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1. Upper-Limb and Low-Back Load Analysis in Workers Performing an Actual Industrial Use-Case with and without a Dual-Arm Collaborative Robot

Author

Alessio Silvetti, Tiwana Varrecchia, Giorgia Chini, Sonny Tarbouriech, Benjamin Navarro, Andrea Cherubini, Francesco Draicchio, and Alberto Ranavolo

Subjects
human–robot collaboration, motor coordination, manual material handling, Industrial safety. Industrial accident prevention, T55-55.3, Medicine (General), R5-920
Abstract

In the Industry 4.0 scenario, human–robot collaboration (HRC) plays a key role in factories to reduce costs, increase production, and help aged and/or sick workers maintain their job. The approaches of the ISO 11228 series commonly used for biomechanical risk assessments cannot be applied in Industry 4.0, as they do not involve interactions between workers and HRC technologies. The use of wearable sensor networks and software for biomechanical risk assessments could help us develop a more reliable idea about the effectiveness of collaborative robots (coBots) in reducing the biomechanical load for workers. The aim of the present study was to investigate some biomechanical parameters with the 3D Static Strength Prediction Program (3DSSPP) software v.7.1.3, on workers executing a practical manual material-handling task, by comparing a dual-arm coBot-assisted scenario with a no-coBot scenario. In this study, we calculated the mean and the standard deviation (SD) values from eleven participants for some 3DSSPP parameters. We considered the following parameters: the percentage of maximum voluntary contraction (%MVC), the maximum allowed static exertion time (MaxST), the low-back spine compression forces at the L4/L5 level (L4Ort), and the strength percent capable value (SPC). The advantages of introducing the coBot, according to our statistics, concerned trunk flexion (SPC from 85.8% without coBot to 95.2%; %MVC from 63.5% without coBot to 43.4%; MaxST from 33.9 s without coBot to 86.2 s), left shoulder abdo-adduction (%MVC from 46.1% without coBot to 32.6%; MaxST from 32.7 s without coBot to 65 s), and right shoulder abdo-adduction (%MVC from 43.9% without coBot to 30.0%; MaxST from 37.2 s without coBot to 70.7 s) in Phase 1, and right shoulder humeral rotation (%MVC from 68.4% without coBot to 7.4%; MaxST from 873.0 s without coBot to 125.2 s), right shoulder abdo-adduction (%MVC from 31.0% without coBot to 18.3%; MaxST from 60.3 s without coBot to 183.6 s), and right wrist flexion/extension rotation (%MVC from 50.2% without coBot to 3.0%; MaxST from 58.8 s without coBot to 1200.0 s) in Phase 2. Moreover, Phase 3, which consisted of another manual handling task, would be removed by using a coBot. In summary, using a coBot in this industrial scenario would reduce the biomechanical risk for workers, particularly for the trunk, both shoulders, and the right wrist. Finally, the 3DSSPP software could be an easy, fast, and costless tool for biomechanical risk assessments in an Industry 4.0 scenario where ISO 11228 series cannot be applied; it could be used by occupational medicine physicians and health and safety technicians, and could also help employers to justify a long-term investment.

Published
2024
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2. Embodiment modifies attention allotment for the benefit of dual task performance

Author

Yukiko Iwasaki, Benjamin Navarro, Hiroyasu Iwata, and Gowrishankar Ganesh

Subjects
Biology (General), QH301-705.5
Abstract

Using a dual task, in which one task was performed by the right hand and the other by the left hand, the study shows that limb embodiment affects attention distribution between limbs, and consequently improves task performance in dual tasks.

Published
2022
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3. Interdisciplinary evaluation of a robot physically collaborating with workers.

Author

Andrea Cherubini, Benjamin Navarro, Robin Passama, Sonny Tarbouriech, Shirley A Elprama, An Jacobs, Susanne Niehaus, Sascha Wischniewski, Freek J Tönis, Pim L Siahaya, Giorgia Chini, Tiwana Varrecchia, and Alberto Ranavolo

Subjects
Medicine, Science
Abstract

Collaborative Robots-CoBots-are emerging as a promising technological aid for workers. To date, most CoBots merely share their workspace or collaborate without contact, with their human partners. We claim that robots would be much more beneficial if they physically collaborated with the worker, on high payload tasks. To move high payloads, while remaining safe, the robot should use two or more lightweight arms. In this work, we address the following question: to what extent can robots help workers in physical human-robot collaboration tasks? To find an answer, we have gathered an interdisciplinary group, spanning from an industrial end user to cognitive ergonomists, and including biomechanicians and roboticists. We drew inspiration from an industrial process realized repetitively by workers of the SME HANKAMP (Netherlands). Eleven participants replicated the process, without and with the help of a robot. During the task, we monitored the participants' biomechanical activity. After the task, the participants completed a survey with usability and acceptability measures; seven workers of the SME completed the same survey. The results of our research are the following. First, by applying-for the first time in collaborative robotics-Potvin's method, we show that the robot substantially reduces the participants' muscular effort. Second: we design and present an unprecedented method for measuring the robot reliability and reproducibility in collaborative scenarios. Third: by correlating the worker's effort with the power measured by the robot, we show that the two agents act in energetic synergy. Fourth: the participant's increasing level of experience with robots shifts his/her focus from the robot's overall functionality towards finer expectations. Last but not least: workers and participants are willing to work with the robot and think it is useful.

Published
2023
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4. Assisted Grasping in Individuals with Tetraplegia: Improving Control through Residual Muscle Contraction and Movement

Author

Lucas Fonseca, Wafa Tigra, Benjamin Navarro, David Guiraud, Charles Fattal, Antônio Bó, Emerson Fachin-Martins, Violaine Leynaert, Anthony Gélis, and Christine Azevedo-Coste

Subjects
spinal cord injury, tetraplegia, fes-assisted grasping, inertial measurement unit interface, electromyography interface, Chemical technology, TP1-1185
Abstract

Individuals who sustained a spinal cord injury often lose important motor skills, and cannot perform basic daily living activities. Several assistive technologies, including robotic assistance and functional electrical stimulation, have been developed to restore lost functions. However, designing reliable interfaces to control assistive devices for individuals with C4−C8 complete tetraplegia remains challenging. Although with limited grasping ability, they can often control upper arm movements via residual muscle contraction. In this article, we explore the feasibility of drawing upon these residual functions to pilot two devices, a robotic hand and an electrical stimulator. We studied two modalities, supra-lesional electromyography (EMG), and upper arm inertial sensors (IMU). We interpreted the muscle activity or arm movements of subjects with tetraplegia attempting to control the opening/closing of a robotic hand, and the extension/flexion of their own contralateral hand muscles activated by electrical stimulation. Two groups were recruited: eight subjects issued EMG-based commands; nine other subjects issued IMU-based commands. For each participant, we selected at least two muscles or gestures detectable by our algorithms. Despite little training, all participants could control the robot’s gestures or electrical stimulation of their own arm via muscle contraction or limb motion.

Published
2019
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21. A collaborative robot for the factory of the future: BAZAR

Author

Osama Mazhar, Jihong Zhu, Sofiane Ramdani, Olivier Tempier, Abdellah Khelloufi, Sonny Tarbouriech, Philippe Fraisse, Mohamed Sorour, André Crosnier, Benjamin Navarro, Andrea Cherubini, Robin Passama, Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)

Subjects
0209 industrial biotechnology, Media management, Engineering, business.industry, Mechanical Engineering, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], 02 engineering and technology, Industrial and Manufacturing Engineering, Manufacturing engineering, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science Applications, 020901 industrial engineering & automation, Control and Systems Engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Factory (object-oriented programming), Robot, business, Software
Abstract

International audience; This paper introduces BAZAR, a collaborative robot that integrates the most advanced sensing and actuating devices in a unique system designed for the Industry 4.0. We present BAZAR's three main features, which are all paramount in the factory of the future. These features are: mobility for navigating in dynamic environments, interaction for operating side-by-side with human workers and dual arm manipulation for transporting and assembling bulky objects.

Published
2019
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22. Robotic manipulation planning for shaping deformable linear objects with environmental contacts

Author

André Crosnier, Jihong Zhu, Benjamin Navarro, Philippe Fraisse, Robin Passama, Andrea Cherubini, Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)

Subjects
0209 industrial biotechnology, Control and Optimization, Computer science, Biomedical Engineering, 02 engineering and technology, Plan (drawing), Dexterous Manipulation, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, 020901 industrial engineering & automation, Artificial Intelligence, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Computer vision, Robot kinematics, business.industry, Mechanical Engineering, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Computer Science Applications, Human-Computer Interaction, Control and Systems Engineering, Manipulation Planning, Robot, 020201 artificial intelligence & image processing, Computer Vision and Pattern Recognition, Artificial intelligence, business, Contact Modeling
Abstract

International audience; Humans use contacts in the environment to modify the shape of deformable objects. Yet, few papers have studied the use of contacts in robotic manipulation. In this paper, we investigate the problem of robotic manipulation of cables with environmental contacts. Instead of avoiding contacts, we propose a framework that allows the robot to use them for shaping the cable. We introduce an index to quantify the contact mobility of a cable with a circular contact. Based on this index, we present a planner to plan robot motions. The planner is aided by a vision-based contact detector. The framework is validated with robot experiments on different desired cable configurations.

Published
2020
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23. Co-Limbs: An Intuitive Collaborative Control for Wearable Robotic Arms

Author

Tomoya Sasaki, Adrien Verhulst, Guillaume Gourmelen, Ganesh Gowrishankar, Masahiko Inami, Benjamin Navarro, Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), and The University of Tokyo (UTokyo)

Subjects
0303 health sciences, 0209 industrial biotechnology, SIMPLE (military communications protocol), Collaborative control, Computer science, Control (management), Wearable computer, 02 engineering and technology, Human–robot interaction, Assitive robotics, 03 medical and health sciences, 020901 industrial engineering & automation, Wearable robot, Human–computer interaction, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Key (cryptography), Robot, Robotic Supernumerary limbs, User interface, Human-robot interaction, Robotic arm, 030304 developmental biology
Abstract

International audience; The promising possibilities offered by supernumerary robotic wear-able arms are limited by the lack of an intuitive and robust user interface to control them. Here, utilizing admittance control, we propose a 'Collaborative limbs', or 'Co-limbs' user interface for wearable robot arms. The key feature of this user interface is its intuitiveness enabling even first time users to immediately move and use the, normally stiff, robot arms for assistive tasks and even teach the robot simple and useful movements. We demonstrate the diverse range of applications enabled by this simple but powerful user interface through example demonstrations in the Passive Assist, Power Assist and Playback modes.

Published
2019
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24. Investigating Upper Limb Movement Classification on Users with Tetraplegia as a Possible Neuroprosthesis Interface

Author

Benjamin Navarro, Lucas Oliveira da Fonseca, Christine Azevedo-Coste, Antonio Padilha Lanari Bo, David Guiraud, Anthony Gelis, Laboratório de Automação e Robótica (LARA), Universidade de Brasilia [Brasília] (UnB), Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Interactive Digital Humans (IDH), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Centre Mutualiste de Réeducation Neurologique Propara (PROPARA), Languedoc Mutualité, Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)

Subjects
Tetraplegia, Nervous system, 030506 rehabilitation, medicine.medical_specialty, Neuroprosthetics, Computer science, [SDV]Life Sciences [q-bio], Movement, Quadriplegia, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Upper Extremity, [SPI]Engineering Sciences [physics], 03 medical and health sciences, 0302 clinical medicine, Physical medicine and rehabilitation, medicine, Humans, Spinal Cord Injuries, Neurorehabilitation, business.industry, Supervised learning, Robotics, Prostheses and Implants, Hand, medicine.disease, Statistical classification, medicine.anatomical_structure, SCI, Robot, Unsupervised learning, [SDV.IB]Life Sciences [q-bio]/Bioengineering, Supervised Machine Learning, Adaptive learning, Artificial intelligence, 0305 other medical science, business, Algorithms, 030217 neurology & neurosurgery
Abstract

Lucas Fonseca was among the 15th finalists selected for the 2018 EMBS Student Paper Competition; International audience; Spinal cord injury (SCI), stroke and other nervous system conditions can result in partial or total paralysis of individual's limbs. Numerous technologies have been proposed to assist neurorehabilitation or movement restoration, e.g. robotics or neuroprosthesis. However, individuals with tetraplegia often find difficult to pilot these devices. We developed a system based on a single inertial measurement unit located on the upper limb that is able to classify performed movements using principal component analysis. We analyzed three calibration algorithms: unsupervised learning, supervised learning and adaptive learning. Eight participants with tetraplegia (C4-C7) piloted three different postures in a robotic hand. We achieved 89% accuracy using the supervised learning algorithm. Through offline simulation, we found accuracies of 76% on the unsupervised learning, and 88% on the adaptive one.

Published
2018
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25. Physical human-robot interaction with the OpenPHRI library

Author

Benjamin Navarro, Aicha Fonte, Philippe Fraisse, Gérard Poisson, Andrea Cherubini, Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique (PRISME), Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), and Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)

Subjects
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience

Published
2018

26. Introducing OpenPHRI: a software library for physical human-robot interaction

Author

Benjamin Navarro, Aïcha Fonte, Philippe Fraisse, Gérard Poisson, Andrea Cherubini, Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique (PRISME), Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), and Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)

Subjects
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

Late breaking result abstract; International audience; OpenPHRI is a C++/Python software with several builtin safety measures, designed to ease robot programming for physical human-robot interaction (pHRI) and collaboration (pHRC). Aside from providing common functionalities, the library can be easily customized and enhanced, thanks to the project’s open source nature. The library is distributed online1 free of charge under the GNU LGPLv3 license2. OpenPHRI is written in C++ to maximize efficiency in terms of computation and memory footprint and to easily embed it in existing projects. Python bindings are also provided, since this language is largely used in the robotics community. An interface with the robotics simulator V-REP3 is also provided.

Published
2018

27. A novel EMG interface for individuals with tetraplegia to pilot robot hand grasping

Author

Christine Azevedo Coste, Andrea Cherubini, Benjamin Navarro, Charles Fattal, X. Gorron, Anthony Gelis, David Guiraud, Wafa Tigra, Control of Artificial Movement and Intuitive Neuroprosthesis (CAMIN), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), MXM-AXONIC, Interactive Digital Humans (IDH), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique (PRISME), Université d'Orléans (UO)-Ecole Nationale Supérieure d'Ingénieurs de Bourges (ENSI Bourges), Centre Mutualiste de Réeducation Neurologique Propara (PROPARA), Languedoc Mutualité, Euromov (EuroMov), Université de Montpellier (UM), Centre de Rééducation Fonctionnelle Divio [Dijon] (CRF COS Divio), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), and Ecole Nationale Supérieure d'Ingénieurs de Bourges (ENSI Bourges)-Université d'Orléans (UO)

Subjects
Adult, Male, Tetraplegia, 030506 rehabilitation, medicine.medical_specialty, Computer science, Interface (computing), Biomedical Engineering, Electromyography, Wrist, Quadriplegia, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 03 medical and health sciences, 0302 clinical medicine, Physical medicine and rehabilitation, EMG, Robot hand, Control, Internal Medicine, medicine, Humans, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Patient Comfort, Assistive device, [INFO.INFO-BT]Computer Science [cs]/Biotechnology, [PHYS.MECA.BIOM]Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], Muscle, Skeletal, Set (psychology), Spinal Cord Injuries, Grip function, Modalities, Hand Strength, medicine.diagnostic_test, General Neuroscience, Rehabilitation, Robotics, Hand, Self-Help Devices, medicine.disease, body regions, medicine.anatomical_structure, Physical therapy, Feasibility Studies, 0305 other medical science, Algorithms, 030217 neurology & neurosurgery
Abstract

International audience; This article introduces a new human-machine interface for individuals with tetraplegia. We investigated the feasibility of piloting an assistive device by processing supra-lesional muscle responses online. The ability to voluntarily contract a set of selected muscles was assessed in five spinal cord-injured subjects through electromyographic (EMG) analysis. Two subjects were also asked to use the EMG interface to control palmar and lateral grasping of a robot hand. The use of different muscles and control modalities was also assessed. These preliminary results open the way to new interface solutions for high-level spinal cord-injured patients.

Published
2018
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28. A framework for intuitive collaboration with a mobile manipulator

Author

Andrea Cherubini, Aïcha Fonte, Benjamin Navarro, Philippe Fraisse, Gérard Poisson, Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Département Images, Robotique, Automatique et Signal [Orléans] (IRAUS), Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique (PRISME), Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA), and ANR-14-CE27-0016,SISCob,Capteur de Sécurité intelligente pour la Cobotique(2014)

Subjects
0209 industrial biotechnology, Engineering, Physical human-robot interaction, business.industry, Mobile manipulator, 020207 software engineering, Control engineering, Robotics and Control, Redundancy Resolution, 02 engineering and technology, Computer Science::Robotics, Angular deviation, 020901 industrial engineering & automation, 0202 electrical engineering, electronic engineering, information engineering, Redundancy (engineering), [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Robot, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], Human operator, business, Omnidirectional antenna
Abstract

International audience; In this paper, we present a control strategy that enables intuitive physical human-robot collaboration with mobile manipulators equipped with an omnidirectional base. When interacting with a human operator, intuitiveness of operation is a major concern. To this end, we propose a redundancy solution that allows the mobile base to be fixed when working locally and moves it only when the robot approaches a set of constraints. These constraints include distance to singular poses, minimum of manipulability and distance to objects and angular deviation. Experimental results with a Kuka LWR4 arm mounted on a Neobotix MPO700 mobile base validate the proposed approach.

Published
2017
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29. Research on cobotics at the LIRMM IDH group

Author

Andrea Cherubini, André Crosnier, Philippe Fraisse, Benjamin Navarro, Robin Passama, Mohamed Sorour, Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique (PRISME), Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA), PSA Peugeot - Citroën (PSA), and PSA Peugeot Citroën (PSA)

Subjects
Factory of the Future, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Collaborative robots for manufacturing industry, Enhanced human-machine interaction, Safe Physical Human-Robot Interaction, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; This paper summarizes recent (2011-2016) research carried out within the LIRMM IDH group, to address the development of collaborative robots for industrial applications. The presented works have been carried out in the frame of various projects, involving major European industrial actors such as PSA Peugeot Citroën, Airbus, and the Tecnalia Foundation.

Published
2017

30. An ISO10218-compliant adaptive damping controller for safe Physical Human-Robot Interaction

Author

Robin Passama, Gérard Poisson, Philippe Fraisse, Benjamin Navarro, Andrea Cherubini, Aïcha Fonte, Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Département Images, Robotique, Automatique et Signal [Orléans] (IRAUS), Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique (PRISME), Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), and Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)

Subjects
0209 industrial biotechnology, Engineering, business.industry, Interface (computing), 020208 electrical & electronic engineering, GRASP, Control engineering, 02 engineering and technology, Workspace, Human–robot interaction, Contact force, Robot control, 020901 industrial engineering & automation, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Robot, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], business
Abstract

International audience; In human-robot interaction, the robot must behave safely, especially when an operator is present in its workspace. Even higher safety levels must be attained when physical contact occurs between the two. To this end, standards such as the ISO10218 define the requirements for a robot to be considered safe for interaction with human operators in an industrial environment. In this paper, we propose an adaptive damping controller that fulfills the ISO10218 requirements by limiting the tool velocity, power and contact force online (and only when needed). The controller is experimentally validated on a hand-arm robotic system, in a mock-up collaborative application. For the hand, safe interaction is enhanced by using tactile sensing, both to regulate grasp forces and to provide an intuitive interface for the operator.

Published
2016
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31. Silencing IDO in dendritic cells: A novel approach to enhance cancer immunotherapy in a murine breast cancer model

Author

Benjamin Navarro, James Koropatnick, Hong Ling, Wei-Ping Min, Nan Jiang, Di Chen, Xiufen Zheng, Xusheng Zhang, Bradley L. Urquhart, Thomas J. Velenosi, and Thomas E. Ichim

Subjects
CD4-Positive T-Lymphocytes, Cancer Research, medicine.medical_treatment, T cell, Apoptosis, CD8-Positive T-Lymphocytes, Cancer Vaccines, Mice, Cancer immunotherapy, Cell Line, Tumor, medicine, Animals, Indoleamine-Pyrrole 2,3,-Dioxygenase, IL-2 receptor, RNA, Small Interfering, Mice, Inbred BALB C, business.industry, Interleukin-2 Receptor alpha Subunit, Mammary Neoplasms, Experimental, Cancer, FOXP3, Forkhead Transcription Factors, Dendritic Cells, Immunotherapy, medicine.disease, Disease Models, Animal, CTL, medicine.anatomical_structure, Oncology, Immunology, Female, RNA Interference, business, CD8
Abstract

Cancer immunotherapeutic agents (vaccines) in the form of antigen-loaded dendritic cells (DCs) reached an important milestone with the recent approval of Provenge, the first DC vaccine for treatment of prostate cancer. Although this heralds a new era of tumor immunotherapy, it also highlights the compelling need to optimize such DC-based therapies as they are increasingly tested and used to treat human patients. In this study we sought to augment and enhance the antitumor activity of a DC-based vaccine using siRNA to silence expression of immunosuppressive enzyme indoleamine 2,3-dioxygenase (IDO) in DCs. We report here that DCs loaded with tumor antigens, but with siRNA-silenced IDO expression, were introduced into 4T1 breast tumor-bearing mice, the treatment: (i) lengthened the time required for tumor onset, (ii) decreased tumor size compared to tumors grown for equal lengths of time in mice treated with antigen-loaded DCs without IDO silencing and (iii) reduced CD4(+) and CD8(+) T cell apoptosis. Furthermore, immunization with IDO-silenced DCs enhanced tumor antigen-specific T cell proliferation and CTL activity, and decreased numbers of CD4(+) CD25(+) Foxp3(+) T(reg). This study provides evidence to support silencing of immunosuppressive genes (IDO) as an effective strategy to enhance the efficacy of DC-based cancer immunotherapeutic.

Published
2012
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32. Influencia de la actividad física en el medio natural sobre la motivación y las necesidades psicológicas básicas de los estudiantes: una revisión sistemática

Author

Jose Antonio Cerrada Nogales, Benjamín Navarro Domínguez, Fco. Javier Giménez Fuentes-Guerra, and Manuel T. Abad Robles

Subjects
medio natural, motivación, necesidades psicológicas básicas, educación física, actividad física, Geography. Anthropology. Recreation, Recreation. Leisure, GV1-1860, Sports, GV557-1198.995
Abstract

Los objetivos del presente estudio fueron: realizar una revisión sistemática sobre las investigaciones que llevaron a cabo una intervención para incrementar la motivación, así como la satisfacción de las necesidades psicológicas básicas de los estudiantes, a través de las actividades físicas en el medio natural; y describir y analizar dichos estudios. Las directrices de la Declaración PRISMA fueron seguidas con el propósito de llevar a cabo una revisión sistemática, la cual fue realizada en cuatro bases de datos (SportDiscuss, Scopus, Web of Science y Pubmed). Se identificaron 80 estudios, a los que se añadieron 4 más localizados en las referencias de otros documentos. Finalmente, solo 4 manuscritos cumplieron con los criterios de elegibilidad. Los resultados revelan que las actividades físicas en el medio natural se postulan como un medio favorecedor de las necesidades psicológicas básicas y de la motivación intrínseca de los estudiantes.

Published
2022
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33. The development of respect in young athletes: A systematic review and meta-analysis.

Author

Manuel Tomás Abad Robles, Benjamín Navarro Domínguez, José Antonio Cerrada Nogales, and Francisco Javier Giménez Fuentes-Guerra

Subjects
Medicine, Science
Abstract

BackgroundThe practice of sports can lead to the development of values such as respect, self-control, effort, autonomy and leadership. However, sport can only foster educational habits and values if it is properly timed and specifically focused towards that end. The aim of this study was to carry out a systematic review and meta-analysis of the effect of interventions on the development and promotion of respect in the practice of sport among young people.MethodsA systematic search was conducted, according to the guidelines of the PRISMA declaration, in the Web of Science (WOS), PubMed (Medline), Scopus, Google Scholar and SportDiscus databases. A total of 6 articles were considered to meet the inclusion criteria for the promotion of respect. Criteria for inclusion included: the full text needed to be available; it should be written in one of the selected languages: English, Spanish and Portuguese; it should be an intervention, an experimental or quasi-experimental study or a randomized controlled trial. Each manuscript was independently reviewed by three authors of this work.ResultsThe results of the meta-analyses showed that the Siedentop sports education model, and Hellison's personal and social responsibility model (TPRS), had significant improvements regarding respect for opponents (total effect size = 0.39, small effect, with 95% Confidence Interval of 0.07 to 0.72). In addition, these models, along with another programme called Fair Play, also achieved significant increases as regards respect for the social conventions of sport (total effect size = 0.67, moderate effect, with 95% IC from 0.25 to 1.10).ConclusionsIn conclusion, the use of interventions related to the above-mentioned models is recommended when it is intended to encourage respect for opponents and social conventions. These considerations could be useful to both teachers and coaches in order to further cultivate these important attitudes.

Published
2021
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34. In Pursuit of Safety: An Open-Source Library for Physical Human-Robot Interaction

Author

Andrea Cherubini, Gérard Poisson, Philippe Fraisse, Benjamin Navarro, Aïcha Fonte, Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Département Images, Robotique, Automatique et Signal [Orléans] (IRAUS), Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique (PRISME), Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), and Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)

Subjects
0209 industrial biotechnology, Computer science, Aside, business.industry, 010401 analytical chemistry, Software development, 02 engineering and technology, Python (programming language), Robots, Software development, Task analysis, Safety, Human-robot interaction, Open source software, 01 natural sciences, Human–robot interaction, 0104 chemical sciences, Computer Science Applications, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Open source, Software, Control and Systems Engineering, Human–computer interaction, Task analysis, Robot, Electrical and Electronic Engineering, business, computer, computer.programming_language
Abstract

International audience; Open PHRI is a C++/Python general-purpose software scheme with several built-in safety measures designed to ease robot programming for physical human-robot interaction (pHRI) and collaboration. Aside from providing common functionalities, the library can be easily customized and enhanced thanks to the project's open-source nature. The OpenPHRI framework consists of a two-layer damping controller, depicted in Figure 1. This allows the user to provide compliance and other safety features at both the joint and task levels, depending on the application.

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35. Dual-arm robotic manipulation of flexible cables

Author

Benjamin Navarro, André Crosnier, Philippe Fraisse, Jihong Zhu, Andrea Cherubini, Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), and Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)

Subjects
0209 industrial biotechnology, Computer science, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, Robot manipulator, 02 engineering and technology, Deformation (meteorology), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Dual (category theory), Computer Science::Robotics, Task (computing), 020901 industrial engineering & automation, Control theory, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Robot, 020201 artificial intelligence & image processing, Manipulator, Fourier series, ComputingMethodologies_COMPUTERGRAPHICS
Abstract

International audience; Deforming a cable to a desired (reachable) shape is a trivial task for a human to do without even knowing the internal dynamics of the cable. This paper proposes a framework for cable shapes manipulation with multiple robot manipulators. The shape is parameterized by a Fourier series. A local deformation model of the cable is estimated on-line with the shape parameters. Using the deformation model, a velocity control law is applied on the robot to deform the cable into the desired shape. Experiments on a dual-arm manipulator are conducted to validate the framework.

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36. Dual-Arm Relative Tasks Performance Using Sparse Kinematic Control

Author

Damien Sallé, André Crosnier, Philippe Fraisse, Sonny Tarbouriech, Andrea Cherubini, Benjamin Navarro, Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), TECNALIA France, and Tecnalia

Subjects
0209 industrial biotechnology, Robot kinematics, Computer science, Control engineering, 02 engineering and technology, Kinematics, DUAL (cognitive architecture), 01 natural sciences, Task (project management), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, 010104 statistics & probability, 020901 industrial engineering & automation, Task analysis, Robot, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 0101 mathematics, Control (linguistics)
Abstract

International audience; To make production lines more flexible, dual-arm robots are good candidates to be deployed in autonomous assembly units. In this paper, we propose a sparse kinematic control strategy, that minimizes the number of joints actuated for a coordinated task between two arms. The control strategy is based on a hierarchical sparse QP architecture. We present experimental results that highlight the capability of this architecture to produce sparser motions (for an assembly task) than those obtained with standard controllers.

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