat

CNRS Research Director at the Laboratory of Digital Sciences in Nantes (LS2N) - Robotics Project Manager at the National Research Agency (ANR)
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Presentation

Damien Chablat received the PhD degrees in Génie Mécanique from the Ecole Centrale de Nantes and University of Nantes, France in 1998. During one year, he worked in the Centre of Intelligent Machines in McGill University with the Prof. Angeles. He joined the CNRS (Centre National de la Recherche Scientifique) in 1999. He became CNRS senior researcher in 2011 and works now in the ROMAS team at Laboratoire des Sciences du Numérique de Nantes. His research interests include robotics, design of parallel manipulator and human fatigue evaluation for industrial tasks. Since February 2023, he has been responsible for robotics action for the French national research agency (ANR).
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

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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⟩
Journal articles hal-04458181v1
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Design of an Efficient Non-Backdrivable Mechanism with Wrap Spring for Hand Prosthesis

Côme Butin , Yannick Aoustin , David Gouaillier , Damien Chablat
Journal of Mechanisms and Robotics, inPress, 16, ⟨10.1115/1.4064739⟩
Journal articles hal-04533343v1
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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⟩
Journal articles hal-04045194v1
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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⟩
Journal articles hal-03625182v1
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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⟩
Journal articles hal-04458140v1
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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⟩
Journal articles hal-04189637v1
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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, inPress, pp.1-13. ⟨10.1115/1.4056852⟩
Journal articles hal-04055634v1
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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
Laparoscopic, Endoscopic and Robotic Surgery, inPress, ⟨10.1016/j.lers.2023.05.002⟩
Journal articles hal-04113365v1
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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⟩
Journal articles hal-04323046v1
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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⟩
Journal articles hal-03722563v1
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Motion Strategies for a Cobot in a Context of Intermittent Haptic Interface

Vamsikrishna Guda , Stanley Mugisha , Christine Chevallereau , Matteo Zoppi , Rezia Molfino
Journal of Mechanisms and Robotics, 2022, 14 (4), ⟨10.1115/1.4054509⟩
Journal articles hal-03739832v1
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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⟩
Journal articles hal-03879221v1
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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⟩
Journal articles hal-03809104v1
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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
Journal of Mechanisms and Robotics, 2022, 14 (1), ⟨10.1115/1.4051521⟩
Journal articles hal-03314549v1
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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⟩
Journal articles hal-03578664v1
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Improving Haptic Response for Contextual Human Robot Interaction

Stanley Mugisha , Vamsi Krisha Guda , Christine Chevallereau , Matteo Zoppi , Rezia Molfino
Sensors, 2022, 22
Journal articles hal-03599147v1
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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⟩
Journal articles hal-03578506v1
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An efficient combined local and global search strategy for optimization of parallel kinematic mechanisms with joint limits and collision constraints

Haribhau Durgesh , Guillaume Michel , Shivesh Kumar , Marcello Sanguineti , Damien Chablat
Mechanism and Machine Theory, inPress
Journal articles hal-03586503v1
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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⟩
Journal articles hal-03300149v1
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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⟩
Journal articles hal-03126584v1
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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⟩
Journal articles hal-03195185v1
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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⟩
Journal articles hal-03106584v1
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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⟩
Journal articles hal-03144744v1
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Geometric Atlas of the Middle Ear and Paranasal Sinuses for Robotic Applications

Guillaume Michel , Durgesh Haribhau Salunkhe , Philippe Bordure , Damien Chablat
Surgical Innovation, 2021, ⟨10.1177/1553⟩
Journal articles hal-03363479v1
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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⟩
Journal articles hal-03353721v1
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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⟩
Journal articles hal-03241640v1
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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⟩
Journal articles hal-03251019v1
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Robots cuspidaux : théorie et applications

Philippe Wenger , Damien Chablat
Les Techniques de l'Ingenieur, 2021
Journal articles hal-03345018v2
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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
Journal of Mechanisms and Robotics, 2020, 12 (2), ⟨10.1115/1.4045972⟩
Journal articles hal-02469329v1
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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⟩
Journal articles hal-02477808v1
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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⟩
Journal articles hal-02204732v1
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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⟩
Journal articles hal-02014982v1
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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⟩
Journal articles hal-02108495v1
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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
Computer Methods in Biomechanics and Biomedical Engineering, 2019, 22 (sup1), pp.S20-S21. ⟨10.1080/10255842.2020.1713463⟩
Journal articles hal-03545754v1
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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⟩
Journal articles hal-01861785v1
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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, inPress, ⟨10.1049/iet-rsn.2017.0244⟩
Journal articles hal-01705380v2
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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⟩
Journal articles hal-01671012v1
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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⟩
Journal articles hal-01763204v1
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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⟩
Journal articles hal-01862803v1
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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⟩
Journal articles hal-01797575v1
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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⟩
Journal articles hal-01796066v1
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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⟩
Journal articles hal-01797872v1
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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⟩
Journal articles hal-01984946v1

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⟩
Journal articles hal-01980769v1
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Validation of a New Dynamic Muscle Fatigue Model and DMET Analysis

Deep Seth , Damien Chablat , Bennis Fouad , Sophie Sakka , Marc Jubeau
International Journal of Virtual Reality, 2016, The International Journal of Virtual Reality, 2016 (16)
Journal articles hal-01420684v1
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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⟩
Journal articles hal-01128581v1
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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⟩
Journal articles hal-01201685v1
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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⟩
Journal articles hal-01084545v1
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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⟩
Journal articles hal-00971348v1
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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⟩
Journal articles hal-01065144v1
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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
Journal articles hal-00909587v1
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Determination of subject-specific muscle fatigue rates under static fatiguing operations

Liang Ma , Wei Zhang , Bo Hu , Damien Chablat , Fouad Bennis
Ergonomics, 2013, 56 (12), pp.1889-1900
Journal articles hal-00943279v1
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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⟩
Journal articles hal-00756997v1
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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
Journal articles hal-00690975v1
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A Six-Dof Epicyclic-Parallel Manipulator

Chao Chen , Thibault Gayral , Stéphane Caro , Damien Chablat , Guillaume Moroz
Journal of Mechanisms and Robotics, 2012, 4 (4), ⟨10.1115/1.4007489⟩
Journal articles hal-00684803v1
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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
Journal articles hal-00731174v1
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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⟩
Journal articles hal-00705161v1
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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⟩
Journal articles hal-00670255v1
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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
International Journal of Industrial Ergonomics, 2011, 41 (1), pp.64-71
Journal articles hal-00583675v1
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A novel approach for determining fatigue resistances of different muscle groups in static cases

Liang Ma , Damien Chablat , Fouad Bennis , Wei Zhang , Bo Hu
International Journal of Industrial Ergonomics, 2011, 41 (1), pp.10-18. ⟨10.1016/j.ergon.2010.11.005⟩
Journal articles hal-00583680v1
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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⟩
Journal articles hal-00583167v1
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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⟩
Journal articles hal-00553166v1
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A Framework for Interactive Work Design based on Digital Work Analysis and Simulation

Liang Ma , Wei Zhang , Huanzhang Fu , Yang Guo , Damien Chablat
Human Factors and Ergonomics in Manufacturing and Service Industries, 2010, 20 (4), pp.339-352. ⟨10.1002/hfm.20178⟩
Journal articles hal-00495004v2
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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⟩
Journal articles hal-00530230v1
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Fatigue evaluation in maintenance and assembly operations by digital human simulation

Liang Ma , Damien Chablat , Fouad Bennis , Wei Zhang , Bo Hu
Virtual Reality, 2010, 14 (1), pp.339-352. ⟨10.1007/s10055-010-0156-8⟩
Journal articles hal-00495263v1
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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⟩
Journal articles hal-00545502v1
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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⟩
Journal articles hal-00342928v1
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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⟩
Journal articles hal-00372638v1
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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⟩
Journal articles hal-00418777v1
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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⟩
Journal articles hal-00425361v1
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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
Journal articles hal-00372634v1
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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
Journal articles hal-00418768v1
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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⟩
Journal articles hal-00349573v1
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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
Journal articles hal-00425143v1
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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⟩
Journal articles hal-03508883v1
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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⟩
Journal articles hal-00430645v1
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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
Journal articles hal-00425337v1
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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⟩
Journal articles hal-00310393v1
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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⟩
Journal articles hal-00261669v1
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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⟩
Journal articles hal-00184991v1
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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
Journal articles hal-00162649v1
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The Optimization of a Novel Prismatic Drive

Damien Chablat , Stéphane Caro , Emilie Bouyer
Problems of Mechanics, 2007, 26 (1), pp.32-42
Journal articles hal-00144820v1
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Parametric stiffness analysis of the Orthoglide

Félix Majou , Clément Gosselin , Philippe Wenger , Damien Chablat
Mechanism and Machine Theory, 2007, 42 (3), pp.296-311
Journal articles hal-00168332v1
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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
Journal articles hal-00168340v1
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Stratégies de conception pour optimiser la transmission Slide-o-cam

Damien Chablat , Jorge Angeles
Mechanics & Industry, 2006, 7, pp.301-309
Journal articles hal-00144857v1
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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
Journal articles hal-00160062v1
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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⟩
Journal articles hal-00168501v1
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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⟩
Journal articles hal-00169005v2
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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
Journal articles hal-00583260v1
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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
Journal articles hal-00168494v1
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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
Journal articles hal-00169594v1
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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
Journal articles hal-00166631v1

Geometric synthesis of orthoglide-type mechanisms

Philippe Wenger , Damien Chablat , Anatol Pashkevich
Transactions of Belarusian Engineering Academy, 2004, 17 (1), pp.69-72
Journal articles hal-00169635v1
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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
Journal articles hal-00583249v1
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Kinematic Analysis of a Family of 3R Manipulators

Maher Baili , Philippe Wenger , Damien Chablat
Problems of Mechanics, 2004, 15 (2), pp.27-32
Journal articles hal-00162645v1
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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
Journal articles hal-00162644v1
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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
Journal articles hal-00168179v1
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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
Journal articles hal-00583208v1
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On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators

Damien Chablat , Jorge Angeles
Mechanism and Machine Theory, 2002, pp.351-374
Journal articles hal-00145154v1
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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
Journal articles hal-01703831v1
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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
Journal articles hal-00145142v1
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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
Conference papers hal-04483255v1
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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
Conference papers hal-04135310v1
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On the development of an innovative surgical parallel robotic system

Alexandru Pusca , Iulia Andras , Andrei Cailean , Nicolae Crisan , Calin Vaida
11th IEEE International Conference on E-Health and Bioengineering, Nov 2023, Bucharest (RO), Romania
Conference papers hal-04337696v1
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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
Conference papers hal-04055520v1
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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
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2023, Detroit, France. pp.10014-10019, ⟨10.1109/IROS55552.2023.10341420⟩
Conference papers hal-04472473v1
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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
Conference papers hal-03716011v1
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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⟩
Conference papers hal-03596704v3
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Design optimization of a parallel manipulator for otological surgery

Durgesh Salunkhe , Guillaume Michel , Elise Olivier , Shivesh Kumar , Marcello Sanguineti
Congrès Français de Mécanique, Aug 2022, Nantes, France
Conference papers hal-03811347v2
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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
Conference papers hal-04280160v1
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Design optimization of a parallel manipulator for otological surgery

Durgesh Salunkhe , Guillaume Michel , Elise Olivier , Shivesh Kumar , Marcello Sanguineti
In 2022 Workshop: "New frontiers of parallel robotics" (second edition), (ICRA-2022), May 2022, Philadelphia, United States
Conference papers hal-03757437v1
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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
Conference papers hal-03787446v1
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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
Conference papers hal-03811356v1
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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
Conference papers hal-03788641v1
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Cinématique d'une Prothèse de Main Myoélectrique Accessible avec Actionneur Unique et Rétropulsion Passive du Pouce