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Damien Chablat
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Journal Articles

Novel Kinematics of an Anthropomorphic Prosthetic Hand Allowing Lateral and Opposite Grasp with a Single Actuator

Accepted Manuscript
Come Butin, Damien Chablat, Yannick Aoustin, David Gouallier
Journal: Journal of Computational and Nonlinear Dynamics
Article Type: Research-Article
J. Comput. Nonlinear Dynam.
Paper No: CND-22-1260
DOI: https://doi.org/10.1115/1.4056852
Published Online: February 7, 2023
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Topics: Actuators, Artificial limbs, Kinematics, Prostheses, Design, Linkages, Sensitivity analysis, Switches
Journal Articles

A Review of Cuspidal Serial and Parallel Manipulators

Philippe Wenger, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Article Type: Review Articles
J. Mechanisms Robotics. August 2023, 15(4): 040801.
Paper No: JMR-22-1211
DOI: https://doi.org/10.1115/1.4055677
Published Online: November 15, 2022
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Topics: Robots
Proceedings Papers

Stapler Design With Stacked Tensegrity Mechanisms for Surgical Procedures

Dhruva Khanzode, Ranjan Jha, Damien Chablat, Emilie Duchalais
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A037, August 14–17, 2022
Paper No: DETC2022-89714
DOI: https://doi.org/10.1115/DETC2022-89714
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Topics: Design, Surgery, Tensegrity mechanisms, Optimization, Stability, Cables, Cancer, Cutting, Deflection, Parallel mechanisms
Journal Articles

Motion Strategies for a Cobot in a Context of Intermittent Haptic Interface

Vamsikrishna Guda, Stanley Mugisha, Christine Chevallereau, Matteo Zoppi, Rezia Molfino, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041012.
Paper No: JMR-21-1534
DOI: https://doi.org/10.1115/1.4054509
Published Online: June 21, 2022
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Topics: Robots
Journal Articles

Design of a Two-Speed Load Adaptive Variable Transmission for Energetic Optimization of an Accessible Prosthetic Hand

Côme Butin, Damien Chablat, Yannick Aoustin, David Gouaillier
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011003.
Paper No: JMR-21-1738
DOI: https://doi.org/10.1115/1.4054273
Published Online: April 25, 2022
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Topics: Springs, Stress, Torque, Friction, Grasping, Design, Prostheses, Artificial limbs, Motors
Proceedings Papers

Trajectory Planning for a 3-S P S-U Tensegrity Mechanism

Swaminath Venkateswaran, Damien Chablat
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A004, August 17–19, 2021
Paper No: DETC2021-69957
DOI: https://doi.org/10.1115/DETC2021-69957
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Topics: Tensegrity mechanisms, Trajectories (Physics), Control equipment, Junctions, Motors, Robots, Springs, Algorithms, Cables, Errors
Proceedings Papers

A New Robotic Hand Based on the Design of Fingers With Spatial Motions

Pol Hamon, Damien Chablat, Franck Plestan
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A021, August 17–19, 2021
Paper No: DETC2021-70233
DOI: https://doi.org/10.1115/DETC2021-70233
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Topics: Actuators, Computer-aided design, Design, End effectors, Grasping, Kinematics, Machinery, Machining, Sensors, Shapes
Proceedings Papers

Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface

Stanley Mugisha, Matteo Zoppi, Rezia Molfino, Vamsi Guda, Christine Chevallereau, Damien Chablat
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A007, August 17–19, 2021
Paper No: DETC2021-71518
DOI: https://doi.org/10.1115/DETC2021-71518
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Topics: Collaboration, Robots, Virtual reality, Haptics, Robotics, Algorithms, Collisions (Physics), End effectors, Mechanical admittance, Safety
Journal Articles

Literature Review on Endoscopic Robotic Systems in Ear and Sinus Surgery

Guillaume Michel, Durgesh Haribhau Salunkhe, Philippe Bordure, Damien Chablat
Journal: Journal of Medical Devices
Article Type: Review Articles
J. Med. Devices. December 2021, 15(4): 040803.
Paper No: MED-21-1006
DOI: https://doi.org/10.1115/1.4052516
Published Online: October 22, 2021
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Topics: Endoscopes, Endoscopic devices, Robotics, Robots, Surgery, Ear
Journal Articles

Elastostatic Modeling of Multi-Link Flexible Manipulator Based on Two-Dimensional Dual-Triangle Tensegrity Mechanism

Wanda Zhao, Anatol Pashkevich, Alexandr Klimchik, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021002.
Paper No: JMR-21-1190
DOI: https://doi.org/10.1115/1.4051789
Published Online: September 20, 2021
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Topics: Buckling, Flexible manipulators, Manipulators, Shapes, Stiffness, Tensegrity mechanisms, Modeling, Deflection
Journal Articles

Identification and Control of a 3-X Cable-Driven Manipulator Inspired From the Bird’s Neck

Benjamin Fasquelle, Parag Khanna, Christine Chevallereau, Damien Chablat, Denis Creusot, Stéphane Jolivet, Philippe Lemoine, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011005.
Paper No: JMR-21-1108
DOI: https://doi.org/10.1115/1.4051521
Published Online: July 6, 2021
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Topics: Cables, Friction, Stiffness
Journal Articles

An Optimal Design of a Flexible Piping Inspection Robot

Swaminath Venkateswaran, Damien Chablat, Pol Hamon
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2021, 13(3): 035002.
Paper No: JMR-20-1446
DOI: https://doi.org/10.1115/1.4049948
Published Online: March 12, 2021
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Topics: Design, Motors, Optimization, Pipes, Robots, Tensegrity mechanisms, Pipelines, Inspection, Engines
Proceedings Papers

Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators

Damien Chablat, Philippe Wenger
Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 1507-1512, September 12–16, 1999
Paper No: DETC99/DAC-8645
DOI: https://doi.org/10.1115/DETC99/DAC-8645
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Topics: Manipulators, Construction, Kinematics, Octrees, Space
Proceedings Papers

Design of a Piping Inspection Robot by Optimization Approach

Swaminath Venkateswaran, Damien Chablat, Pol Hamon
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A018, August 17–19, 2020
Paper No: DETC2020-22021
DOI: https://doi.org/10.1115/DETC2020-22021
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Topics: Design, Inspection, Optimization, Pipes, Robots, Motors, Dimensions, Engineering prototypes, Junctions, Pipelines
Proceedings Papers

Shaking Force Balancing of the Delta Robot

Jing Geng, Vigen Arakelian, Damien Chablat
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A052, August 17–19, 2020
Paper No: DETC2020-22296
DOI: https://doi.org/10.1115/DETC2020-22296
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Topics: Robots, Center of mass, Computer simulation, Control systems
Journal Articles

A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics

Huiping Shen, Damien Chablat, Boxiong Zeng, Ju Li, Guanglei Wu, Ting-Li Yang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2020, 12(2): 021112.
Paper No: JMR-19-1424
DOI: https://doi.org/10.1115/1.4045972
Published Online: February 6, 2020
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Topics: Kinematics, Topology, Design, Parallel mechanisms
Proceedings Papers

Topology Design and Analysis of a Novel 3-Translational Parallel Mechanism With Analytical Direct Position Solutions and Partial Motion Decoupling

Huiping Shen, Damien Chablat, Boxiong Zeng, Ting-li Yang
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A001, August 18–21, 2019
Paper No: DETC2019-97077
DOI: https://doi.org/10.1115/DETC2019-97077
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Topics: Design, Parallel mechanisms, Topology, Kinematics, Degrees of freedom, Design theory, Modeling
Proceedings Papers

Design and Analysis of a Tensegrity Mechanism for a Bio-Inspired Robot

Swaminath Venkateswaran, Matthieu Furet, Damien Chablat, Philippe Wenger
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A026, August 18–21, 2019
Paper No: DETC2019-97544
DOI: https://doi.org/10.1115/DETC2019-97544
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Topics: Biomimetics, Design, Robots, Tensegrity mechanisms, Cables, Pipes, Inspection, End effectors, Junctions, Pipe bends
Proceedings Papers

Automatic Mobility Analysis of Parallel Mechanisms: An Algorithm Approach Based on Position and Orientation Characteristic Equations

Xiaorong Zhu, Huiping Shen, Chengqi Wu, Damien Chablat, Tingli Yang
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A022, August 18–21, 2019
Paper No: DETC2019-97007
DOI: https://doi.org/10.1115/DETC2019-97007
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Topics: Algorithms, Mechanical admittance, Parallel mechanisms, Computer software, Computer-aided engineering, Design, Dimensions, Kinematics, Optimization
Journal Articles

NAVARO II, a Novel Scissor-Based Planar Parallel Robot

Damien Chablat, Luc Rolland
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. August 2019, 11(4): 044501.
Paper No: JMR-18-1364
DOI: https://doi.org/10.1115/1.4043330
Published Online: May 17, 2019
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Topics: Chain, Kinematics, Manipulators, Robots, Modeling, Stiffness, Displacement