Simon Foucault

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This article presents a novel robotic assistive device for the handling of large payloads. The design of the robot is based on the application of the following fundamental mechanical principles: inertia is minimized, a parallel closed-loop cable/belt routing system is used to kinematically decouple the transmission from fixed actuators and to the(More)
This paper is a contribution to an invited session on the benchmarking of parallel mechanisms. The aim of the session is to compare different existing designs and prototypes of parallel mechanisms using a common set of benchmarking criteria. First, the kinematic architectures of parallel mechanisms of the multipteron family are presented. In addition to the(More)
This paper presents a trajectory planning approach for cable-suspended parallel mechanisms. A planar two-degree-of-freedom parallel mechanism is used for the analysis. Based on the dynamic model of the suspended robot, a set of algebraic inequalities is obtained that represents the constraints on the cable tensions. Parametric Cartesian trajectories are(More)
This paper presents two trajectory-planning approaches for the point-to-point motion of planar two-degree-of-freedom (dof) cable-suspended parallel mechanisms. The proposed techniques can be used to plan trajectories that extend beyond the static workspace of the mechanism. Trajectories are specified as a list of target points that must be reached in(More)
This paper presents the design of a locomotion interface for gait simulation and interaction with a virtual environment. The proposed mechanical interface is based on two planar two-degree-of-freedom belt-driven mechanisms which fully decouple the vertical and horizontal motion of two supporting footplates. Force sensors are mounted under the footplates in(More)
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