Research
My research topics are mainly focused on robotics :
- Industrial serial manipulators
- Physical Human-Robot Interaction
- Ergonomy assessment
- Control
- Safety
- Collision Detection
- Advanced Friction Modeling
Subjects
Admittance control
Joints torque modeling on high-payload robot for collision detection
**Collision Detection with experimental validation for protontherapy positioning robot
Ergonomy assessment for physical Human-Robot Interaction
**Manipulability assessment of robotized protontherapy patient pre-positionning system
**Haptic multimodal assessment of robot manual guidance for patient pre-positioning in protontherapy
Ph.D Thesis
Abstract
This PhD thesis takes place in a medical context of oncological treatments, more parti- cularly in robotised protontherapy. The objective of this thesis, carried out under a CIFRE contractwith LEONI CIA Cable Systems, is the development of a safe comanipulation control dedicated to a serial medical robot. This control law should allow an operator to intuitively and precisely manipulate a robot of high inertia for accurate patients positioning. The contributions of this thesis focus on the development and implementation of an admittance-controlled Orion robot from LEONI CIA Cable Systems and the comparison of three haptic devices, and on the other hand, on the development of a proprioceptive collision detection mechanism allowing the improvement of operational safety. Based on a review of the literature on compliant controls, we have developed and implemented an admittance control approach dedicated to the Orion robot, taking into account the discretization of the control by the controller specific to this robot. A comparison experiment on the robot allowed us to identify the haptic device best suited to the clinical case considered. Based on a state of the art of collision detection mechanisms analysis, a frequency approach of the modeling of the axial torque taking into account the high reduction ratios and different robot technology has been proposed. It allows us to finely model the torque theoretically provided by the motors ; The latter is then compared with the measurement of the torque actually produced in order to detect a possible collision.
Keywords
Admittance control, comanipulation, collision detection, protontherapy, serial robot