Jean-Claude Samin

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An original procedure for the estimation of the barycentric parameters of a robot is presented. This procedure requires only the processing of measurements provided by an external experimental setup. The procedure is based on the property that the relations between the robot motion and its reactions on the bedplate are completely independent of the internal(More)
Modeling mechatronic multibody systems requires the same type of methodology as for designing and prototyping mechatronic devices: a unified and integrated engineering approach. Various formulations are currently proposed to deal with multiphysics modeling, e.g., graph theories, equational approaches, co-simulation techniques. Recent works have pointed out(More)
Experimental robot identi"cation techniques can principally be divided into two categories , based on the type of models they use : internal or external. Internal models relate the joint torques or forces and the motion of the robot; external models relate the reaction forces and torques on the bedplate and the motion data. This paper describes how internal(More)
The internal forces in the human body in motion could provide valuable information for the evaluation and follow-up of subjects with musculo-skeletal pathologies, such as scoliosis, but are still difficult to accurately measure. In this context, the objective of this study is to quantify the global intervertebral torques along the spine during walking, in(More)
The aim of this paper is to present kinematical and dynamical models of a exible robot in a compact form suitable for modelling, identiication or control. Use of a taylor expansion of the body deformation in the kinematical model gives a way to reene the deformation description by increasing the expansion order. Including the deenition of augmented bodies(More)