Jean-Claude Metzger

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This paper presents a solution to decentralized Voronoi coverage in non-convex polygonal environments. We show that complications arise when existing approaches to Voronoi coverage are applied for deploying a group of robots in non-convex environments. We present an algorithm that is guaranteed to converge to a local optimum. Our algorithm combines(More)
This paper addresses the problem of deploying a group of networked robots on a non-planar surface embedded in 3D space. Two distributed coverage control algorithms are presented that both provide a solution to the problem by discrete coverage of a graph. The first method computes shortest paths and runs the Lloyd algorithm on the graph to obtain a(More)
Haptic paddles — low-cost one-degree-of-freedom force feedback devices — have been used with great success at several universities throughout the United States to teach the basic concepts of dynamic systems and physical human-robot interaction (pHRI) to students. The ETHZ haptic paddle was developed for a new pHRI course offered in the undergraduate(More)
Robot-assisted rehabilitation can complement conventional rehabilitation after stroke, by increasing the duration and intensity of therapy and providing precise and objective measurements of interaction dynamics and performance. Such information can be used to drive assist-as-needed control strategies or to complement clinical assessments by reconstructing(More)
Rehabilitation robots can provide intensive and motivating therapy after stroke in order to further promote recovery of sensorimotor function. To provide the necessary patient-robot interaction for the assessment and training of the hand throughout the different phases of recovery, high-fidelity haptic interfaces with a wide impedance width (Z-width) are(More)
Neurocognitive therapy, according to the Perfetti method, proposes exercises that challenge motor, sensory as well as cognitive functions of neurologically impaired patients. At the level of the hand, neurocognitive exercises typically involve haptic exploration and interaction with objects of various shapes and mechanical properties. Haptic devices are(More)
Haptic augmented reality merges real and virtual feedback, allowing a user to touch the real environment augmented with virtual haptic stimuli. A key functionality of this technology is altering the haptic properties of real objects by means of virtual haptic feedback. Previously, we have developed a haptic augmentation system in which object stiffness was(More)
Selecting and maintaining an engaging and challenging training difficulty level in robot-assisted stroke rehabilitation remains an open challenge. Despite the ability of robotic systems to provide objective and accurate measures of function and performance, the selection and adaptation of exercise difficulty levels is typically left to the experience of the(More)
Numerous upper-limb rehabilitation robots have been developed to complement physical therapy following stroke. Most systems have focused on providing passive or assisted movement therapy, largely neglecting the haptic aspects of interaction with the environment. We argue that, especially for the training of object manipulation, rehabilitation robots should(More)
Instrumented objects and multipurpose haptic displays have commonly been used to investigate sensorimotor control of grasping and manipulation. A major limitation of these devices, however, is the extent to which the experimenter can vary the interaction dynamics to fully probe sensorimotor control mechanisms. We propose a novel method to study precision(More)
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