Title: Conception d'un syst�me robotis� pour la t�l�-�chographie: Analyse num�rique du geste clinique. Conception d'une interface haptique. Optimisation de . m�canique (Omn.Pres.Franc.) (French Edition)
Publisher: Presses Acad�miques Francophones
Publication Date: 2014
Language: French
ISBN 10: 3841628494
ISBN 13: 9783841628497
Binding: Soft cover
Condition: New

About this title

Synopsis

L'objectif de ces pr�sents travaux est d’apporter une contribution scientifique et technique au projet ANR-PROSIT, qui vise � la mise en œuvre d’un robot de t�l�-�chographie innovant. Une �tude du geste du praticien en milieu clinique a �t� men�e afin d’en d�terminer les caract�ristiques cin�matiques. R�alis�e � l’aide du syst�me de capture de mouvement Vicon Nexus, cette analyse a contribu� � l’�tablissement des sp�cifications du futur robot. Sa structure m�canique a fait l’objet d’une attention particuli�re. Une architecture parall�le sph�rique a �t� s�lectionn�e, �tudi�e puis optimis�e via un algorithme g�n�tique en fonction des crit�res d’espace de travail, de dext�rit� et de compacit�. L’architecture ainsi obtenue est ensuite analys�e sur des aspects de collisions et d’inaccessibilit�. Pour le contr�le de ce robot, l’utilisation d’une interface haptique � l’aspect proche d’une sonde d’�chographie est propos�e. Dot�e d’un syst�me de retour d’effort et d’une centrale inertielle fiabilis�e par un filtre de Kalman adaptatif, cette nouvelle interface a �t� test�e et valid�e par le syst�me Vicon Nexus.

About the Author

T. Essomba re�oit son titre d'Expert en Ing�nierie des Syst�mes A�ronautiques et Spatiaux en 2008, puis un master de Recherche et D�veloppement en M�canique de l'Universit� de Poitiers. En 2012, il re�oit son titre de Docteur en Robotique de l'Universit� d'Orl�ans. Depuis, il est chercheur en robotique m�dicale dans un centre de recherche � Taiwan.

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