Florian Gosselin

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The paper introduces a new design method for the synthesis of compliant mechanisms. This method is based on the optimization of the distribution of compliant building blocks within a given design domain. Building blocks are modeled by elementary frame ground structures. The topology, dimensions, material, contacts, fixed frame and actuators of the optimal(More)
The aim of haptic interfaces is to enhance the user's immersion in virtual environments through the stimulation of the haptic sense (motion capture and force feedback). Most devices make use of an articulated mechanical structure introducing distortions between the operator and the explored world. To assess the quality of the interface, this distortion must(More)
Good performances in tele-surgery procedures is achieved when the surgeon acts and feels as if he were holding directly in his hands the surgical instruments interacting with the patient. To reach this goal, a high fidelity haptic device was recently developed at CEA LIST. As the development of such an input device calls for a precise understanding of the(More)
The fingertips are one of the most important and sensitive parts of our body. They are the first stimulated areas of the hand when we interact with our environment. Providing haptic feedback to the fingertips in virtual reality could, thus, drastically improve perception and interaction with virtual environments. In this paper, we present a modular approach(More)
Safety and comfort are primary concerns in rehabilitation devices and exoskeletons. However, the result of using simplified kinematic arrangements can be discomfort, or even injury, as a result of overconstraining the joint. In this paper, we describe a selfadjusting mechanism able to overcome misalignment between the rotational axis of the mechanism that(More)
A knee-joint exoskeleton design that can apply programmable torques to the articulation and that self-adjusts to its physiological movements is described. Self-adjustment means that the articular torque is automatically produced around the rotational axis of the joint. The requirements are first discussed and the conditions under which the system tracks the(More)
Haptic interfaces are purposed for the simulation of physical interactions with a virtual environment in a realistic way. Their design is often based on a compromise between the interaction capabilities and mechanical design complexity. This paper is aimed at providing a methodology that helps tuning this trade-off. A survey of both manipulation and(More)