Nicolas Lauzier

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Providing contact sensing on the whole body of a robot is a key feature to increase the safety level of physical human-robot interaction. In this paper, a new robot skin capable of sensing multiple contact locations is presented. The motivation behind the proposed design is to produce a relatively inexpensive skin having the capability to provide the(More)
This paper presents the design, implementation and control of a device intented to mechanically improve the safety of serial robots interacting with humans. The device consists of an electronically adjustable torque limiter placed in series with each actuator, referred to as a Series Clutch Actuator (SCA). By appropriately adjusting the limit torques(More)
This paper presents a device that significantly increases the safety level of suspended robots whose end-effector orientation remains constant with respect to the vertical direction (e.g. Scara-type suspended robots). The device is a two-degree-of-freedom (DOF) parallel mechanism with a parallepipedic architecture on which two revolute joints have been(More)
This paper presents a device that significantly improves the safety of ceiling-mounted robots whose end effector orientation remains constant with respect to the vertical direction (e.g. Scara-type robots). The device consists of a three-degree-of-freedom (DOF) parallel mechanism with the Delta architecture on which the revolute actuators have been replaced(More)
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