Juan Sandoval

Documents

Publications

Intuitive Physical Interaction in Macro-Mini Robotic Assistance via a Continuum Parallel Robot

Amir Trabelsi , Arda Yigit , Juan Sandoval , Sébastien Briot

20th International Symposium on ADVANCES IN ROBOT KINEMATICS (ARK2026), Jun 2026, Barcelone, Spain

Communication dans un congrès hal-05546758v1

Actuation Redundancy Management of the 3-DOF Percucob-RCM Parallel Manipulator

Kevin Gaitan , Juan Sandoval , Stéphane Caro

MMT Symposium, 60th Anniversary of Mechanism and Machine Theory, IFToMM, University of Porto, Jun 2026, Porto, Portugal

Communication dans un congrès hal-05722523v1

Geometrical design analysis of a URRR-URR parallel mechanism for percutaneous interventions

Kevin Gaitan , Juan Sandoval , Stéphane Caro

MESROB 2025, the 9th International Workshop on New Trends in Medical and Service Robotics, Jul 2025, Poitiers, France

Communication dans un congrès hal-05014348v1

Kinematic Modeling and Task-Based Design of a URRR-URR Parallel Mechanism for Percutaneous Interventions

Kevin Gaitan , Juan Sandoval , Stéphane Caro

ASME 2025 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2025, Anaheim, United States

Communication dans un congrès hal-05392683v1

Robot-assisted simulator for epidural anesthesia

Kevin Gaitan , Juan Sandoval , Pierre-Philippe Robet , Maxime Gautier , Yannick Aoustin et al.

9th IFToMM International Workshop on New trends in Medical and Service Robotics (MesRob'25), IFTOMM; Institut Pprime; CNRS; Université de Poitiers, Jul 2025, Poitiers, France

Communication dans un congrès hal-05051877v1

Virtual Forward Dynamics Models Applied to Orbital Robotics Scenarios

Mohatashem Reyaz Makhdoomi , Vivek Muralidharan , Juan Sandoval , Miguel Olivares-Mendez , Carol Martinez

European Robotics Forum 2024, Mar 2024, Rimini, France. pp.164-169, ⟨10.1007/978-3-031-76424-0_30⟩

Communication dans un congrès hal-05339169v1

Design Optimization and Dynamic Control of a 3-d.o.f. Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation

Ferdaws Ennaiem , Hanen El Golli , Abdelbadiâ Chaker , Med Amine Laribi , Juan Sandoval et al.

International Workshop on Medical and Service Robots (MESROB 2021), Jun 2021, Bâle, Switzerland. pp.27-37, ⟨10.1007/978-3-030-76147-9_4⟩

Communication dans un congrès hal-05498372v1

Optimal Multi-robot Placement Based on Capability Map for Medical Applications

Amir Trabelsi , Juan Sandoval , Abdelfattah Mlika , Samir Lahouar , Said Zeghloul et al.

RAAD 2022, Jun 2022, Klagenfurt, Australia. pp.333-342, ⟨10.1007/978-3-031-04870-8_39⟩

Communication dans un congrès hal-04246649v1

Kinematic Modelling of a Bioinspired Two Sections Serial Continuum Robot (SCR)

Elie Gautreau , Juan Sandoval , Marc Arsicault , Xavier Bonnet , Saïd Zeghloul et al.

RAAD 2022: Advances in Service and Industrial Robotics, Jun 2022, Klagenfurt, Autriche, Austria. pp.247-255, ⟨10.1007/978-3-031-04870-8_29⟩

Communication dans un congrès hal-04016722v1

Design of an 8-DoF Redundant Robotic Platform for Medical Applications

Elie Gautreau , Aurélien Thomas , Juan Sandoval , Med Amine Laribi , Saïd Zeghloul

MEDER 2021: Mechanism Design for Robotics, Jul 2021, Poitiers (FR), France. pp.297-304, ⟨10.1007/978-3-030-75271-2_31⟩

Communication dans un congrès hal-04016735v1

A Reconfigurable 6-DoF Cable-Driven Parallel Robot with an Extended Rotational Workspace

Ferdaws Ennaiem , Abdelbadia Chaker , Med Amine Laribi , Juan Sébastian Sandoval Arevalo , Sami Bennour et al.

IFToMM Symposium on Mechanism Design for Robotics, Jun 2021, Poitiers, France. pp.322-331, ⟨10.1007/978-3-030-75271-2_34⟩

Communication dans un congrès hal-04573909v1

Optimal Design of a Rehabilitation Four Cable-Driven Parallel Robot for Daily Living Activities

Ferdaws Ennaiem , Abdelbadiâ Chaker , Juan Sebastián Sandoval Arévalo , Med Amine Laribi , Sami Bennour et al.

International Conference on Robotics in Alpe-Adria-Danube Region, Jun 2021, Poitiers, France. pp.3-12, ⟨10.1007/978-3-030-48989-2_1⟩

Communication dans un congrès hal-05498374v1

Towards a Safe Physical Human-Robot Interaction for Tele-Operated System: Application to Doppler Sonography

Juan Sandoval , Med Amine Laribi , Said Zeghloul , Marc Arsicault

Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics, Dipartimento Politecnico di Ingegneria e Architettura, Università degli Studi di Udine, Udine, Italy; Dipartimento di Ingegneria Meccanica e Civile, Università di Cassino e del Lazio Meridionale, Cassino, Italy, Sep 2018, Udine, Italy. pp.335-343, ⟨10.1007/978-3-030-00365-4_40⟩

Communication dans un congrès hal-04271555v1

Design Process of a New Lighting Robotic Arm for Operating Room

Juan Sébastian Sandoval Arevalo , Laurence Nouaille , Gérard Poisson , Yves Parmantier , Benoit Magnain

IFToMM Symposium on Mechanism Design for Robotics, Aug 2018, Udine, Italy. pp.310-317, ⟨10.1007/978-3-030-00365-4_37⟩

Communication dans un congrès hal-02898366v1

Safety performance of a variable stiffness actuator for collaborative robots

Juan Sébastian Sandoval Arevalo , Med Amine Laribi , Said Zeghloul , Marc Arsicault , Gérard Poisson

27th International Conference on Robotics in Alpe Adria Danube Region (RAAD2018), Jun 2018, Patras, Greece. ⟨10.1007/978-3-030-00232-9_4⟩

Communication dans un congrès hal-01975355v1

Generalized Framework for Control of Redundant Manipulators in RA-MIS

Juan Sébastian Sandoval Arevalo , Pierre Vieyres , Gérard Poisson

Journées d'Etude sur la TéléSANté, 6ème edition, Pôle Capteurs, Université d'Orléans, May 2017, Bourges, France

Communication dans un congrès hal-01565004v1

Kinematic Design of a Lighting Robotic Arm for Operating Room

Juan Sébastian Sandoval Arevalo , Laurence Nouaille , Gérard Poisson , Yves Parmantier

International Symposium on Robotics and Mechatronics (IFToMM), May 2017, Poitiers, France

Communication dans un congrès hal-02137253v1

Robotisation d’un bras d’éclairage de bloc opératoire

Juan Sébastian Sandoval Arevalo , Laurence Nouaille , Yves Parmantier , Gérard Poisson

Congrès National de la Recherche des IUT 2017, May 2017, Auxerre, France

Communication dans un congrès hal-01974518v1

Collaborative Impedance Control of a Redundant Robot for Tele-operated MIS

Hang Su , Juan Sébastian Sandoval Arevalo , Pierre Vieyres , Gérard Poisson , Giancarlo Ferrigno et al.

7th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery, CRAS 2017, Sep 2017, Montpellier, France

Communication dans un congrès hal-01975428v1

A new kinematic formulation of the RCM constraint for redundant torque-controlled robots

Juan Sébastian Sandoval Arevalo , Gérard Poisson , Pierre Vieyres

2017 IEEE International Conference on Intelligent Robots and Systems (IROS), Sep 2017, Vancouver, Canada

Communication dans un congrès hal-01975091v1

Improved Dynamic Formulation for Decoupled Cartesian Impedance Control and RCM Constraint

Juan Sébastian Sandoval Arevalo , Gérard Poisson , Pierre Vieyres

2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden

Communication dans un congrès hal-01975331v1

Architectures bilatérales pour un système de télé-échographie robotisé avec retour d'effort

Sandoval Juan , Laurence Josserand , Cyril Novales , Pierre Vieyres

Congrès National de la Recherche en IUT, Jun 2012, Tours, France

Communication dans un congrès hal-00773355v1

A predictive control approach and interactive GUI to enhance distal environment rendering during robotized tele-echograph

Pierre Vieyres , Laurence Josserand , Marco Chiccoli , Juan Sébastian Sandoval Arevalo , Nicolas Morette et al.

IEEE 12th Intern. Conf. on BioInformatics & BioEngineering, Nov 2012, Larnaca, Cyprus. pp.12

Communication dans un congrès hal-00777197v1

Kinematic modeling and task-based design of a URRR-URR parallel mechanism for percutaneous interventions

Kevin Gaitan , Juan Sandoval , Stéphane Caro

ASME Letters in Translational Robotics, 2026, 2 (1), pp.011001. ⟨10.1115/1.4070147⟩

Article dans une revue hal-05335367v2

Global Workflow of a Comanipulation‐Based Robotic System for Cervical Spine Surgery

Alizée Koszulinski , Juan Sandoval , C.-T. Wu , S.‐h. Huang , S K Sahani et al.

The International Journal of Medical Robotics and Computer Assisted Surgery, 2026, 22 (3), pp.e70193. ⟨10.1002/rcs.70193⟩

Article dans une revue hal-05656583v1

Design of a Remote Center-of-Motion Parallel Mechanism for Percutaneous Interventions

Kevin Gaitan , Juan Sandoval , Amir Trabelsi , Nassir Navab , Stéphane Caro

Journal of Mechanical Design, In press, 148 (8), pp.083306. ⟨10.1115/1.4071570⟩

Article dans une revue hal-05598974v1

Application of a modified DREM algorithm for the identification of payload parameters for a Franka Emika cobot

Evert J Guajardo-Benavides , Marco A Arteaga , Juan Sandoval , Amir Trabelsi

IFAC-PapersOnLine, 2025, 59 (14), pp.196 - 201. ⟨10.1016/j.ifacol.2025.12.149⟩

Article dans une revue hal-05738322v1

Development of a 6-Degrees-of-Freedom Hybrid Interface Intended for Teleoperated Robotic Cervical Spine Surgery

Alizée Koszulinski , Marc Arsicault , Med Amine Laribi , Juan Sandoval

Journal of Mechanisms and Robotics, 2025, 17 (2), pp.021007. ⟨10.1115/1.4065917⟩

Article dans une revue hal-04717595v1

Artificial intelligence in bioengineering: pioneering advances in medical robotics, imaging, and personalized therapeutics

Hang Su , Wen Qi , Juan Sandoval

AIMS bioengineering, 2024, 11 (4), pp.598--599. ⟨10.3934/bioeng.2024027⟩

Article dans une revue hal-05072236v1

Robot base placement and tool mounting optimization based on capability map for robot-assistant camera holder

Amir Trabelsi , Juan Sandoval , Abdelfattah Mlika , Samir Lahouar , Said Zeghloul et al.

Robotica, 2024, 42 (8), pp.2489-2510. ⟨10.1017/S0263574724000870⟩

Article dans une revue hal-04745397v1

Experimental Use Validation of the Master Hybrid Haptic Device Dedicated to Remote Center-of-Motion Tasks

Majdi Meskini , Amir Trabelsi , Houssem Saafi , Abdelfattah Mlika , Marc Arsicault et al.

Machines, 2024, 12 (1), pp.80. ⟨10.3390/machines12010080⟩

Article dans une revue hal-04464276v1

Neural-learning-enhanced Cartesian Admittance control of robot with moving RCM constraints

Hang Su , Yunus Schmirander , Sarah Elena Valderrama-Hincapié , Wen Qi , Salih Ertug Ovur et al.

Robotica, 2023, 41 (4), pp.1231-1243. ⟨10.1017/S0263574722001679⟩

Article dans une revue hal-04268392v1

Recent advancements in multimodal human–robot interaction

Hang Su , Wen Qi , Jiahao Chen , Chenguang Yang , Juan Sébastian Sandoval Arevalo et al.

Frontiers in Neurorobotics, 2023, 17, pp.1084000. ⟨10.3389/fnbot.2023.1084000⟩

Article dans une revue hal-04439174v1

A hybrid cable-driven parallel robot as a solution to the limited rotational workspace issue

Ferdaws Ennaiem , Abdelbadiaa Chaker , Juan Sandoval , Abdelfattah Mlika , Lotfi Romdhane et al.

Robotica, 2023, 41 (3), pp.850-868. ⟨10.1017/S0263574722000923⟩

Article dans une revue hal-05016496v1

Optimal Design and Experimental Validation of a Cable-Driven Parallel Robot for Movement Training of the Head–Neck Joint

Alizée Koszulinski , Ferdaws Ennaiem , Juan Sandoval , Lotfi Romdhane , Med Amine Laribi

Robotics, 2023, 12 (1), pp.18. ⟨10.3390/robotics12010018⟩

Article dans une revue hal-04675186v1

Redundancy Exploitation of an 8-DoF Robotic Assistant for Doppler Sonography

Elie Gautreau , Juan Sandoval , Aurélien Thomas , Jean-Michel Guilhem , Giuseppe Carbone et al.

Actuators, 2022, 11 (2), pp.33. ⟨10.3390/act11020033⟩

Article dans une revue hal-04016773v1

Comanipulation Robotic Platform for Spine Surgery with Exteroceptive Visual Coupling: Development and Experimentation

Alizée Koszulinski , Juan Sandoval , Tanguy Vendeuvre , Saïd Zeghloul , Med Amine Laribi

Journal of Medical Devices, 2022, 16 (4), pp.041002. ⟨10.1115/1.4054550⟩

Article dans une revue hal-03668039v1

Experimental Validation of Light Cable-Driven Elbow-Assisting Device L-CADEL Design

Med Amine Laribi , Marco Ceccarelli , Juan Sandoval , Matteo Bottin , Giulio Rosati

Journal of Bionic Engineering, 2022, 19 (2), pp.416-428. ⟨10.1007/s42235-021-00133-5⟩

Article dans une revue hal-03865399v1

Theory, Applications, and Challenges of Cyber-Physical Systems 2021

Hang Su , Bo Xiao , Mingchuan Zhou , Wen Qi , Juan Sandoval et al.

Complexity, 2022, 2022, pp.1-3. ⟨10.1155/2022/9861298⟩

Article dans une revue hal-03823691v1

Cable-Driven Parallel Robot Workspace Identification and Optimal Design Based on the Upper Limb Functional Rehabilitation

Ferdaws Ennaiem , Abdelbadiâ Chaker , Juan Sandoval , Sami Bennour , Abdelfattah Mlika et al.

Journal of Bionic Engineering, 2022, 19 (2), pp.390-402. ⟨10.1007/s42235-022-00162-8⟩

Article dans une revue hal-05483194v2

Toward Optimal Learning of the Gesture in Laparoscopic Surgery: Methodology and Performance

Marine Cau , Juan Sandov , Amaël Arguel , Cyril Breque , Nathalie Huet et al.

Journal of Clinical Medicine, 2022, 11 (5), ⟨10.3390/jcm11051398⟩

Article dans une revue hal-03596835v1

A Biomimetic Method to Replicate the Natural Fluid Movements of Swimming Snakes to Design Aquatic Robots

Elie Gautreau , Xavier Bonnet , Juan Sandoval , Guillaume Fosseries , Anthony Herrel et al.

Biomimetics, 2022, This article belongs to the Special Issue Biorobotics, 7 (4), pp.223. ⟨10.3390/biomimetics7040223⟩

Article dans une revue hal-04311299v1

Towards an Autonomous Robot-Assistant for Laparoscopy Using Exteroceptive Sensors: Feasibility Study and Implementation

Juan Sandoval , Med Amine Laribi , Jean-Pierre Faure , Cyril Brèque , Jean-Pierre Richer et al.

IEEE Robotics and Automation Letters, 2021, 6 (4), pp.6473-6480. ⟨10.1109/LRA.2021.3094644⟩

Article dans une revue hal-04079542v1

Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data

Térence Essomba , Juan Sandoval , Med Amine Laribi , Chieh-Tsai Wu , Cyril Brèque et al.

Applied Sciences, 2021, Robotics and Vibration Mechanics, 11 (14), pp.6534. ⟨10.3390/app11146534⟩

Article dans une revue hal-05005852v1

Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation

Ferdaws Ennaiem , Abdelbadiâ Chaker , Med Amine Laribi , Juan Sandoval , Sami Bennour et al.

Applied Sciences, 2021, 11 (12), pp.5635. ⟨10.3390/app11125635⟩

Article dans une revue hal-04213815v1

Sensitivity Based Selection of an Optimal Cable-Driven Parallel Robot Design for Rehabilitation Purposes

Ferdaws Ennaiem , Abdelbadiâ Chaker , Juan Sebastián Sandoval Arévalo , Med Amine Laribi , Sami Bennour et al.

Robotics, 2020, 10 (1), pp.7. ⟨10.3390/robotics10010007⟩

Article dans une revue hal-04571179v1

Deep Neural Network Approach in Robot Tool Dynamics Identification for Bilateral Teleoperation

Hang Su , Wen Qi , Chenguang Yang , Juan Sandoval , Giancarlo Ferrigno et al.

IEEE Robotics and Automation Letters, 2020, 5 (2), pp.2943-2949. ⟨10.1109/LRA.2020.2974445⟩

Article dans une revue hal-03790165v1

Cobot with Prismatic Compliant Joint Intended for Doppler Sonography

Juan Sandoval , Med Amine Laribi , Saïd Zeghloul , Marc Arsicault , Jean-Michel Guilhem

Robotics, 2020, 9 (1), pp.14. ⟨10.3390/robotics9010014⟩

Article dans une revue hal-03794224v1

Kinematic Optimization of a Reconfigurable Spherical Parallel Mechanism for Robotic-Assisted Craniotomy

Terence Essomba , Yang Hsu , Juan Sébastian Sandoval Arevalo , Med Amine Laribi , Said Zeghloul

Journal of Mechanisms and Robotics, 2019, 11 (6), ⟨10.1115/1.4044411⟩

Article dans une revue hal-02462213v1

On the Design of a Safe Human-Friendly Teleoperated System for Doppler Sonography

Juan Sébastian Sandoval Arevalo , Amine Laribi , Said Zeghloul , Marc Arsicault

Robotics, 2019, 8 (2), pp.29. ⟨10.3390/robotics8020029⟩

Article dans une revue hal-02332377v1

Collaborative framework for robot-assisted Minimally Invasive Surgery using a 7-DoF anthropomorphic robot

Juan Sandoval , Hang Su , Pierre Vieyres , Gérard Poisson , Giancarlo Ferrigno et al.

Robotics and Autonomous Systems, 2018, 106, pp.95-106. ⟨10.1016/j.robot.2018.04.001⟩

Article dans une revue hal-02284379v1

Safety-Enhanced Collaborative Framework for Tele-operated Minimally Invasive Surgery using a 7-DoF Torque-Controlled Robot

Hang Su , Juan Sébastian Sandoval Arevalo , Pierre Vieyres , Gérard Poisson , Giancarlo Ferrigno et al.

International Journal of Control, Automation and Systems, 2018, 16 (6), pp.2915-2923. ⟨10.1007/s12555-017-0486-3⟩

Article dans une revue hal-02284301v1

Analysis Study of Working Modes Within a Redundant Architecture for a Spherical Parallel Manipulator (SPM)

Jasser Enbaya , Juan Sandoval , Moncef Ghiss , Zoubeir Tourki , Marc Arsicault et al.

Advances in Service and Industrial Robotics, 157, Springer Nature Switzerland, pp.209-219, 2024, Mechanisms and Machine Science, 978-3-031-59259-1. ⟨10.1007/978-3-031-59257-7_22⟩

Chapitre d'ouvrage hal-04931010v1

Variable Stiffness Joint Implementation in a Mechanism for the Arm Rehabilitation

María Guadalupe Contreras-Calderón , Med Amine Laribi , Juan Sandoval , Marc Arsicault , Eduardo Castillo-Castañeda et al.

Advances in Mechanism and Machine Science, 148, Springer Nature Switzerland, pp.612-619, 2023, Mechanisms and Machine Science, 978-3-031-45769-2. ⟨10.1007/978-3-031-45770-8_61⟩

Chapitre d'ouvrage hal-05503163v1

Robotic-Assisted Platform for Spinal Surgery: A Preliminary Study

Térence Essomba , Med Amine Laribi , Juan Sébastian Sandoval Arevalo , Chieh-Tsai Wu , Saïd Zeghloul

Saïd Zeghloul; Med Amine Laribi; Marc Arsicault. Advances in Service and Industrial Robotics, 102, Springer International Publishing, pp.192-198, 2021, Mechanisms and Machine Science, 978-3-030-75258-3. ⟨10.1007/978-3-030-75259-0_21⟩

Chapitre d'ouvrage hal-04573950v1

Autonomous Robot-Assistant Camera Holder for Minimally Invasive Surgery

Juan Sébastian Sandoval Arevalo , Med Amine Laribi , Said Zeghloul

Robotics and Mechatronics, pp.465-472, 2020, 978-3-030-30035-7. ⟨10.1007/978-3-030-30036-4_42⟩

Chapitre d'ouvrage hal-02321750v1

Validation of an Ergonomic Contactless Master Device for a Teleoperation Platform

Juan Sébastian Sandoval Arevalo , Med Amine Laribi , Said Zeghloul

Advances in Service and Industrial Robotics, pp.421-429, 2020, ⟨10.1007/978-3-030-19648-6_48⟩

Chapitre d'ouvrage hal-02344498v1

Kinematic and Force Experiments on Cadavers for the Specification of a Tele-Operated Craniotomy Robot

Terence Essomba , Juan Sébastian Sandoval Arevalo , Med Amine Laribi , Chieh-Tsai Wu , Cyril Brèque et al.

Advances in Service and Industrial Robotics, pp.447-454, 2020, ⟨10.1007/978-3-030-19648-6_51⟩

Chapitre d'ouvrage hal-02344482v1

Multi-objective Optimization of a Reconfigurable Spherical Parallel Mechanism for Tele-Operated Craniotomy

Terence Essomba , Juan Sandoval , Med Amine Laribi , Said Zeghloul

Robotics and Mechatronics, pp.454-464, 2020, ⟨10.1007/978-3-030-30036-4_41⟩

Chapitre d'ouvrage hal-02321769v1

A Low-Cost 6-DoF Master Device for Robotic Teleoperation

Juan Sébastian Sandoval Arevalo , Med Amine Laribi , Said Zeghloul

Robotics and Mechatronics, pp.473-480, 2020, 978-3-030-30035-7. ⟨10.1007/978-3-030-30036-4_43⟩

Chapitre d'ouvrage hal-02321686v1

Advances in Service and Industrial Robotics

Saïd Zeghloul , Med Amine Laribi , Juan Sandoval

Advances in Service and Industrial Robotics, Jun 2021, Poitiers, France. 102, Springer International Publishing, 2021, Mechanisms and Machine Science, ⟨10.1007/978-3-030-75259-0⟩

Proceedings/Recueil des communications hal-05664027v1

Suspension de Plafond à cinématique améliorée pour porter une pièce d’équipement

Gérard Poisson , Laurence Nouaille , Juan Sébastian Sandoval Arevalo , Benoit Magnain , Yves Parmantier et al.

France, N° de brevet: BR-27301, French patent 1662777. 2018, N° publication 3 060 704

Brevet hal-01975040v1

Kinematic Design of a Lighting Robotic Arm for Operating Room

Juan Sébastian Sandoval Arevalo , Laurence Nouaille , Gérard Poisson , Yves Parmantier

Computational Kinematics Proceedings of the 7th International Workshop on Computational Kinematics, 50, pp.44-52, 2018

N°spécial de revue/special issue hal-02137272v1

Contribution à la commande en couple de robots redondants avec contrainte de RCM dans un contexte d'interaction physique humain-robot

Juan Sebastian Sandoval Arevalo

Autre. Université d'Orléans, 2017. Français. ⟨NNT : 2017ORLE2064⟩

Thèse tel-02001865v1

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