Jean-Claude Samin

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In this thesis, we are interested in automatically generating models for mutlibody systems (MBS) involving a large number of degrees of freedom (d.o.f.), which tightly interacts with the electrical subsystems by means of electromechanical transducers. These systems will be referred to as electromechanical multibody systems. Bond Graphs Linear Graphs Virtual(More)
-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 set-up. 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(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 present contribution focuses on the feasibility and interest of setting up a multi-disciplinary project in the field of multibody dynamics, as a sequel to the undergraduate course in classical mechanics. The pedagogical objectives of this ‘‘learning layer’’ cover various aspects, namely: give the student the opportunity to exploit and analyze the(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)
• children with cerebral palsy, for which the FRSTST was found a reliable and valid test to measure functional muscle strength in children with spastic diplegia in clinics [2, 3]; • older adults, for which the FRSTST test-retest reliability can be interpreted as good to high in most populations and settings [1]; • subjects with Parkinson’s disease [4]; •(More)
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