Publications

Automatic

Game-Theoretic Interaction Control for Assistive Exoskeletons: a 2-DOF Simulation Study

Enhancing interaction control remains a key challenge for robotic devices designed to assist human movement. Interaction control can be modeled as a dyadic differential game, where both the human and the robot aim to minimize their respective cost…

Abdelwaheb Hafs, Dorian Verdel, Olivier Bruneau, Bastien Berret

IFAC 2025 - Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics - 2025

Mechanical engineering

A Methodology for Weld Bead Geometry and Operating Conditions Determination in Wire Arc Additive Manufacturing

When manufacturing a part using Directed Energy Deposition (DED) processes such as Wire Arc Additive Manufacturing (WAAM), it is necessary to determine the deposition path and operating parameters (wire feed speed, torch speed, energy). While the…

Diego Verbist, Matthieu Museau, Frederic Vignat, Sylvain Lavernhe

International Joint Conference on Mechanics, Design Engineering & Advanced Manufacturing - 2025

Engineering Sciences

Design of control laws to meet generalized mutual exclusion constraints in a network of timed event graphs with disturbances using dioid algebra.

Syrine Bouazza, Said Amari

International Journal of Dynamics and Control - 2025

Engineering Sciences

Algebraic control to ensure generalized marking constraints for a disturbed manufacturing system: Application to electronic product assembly and disassembly processes.

Syrine Bouazza, Said Amari, Dimitri Lefebvre

The 12th International Conference on Industrial Engineering and Applications. - 2025

Engineering Sciences

Modeling and control of time-constrained partially controllable discrete event systems: An application for a supply chain with the presence of disturbances.

Ichrak Amama, Syrine Bouazza, Said Amari, Hichem Hassine, Riadh Chaari, Mohamed Haddar

International Journal of Dynamics and Control - 2025

Engineering Sciences

Design of control laws to guarantee mutual exclusion constraints in a network of linear Min-Plus systems with disturbance inputs.

Syrine Bouazza, Said Amari, Hichem Hassine

Information Sciences - 2025

Robotics

Enhancing Exoskeleton Assistance Flow Control by Leveraging Human Variability and Probabilistic Movement Primitives

Exoskeletons have the potential to significantly reduce users' physical effort and decrease the risk of work-related musculoskeletal disorders by providing robotic assistance. Human motor control is governed by a complex interaction between the…

Aymeric Orhan, Duy Hoàng, Olivier Bruneau, Bastien Berret, Franck Geffard

Robotics

Using Artificial Demonstrations Emulating Human Movement Variability for a Learning-based Exoskeleton Flow Controller

Robotic exoskeletons hold great potential for reducing physical effort and mitigating work-related musculoskeletal disorders. Nevertheless, designing exoskeletons that assist users without disrupting their natural movement remains challenging, as…

Aymeric Orhan, Duy Hoàng, Olivier Bruneau, Bastien Berret, Franck Geffard

Robotics

Early Classification of Human Motion Intent for Exoskeleton Assistance Using Kinematics

Exoskeletons can reduce physical effort and the risk of work-related musculoskeletal disorders by providing robotic assistance in repetitive tasks. Designing exoskeletons that seamlessly assist human users without disrupting their natural movements…

Aymeric Orhan, Duy Hoang, Olivier Bruneau, Bastien Berret, Franck Geffard

Engineering Sciences

An Enriched Polyhedral-based Simulation for the Contact Modeling with Form Defects and Mechanical Loads

Contact modeling is an important activity in the geometrical and tolerancing management. The research on contact modeling using methods based onsets of constraints has focused on the stack-up functions or graph reductions for the accumulation of…

Carlos Andrés Restrepo García, Yann Ledoux, Nabil Anwer, Vincent Delos, Laurent Pierre, Denis Teissandier

Computer-Aided Design - 2025