Stéphane Régnier

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During microscale object manipulation, contact (pull-off) forces and non-contact (capillary, van der Waals, and electrostatic) forces determine the behaviour of the micro-objects rather than the inertial forces. The aim of this article is to give an experimental analysis of the physical phenomena at a microscopic scale in dry and liquid media. This article(More)
We present in this paper three dynamic clustering techniques for Object-Oriented Databases (OODBs). The first two, Dynamic, Statistical & Tunable Clustering (DSTC) and StatClust, exploit both comprehensive usage statistics and the inter-object reference graph. They are quite elaborate. However, they are also complex to implement and induce a high overhead.(More)
This paper presents a microgripper using an amplification mechanism coupled to an electrostatic linear motor. The gripper design, particularly the principle of the amplification mechanism based on the combination of ground-links and moving pin-joints, is explained. The linear motor is composed of scratch drive actuator inducing the use of electrostatic(More)
This paper presents a novel tool for the analysis of new molecular structures which enables a wide variety of manipulations. It is composed of a molecular simulator and a haptic device. The simulation software deals with systems of hundreds or thousands of degrees of freedom and computes the reconfiguration of the molecules in a few tenths of a second. For(More)
This paper describes a dynamical strategy for releasing micro objects picked-up by means of adhesion forces. While sticking effects are used in order to capture an object by adequately choosing a high surface energy constitutive material for the end-effector, these same effects handicap considerably the release. We propose to take advantage of the inertial(More)
The paper documents the principle and experiments of the “2mm dash” winner at NIST IEEE Mobile Microrobotics Challenge held at ICRA2010 in Alaska [1]. Submission is made for the special session “ICRA Robot Challenge: Advancing Research Through Competitions”. The new MagPieR microrobot was specially designed for breaking the speed(More)
Electromagnetic drives are subjected to an inherent inertia-torque tradeoff that fundamentally limits transparency: the higher the torque, the higher the inertia. We describe a dual-stage design that is not subjected to this tradeoff and that is able to approach perfect transparency for human users. It comprises a large, proximal motor and a small, distal(More)
This letter presents a novel computationally efficient and robust pattern tracking method based on a time-encoded, frame-free visual data. Recent interdisciplinary developments, combining inputs from engineering and biology, have yielded a novel type of camera that encodes visual information into a continuous stream of asynchronous, temporal events. These(More)