Publications

Robotics

Reoptimization of single-joint motor patterns to non-Earth gravity torques induced by a robotic exoskeleton

Gravity is a ubiquitous component of our environment that we have learned to optimally integrate in movement control. Yet, altered gravity conditions arise in numerous applications from space exploration to rehabilitation, thereby pressing the…

Dorian Verdel, Simon Bastide, Franck Geffard, Olivier Bruneau, Nicolas Vignais, Bastien Berret

iScience - 2023

Automatic

Approche phénoménologique du contrôle de la géométrie de cordons en WAAM

Diego Verbist, Nicolas Beraud, Matthieu Museau, Frédéric Vignat, Sylvain Lavernhe

S-MART 2023 : 18ème Colloque national S.mart - 2023

Automatic

Modeling and control of drug assignment for pharmaceutical cabinets using discrete event systems approaches

Maroua Soumatia, Said Amari, Khalid Hachemi

Asian Journal of Control - 2023

Solid mechanics

Physical Model of a Weld Bead Deposit on an Inclined or Horizontal Support Applied for Wire and Arc Additive Manufacturing

The present work is carried out in the framework of the WAS project [1] which deals with the WAAM process. The process relies on an automatized welding process in which a part is built by a successively deposed metal bead. Under a two-dimensional…

Chetra Mang, Xavier Lorang, Ramdane Tami, François Rouchon

Engineering Sciences

Convergence and robustness of the Hopf oscillator applied to an ABLE exoskeleton: reachability analysis and experimentation

In this paper, we consider an industrial exoskeleton called ABLE, which we controlled using an adaptive oscillator. In the context of periodic human movements around the elbow axis we show that the exoskeleton anticipates smoothly the human movement…

Abdelwaheb Hafs, Dorian Verdel, Jawher Jerray, Olivier Bruneau, Nicolas Vignais, Bastien Berret, Laurent Fribourg

Modélisation des Systèmes Réactifs - 2023

Engineering Sciences

Optimizing Human-Robot Interactions through Differential Game Control

Abdelwaheb Hafs, Dorian Verdel, Waldez Gomes, Olivier Bruneau, Bastien Berret

Workshop on Multilimb Coordination in Human Neuroscience and Robotics: Classical and Learning Perspectives, IROS - 2023

Robotics

The value of time in the invigoration of human movements when interacting with a robotic exoskeleton

Time and effort are thought to be subjectively balanced during the planning of goal-directed actions, thereby setting the vigor of volitional movements. Theoretical models predicted that the value of time should then amount to high levels of effort…

Dorian Verdel, Olivier Bruneau, Guillaume Sahm, Nicolas Vignais, Bastien Berret

Science Advances - 2023

Automatic

Inferring Moore Machine for Adaptive Online Hybrid Automaton Identification

In the context of CPS modeling, this paper proposes a new method for online adaptive identification of hybrid systems. The method relies on a Moore machine identification process; We propose a mapping between a hybrid automaton and a discrete event…

Yan Monier, Gregory Faraut, Bruno Denis, Nabil Anwer

IFAC World Congress 2023 - 2023

Automatic

Construction of Model-based Diagnosis of Cyber-Attack in Cyber-Physical Systems Using Labeled Petri Nets

Cyber-Physical Systems (CPS) brought connectivity to factories, and with connectivity comes a risk of cyber attack. CPSs are vulnerable to malicious attacks in which an attacker is inserted between a process and its control unit. Some papers have…

Romain Thibert, Gregory Faraut, Saïd Amari

2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA) - 2023

Robotics

Comparison of EMG-to-torque models using an upper-limb exoskeleton

Lucas Quesada, Dorian Verdel, Olivier Bruneau, Bastien Berret, Michel-Ange Amorim, Nicolas Vignais

48e Congrès de la Société de Biomécanique - 2023