Simon Foucault

Learn More
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)
The health status of older people strongly depends on their nutritional status. Hospitalisation is a factor that aggravates protein-energy malnutrition among older people. A descriptive study was completed among 71 subjects over 65 years old and hospitalised in a gerontological internal medicine service. The study used a nutritional evaluation scale called(More)
  • 1