Salih Abdelaziz

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Documents

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my name is ...

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Publications

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Design and manufacturing method for the production of soft tensegrity structures and mechanisms

Jérémy Sand , François Geiskopf , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

Mechanism and Machine Theory, 2026, 223, pp.106405. ⟨10.1016/j.mechmachtheory.2026.106405⟩

Article dans une revue hal-05536004v1
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Design and kinetostatic analysis of a tip-stiffness improved compliant continuum robot using anti-buckling universal joints

Shiyao Li , Salih Abdelaziz , Long Wang , Guangbo Hao

The International Journal of Robotics Research, 2025, ⟨10.1177/02783649251344328⟩

Article dans une revue lirmm-05104616v1
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Modeling compliant bistable mechanisms: An energy method based on the high-order smooth curvature model

Tinghao Liu , Guangbo Hao , Jiaxiang Zhu , Pongsiri Kuresangsai , Salih Abdelaziz et al.

International Journal of Mechanical Sciences, 2024, 275, pp.109315. ⟨10.1016/j.ijmecsci.2024.109315⟩

Article dans une revue lirmm-04555400v1
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Impact of the bars behavior on the design of soft tensegrities

Jérémy Sand , François Geiskopf , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

Journal of Mechanisms and Robotics, 2024, 16 (10), pp.104501. ⟨10.1115/1.4064572⟩

Article dans une revue hal-04475894v1
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Optimizing the beam selection for non-coplanar VMAT by using simulated annealing approach

Franklin Okoli , Julien Bert , Salih Abdelaziz , Nicolas Boussion , Dimitris Visvikis

IEEE Transactions on Radiation and Plasma Medical Sciences, 2022, 6 (5), pp.609-618. ⟨10.1109/TRPMS.2021.3111736⟩

Article dans une revue lirmm-03367418v1
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Synthesis Method for the Design of Variable Stiffness Components Using Prestressed Singular Elastic Systems

Quentin Boehler , Marc Vedrines , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

Mechanism and Machine Theory, 2018, 121, pp.598-612. ⟨10.1016/j.mechmachtheory.2017.11.013⟩

Article dans une revue lirmm-01643079v1
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Control of cable-driven manipulators in the presence of friction

Salih Abdelaziz , Laurent Barbé , Pierre Renaud , Michel de Mathelin , Bernard Bayle

Mechanism and Machine Theory, 2017, 107, pp.139-147. ⟨10.1016/j.mechmachtheory.2016.09.014⟩

Article dans une revue lirmm-01878600v1
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From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanism

Quentin Boehler , Salih Abdelaziz , Marc Vedrines , Philippe Poignet , Pierre Renaud

Mechanism and Machine Theory, 2017, 107, pp.1-12. ⟨10.1016/j.mechmachtheory.2016.09.015⟩

Article dans une revue lirmm-01370419v1

Design of a Magnetic Resonance Imaging-Compatible Cable-Driven Manipulator With New Instrumentation and Synthesis Methods

Salih Abdelaziz , Laure Esteveny , Laurent Barbé , Pierre Renaud , Bernard Bayle et al.

Journal of Mechanical Design, 2014, 136 (9), pp.091006. ⟨10.1115/1.4027783⟩

Article dans une revue lirmm-01349877v1

Design considerations for a novel MRI compatible manipulator for prostate cryoablation

Salih Abdelaziz , Laure Esteveny , Pierre Renaud , Bernard Bayle , Laurent Barbé et al.

International Journal of Computer Assisted Radiology and Surgery, 2011, 6, pp.811-819. ⟨10.1007/s11548-011-0558-4⟩

Article dans une revue istex hal-03931884v1
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Étude d’une tenségrité souple pour la conception d’un effecteur à raideur variable d’endoscope chirurgical robotisé

Jérémy Sand , François Geiskopf , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

CFM 2025 - 26e Congrès Français de Mécanique, Laboratoire d'Etude des Microstructures et de Mécanique des Matériaux (LEM3 - UMR CNRS 7239), Aug 2025, Metz, France

Communication dans un congrès hal-05374513v1
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Using a soft tensegrity to build an endoscope tip: numerical assessment of orientation and stiffness capabilities

Jérémy Sand , François Geiskopf , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

CRAS 2024 - Conference on New Technologies for Computer and Robot Assisted Surgery, Sep 2024, Odense, Denmark

Communication dans un congrès hal-05374449v1
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Super twisting control for tensegrity systems

José Angel Alvarez Duarte , Juan Manuel Jacinto-Villegas , Adriana Herlinda Vilchis-Gonzalez , Salih Abdelaziz , Juan Carlos Avila Vilchis et al.

SYROCO 2022 - 13th IFAC Symposium on Robot Control, Oct 2022, Matsumoto, Japan

Communication dans un congrès hal-04565814v1
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Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous Interventions

Hamza El Jjouaoui , Giorgio Mackenzie Cruz-Martinez , Juan Carlos Avila Vilchis , Adriana Herlinda Vilchis-Gonzalez , Salih Abdelaziz et al.

ARK 2022 - 18th International Symposium on Advances in Robot Kinematics, Jun 2022, Bilbao, Spain. pp.332-339, ⟨10.1007/978-3-031-08140-8_36⟩

Communication dans un congrès hal-04565727v1
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Model Predictive Controller for a Planar Tensegrity Mechanism with decoupled position and stiffness control

Jurado Realpe , Salih Abdelaziz , Philippe Poignet

ARK 2020 - 17th International Symposium on Advances in Robot Kinematics, Jun 2020, Ljubljana, Slovenia. pp.349-358, ⟨10.1007/978-3-030-50975-0_43⟩

Communication dans un congrès lirmm-03140520v1
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Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity Mechanism

Giorgio Mackenzie Cruz-Martinez , Juan Carlos Avila Vilchis , Adriana Herlinda Vilchis-Gonzalez , Salih Abdelaziz , Philippe Poignet

ARK 2020 - 17th International Symposium on Advances in Robot Kinematics, Dec 2020, Ljubljana, Slovenia. pp.15-24, ⟨10.1007/978-3-030-50975-0_3⟩

Communication dans un congrès lirmm-03141529v1
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Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation

Jurado Realpe , Guillaume Aiche , Salih Abdelaziz , Philippe Poignet

ICRA 2020 - 37th IEEE International Conference on Robotics and Automation, May 2020, Paris (Virtual), France. pp.3882-3888, ⟨10.1109/ICRA40945.2020.9197507⟩

Communication dans un congrès lirmm-03140522v1
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Towards the control of tensegrity mechanisms for variable stiffness applications: a case study

Quentin Boehler , Salih Abdelaziz , Marc Vedrines , Philippe Poignet , Pierre Renaud

EUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. pp.163-171, ⟨10.1007/978-3-319-44156-6_17⟩

Communication dans un congrès lirmm-01643092v1
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Design and evaluation of a novel variable stiffness spherical joint with application to MR-compatible robot design

Quentin Boehler , Marc Vedrines , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.661-667, ⟨10.1109/ICRA.2016.7487192⟩

Communication dans un congrès lirmm-01276757v1
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Experiments on a variable stiffness tensegrity mechanism for an MR-compatible needle holder

Quentin Boehler , Anastasios Zompas , Salih Abdelaziz , Marc Vedrines , Philippe Poignet et al.

CRAS: Computer/Robot Assisted Surgery, Sep 2015, Bruxelles, Belgium

Communication dans un congrès lirmm-01275607v1

Parallel Singularities for the Design of Softening Springs Using Compliant Mechanisms

Quentin Boehler , Marc Vedrines , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

IDETC/CIE: International Design Engineering Technical Conferences and Computers and Information in Engineering, Aug 2015, Boston, MA, United States. pp.V05AT08A019, ⟨10.1115/DETC2015-47240⟩

Communication dans un congrès lirmm-01276756v1

Development of a MR-compatible cable-driven manipulator: Design and technological issues

Salih Abdelaziz , Laure Esteveny , Laurent Barbé , Pierre Renaud , Bernard Bayle et al.

2012 IEEE International Conference on Robotics and Automation (ICRA), May 2012, St Paul, France. pp.1488-1494, ⟨10.1109/ICRA.2012.6225302⟩

Communication dans un congrès hal-04828762v1
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Dévelopement d'un système robotique pour la cryothérapie de la prostate

Salih Abdelaziz , Laure Esteveny , Pierre Renaud , Bernard Bayle , Michel de Mathelin

CFM 2011 - 20ème Congrès Français de Mécanique, Aug 2011, Besançon, France

Communication dans un congrès hal-03422582v1
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Toward an MR-compatible needle holder with adaptive compliance using an active tensegrity mechanism

Quentin Boehler , Marc Vedrines , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

SURGETICA, Dec 2014, Chambéry, France. Computer-Assisted Medical Interventions. Scientific problems, tools and clinical applications, 2014

Poster de conférence lirmm-01275440v1