A5044471992- Soft Robotics and Applications
- Micro and Nano Robotics
- Advanced MEMS and NEMS Technologies
- Modular Robots and Swarm Intelligence
- Advanced Surface Polishing Techniques
- Advanced Materials and Mechanics
- Advanced Sensor and Energy Harvesting Materials
- Manufacturing Process and Optimization
- Robot Manipulation and Learning
- Force Microscopy Techniques and Applications
- Piezoelectric Actuators and Control
- Teleoperation and Haptic Systems
- Advanced Measurement and Metrology Techniques
- Dielectric materials and actuators
- Adhesion, Friction, and Surface Interactions
- Optical Coherence Tomography Applications
- Structural Analysis and Optimization
- Surgical Simulation and Training
- Robotics and Sensor-Based Localization
- Advanced machining processes and optimization
- Semiconductor Lasers and Optical Devices
- Photonic and Optical Devices
- Control and Stability of Dynamical Systems
- Additive Manufacturing and 3D Printing Technologies
- Underwater Vehicles and Communication Systems
Université de franche-comté
2011-2025
Centre National de la Recherche Scientifique
2014-2024
Franche-Comté Électronique Mécanique Thermique et Optique - Sciences et Technologies
2015-2024
École Nationale Supérieure de Mécanique et des Microtechniques
2010-2024
Université Bourgogne Franche-Comté
2016-2024
Université de Bourgogne
2022
Université de technologie de belfort-montbéliard
2013-2018
ASM International
2016
Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier
2012
This review demonstrates that 4D printing constitutes a key technology to enable significant advances in microrobotics. Unlike traditional microfabrication techniques, provides higher versatility, more sophisticated designs, and wide range of sensing actuation possibilities, opening new avenues for the next generation microrobots. It brings disruptive solutions terms variety stimuli, workspaces, motion complexities, response time, function execution, genuinely 3D light how soft smart...
Switchable surface adhesion at a small scale is crucial for robot end‐effector design, allowing the manipulation of objects such as semiconductors, optical lenses, and precision mechanical parts. In this work, detailed characterization millimeter‐scale (1–5 mm) modulation method performed, demonstrating its effectiveness switching on small, lightweight with smooth surfaces. This phenomenon arises from viscoelastic behavior when PDMS interacts rigid controlled via microvibration. A maximum...
Many tasks related to the micro/nanoworld require, not only high performances like submicrometric accuracy, but also a dexterity. Such are obtained using micromanipulators and microrobots with multiple degrees of freedom (DOF). Unfortunately, these multi-DOF systems usually present strong coupling between different axis making them very hard control. The aim this work is modeling control 2-DOF piezoelectric cantilever dedicated microassembly/micromanipulation tasks. In addition two axis,...
à la diffusion de documents scientifiques niveau recherche, publiés ou non, émanant des établissements d'enseignement et recherche français étrangers, laboratoires publics privés.
Abstract Metamaterials have attracted wide scientific interest to break fundamental bounds on materials properties. Recently, the field has been extending coupled physical phenomena where one physics acts as driving force for another. Stimuli-responsive or 4D metamaterials demonstrated thermo-elasticity, magneto-optics piezo-electricity. Herein, a soft, ultra-compact and accurate microrobot is described which can achieve controlled motion under thermal stimuli. The system consists of an...
The 3D integration of hybrid chips is a viable approach for the micro-optical technologies to reduce costs assembly and packaging. In this paper technology platform MOEMS components on reconfigurable silicon free-space bench (FS-MOB) presented. desired optical component (e.g. micromirror, microlens) integrated with removable adjustable holder which can be manipulated, aligned fixed in precisely etched rail baseplate by use robotic micro-assembly station. An active-based gripping system...
Concentric tube robots (CTRs) have drawn significant research attention over the years, particularly due to their applications in minimally invasive surgery (MIS). Indeed, small size, flexibility, and high dexterity enable several potential benefits for MIS. The has led an increasing number of discoveries scientific breakthroughs CTR design, fabrication, control, applications. Numerous prototypes emerged from different groups, each with its own design specifications. This survey paper...
This paper addresses the modeling, parameter identification, and validation of curling Hydraulically Amplified Self-healing Electrostatic (HASEL) actuators using port Hamiltonian (PH) framework. Employing a modular approach, HASEL actuator is conceptualized as combination elementary subsystems. Each subsystem includes electrical mechanical components. The component characterized by variable capacitor in parallel with resistor branch, which series another that also representing charge...
This paper deals with the design, modeling, and control of a compact endoscopic tip for laser steering. It consists two-degree-of-freedom microrobotic device based on two linear piezoelectric motors associated deformable microfabricated silicon mirror. The proposed is integrated into an microrobot-assisted vocal fold microsurgery. motions target tissue are controlled using microrobot through path-following scheme combined visual servoing controller. Indeed, surgeon defines, tablet, path to...
from teaching and research institutions in France or abroad, public private centers.L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques niveau recherche, publiés ou non, émanant des établissements d'enseignement recherche français étrangers, laboratoires publics privés.
In this paper, we propose a new type of continuum robot, referred to as magnetic concentric tube robot (M-CTR), for performing minimally invasive surgery in narrow and difficult-to-access areas. The combines tubes actuation benefit from the ‘follow leader’ behaviour, dexterity stability existing robots, while targeting millimetre-sized external diameters. These three kinematic properties are assessed through numerical experimental studies performed on prototype M-CTR. They with general...
This paper studies automated tasks based on hybrid force/position control of a flexible object at the microscale. A guiding task micropart is case study and achieved by two-sensing-finger microgripper. An experimental model behavior microgripper given interaction forces are studied. Based grasp stability, strategy taking into account pull off proposed. specific using an external microscale specificities The results presented.
Magnetic continuum robots (m-CR) have grown interest in several applicative contexts that take benefits from their high flexibility and remote control. When submitted to external magnetic fields, m-CR exhibit large elastic deformations, which may lead a highly nonlinear complex behavior is yet difficult analyze. This letter aims provide tool improve the understanding of kinematics. To do so, numerical approach composed continuation methods bifurcation analysis proposed. The first described....
This paper presents a new concept and strategy allowing adaptive control of membraned Helmholtz resonator (HR) embedded in melamine foam. The designed system aims to adapt the acoustic absorption performances transmission loss low frequencies (<500 Hz). proposed consists replacing front wall by an electroactive polymer membrane. stiffness membrane can be controlled electric field, resulting resonance frequency shift. A 2D axisymmetric numerical model based on finite elements method is...
This paper presents an analytical model and experimental results from a study of guiding tasks in micro-assembly. work is focused on the use two fingers for gripping microparts. The stability grasp when contact appears investigated strategies during task are discussed. side detection force estimation studied. incremental control static mode then controlling task. Experimental setups proposed some presented.
In this paper, the use of a two-sensing-fingers gripper for grasping planar microparts (smaller than 0.1 mm <formula formulatype="inline" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex Notation="TeX">$^3$</tex></formula> ) is being investigated and force range during microassembly sequence estimated between 0 to 3 mN. An analytical model their gripping forces in presence lateral contact proposed compared Finite Element Analysis. experimental...
4D structures are tridimensional with time-varying abilities that provide high versatility, sophisticated designs, and a broad spectrum of actuation sensing possibilities. The downsizing these below 100 μm opens up exceptional opportunities for many disciplines, including photonics, acoustics, medicine, nanorobotics. However, it requires paradigm shift in manufacturing methods, especially dynamic structures. A novel fabrication method based on ion-induced folding planar multilayer embedding...
This letter presents a hybrid concentric tube robot which covers the middle ear volume for exhaustive ablation of residual cholesteatoma. The proposed robotic system combines and wrist at distal end, actuated by tendon. We first introduce surgical protocol through two access points (ear canal few millimeters size hole mastoid), then derive anatomical constraints specify tasks. Based on model enriched with optical fiber stiffness constraints, parameters are determined as ones among...