Research Topics

My research topics...


Haptic Systems for Hands-on Training

This research topic has started since early 2011 at AMPERE laboratory.

From Medical Gesture Training to its Assesment

Présentation, lors de la journée scientifique GT1 Robotique et Santé/LABEX CAMI le 9 décembre 2015 à Montpellier: "From Medical gesture Training to its Assesment" des travaux de recherche de l'équipe Robotique Médicale du laboratoire Ampère (INSA de Lyon, CNRS UMR 5005).
"From Medical gesture Training to its Assesment": introduction to research works performed by Medical Robotics team of Ampere research laboratory (located in Lyon, France) during scientific days of french Workgroup Robotics and Health on Dec. 9th, 2015 in Montpellier, France

Research Projects about Robotics

Period Project Name Description
2017-2020 Green Shield: Pesticide Free Robotized Pest Control in Agriculture This project aims at designing and prototyping a mobile robot to detect and kill pests in fields.
2015-2017 PERISim
This project aims at designing and prototyping an needle insertion training simulator for epidural anaesthesia.
2015-2017 LAPAROSim
This project aimed at designing and prototyping a training simulator concerning basic gestures in Laparoscopy.
2013-2017 SoHappy
In collaboration with PRISME institute, this project aims at prototyping remote ultrasonography haptic probes using pneumatic actuators.
2012-2015 INTELO
(FEDER Région Rhône Alpes with European funds)

This project aimed at designing and prototyping a mobile robot to inspect the underneath of railway and road bridges.

2013-2016 SAGA
(ANR Modèles Numériques)

This project consisted of enhancing and extending BirthSIM simulator.
2011-2013 Decortiquemax
This project aimed at studying a pneumatic actuating for a needle insertion robot compliant with MRI scanners.
2008-2011 PROSIT Teleoperation work-package
As a collaborator of LIRMM laboratory, I participated to the study of the teleoperation over Internet and a satellite connection of the remote ultrasonography robot developed by the partners during this project.



This activity started in 1996 :

This research activity drastically slowed down between 2001 and 2011 as I was working on E-Laboratories in ICTT and afterwards in LIESP laboratories, both dealing with e-learning research topics.

Since early 2011, this topic is restarting at AMPERE laboratory and in collaboration with LIRMM robotics team.

Introduction to teleoperation

There are situations when firms or laboratories have to resort to remote manipulation. Such cases appear when dangerous objects have to be handled [1] or/and when the environment is too aggressive for humans. Typical applications belong to the nuclear domain (for instance in the dismantling of a nuclear plant), deep-sea domain (work on underwater structures of oil rigs) and spatial domain (exploration of distant planets).

Teleoperation has the supplementary advantage of giving the possibility of sharing an experiment between several operators located in distinct places. This way, heavy outdoor experimentations could be easily shared between several laboratories and costs could be reduced as much. However, long distance control of a remote system requires the use of different transmission media which causes two main technical problems in teleoperation: limited bandwidth and transmission delays due to the propagation, packetisation and many other events digital links may inflict on data [2]. Moreover bandwidth and delays may vary according to events occurring all along the transmission lines. In acoustic transmission, round-trip delays greater than 10s and bit-rates smaller than 10kbits/s are common.

These technical constraints result in one hand in difficulties for the operator to securely control the remote system and, in the other hand, make classical controls unstable. Many researches have proposed solutions when delays are small or constant (for instance [3]), but when delays go beyond a few seconds and vary a lot as over long distances asynchronous links, solutions not based on teleprogramation [4] are fewer because such delays make master and slave asynchronous and the control unstable.

Work done

We worked on a low-level teleoperation technique when transmissions go through asynchronous computer networks such as local IP networks and the Internet when necessary. This architecture provides constant delays and synchronous data transmission when network delays have jitter. It also features a prediction/estimation function located on the master in order to compensate for delayed feedback. As soon as this low level layer gets into steady state, an higher level teleoperation scheme can be used (Position Error Based, 4 channel, wave transformations, ... ) such as in [3].

This work has been applied on an enhanced mobile manipulator (see [1])

A small piece of bibliography related to this topic

  1. A. LELEVÉ, P. FRAISSE, P. DAUCHEZ & F. PIERROT, "An enhanced mobile manipulator”, Proc. of the 4th World Automation Congress (WAC 2K), Maui, Hawaii, USA, 2000.
  2. R. OBOE, P. FIORINI, "Internet-based telerobotics: problems and approaches", Proc Intl. Conf. on Advanced Robotics (ICAR’97), Monterey (CA - USA), July 1997, pp. 765—770.
  3. G. NIEMEYER & J-J. E. SLOTINE, “Designing Force Reflecting Teleoperators with Large Time Delays to Appear as Virtual Tools”, Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA’97), pp. 2212—2218.
  4. P. G. BACKES, K. S. TUO, J. S. NORRIS, G. K. THARP, J. T. SLOSTAD, R. G. BONITZ & K. S. ALI, “Internet-Based Operations for the Mars Polar Lander Mission”, Proc. of the IEEE/ASME Intl. Conf. on Advanced Intelligent Mechatronics, September 1999, pp. 317—322.

Control of a teleoperation system actuated by low-cost pneumatic on/off valves

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Networked Robots slides

Slides (in french) from presentation given at 4th ARC meeting of ARC workgroup of GDR Macs on April 1st 2011

PDF icon ARC2011-slides.pdf7.08 MB
Image icon robot team coin purse.jpg72.13 KB

Towards Delayed Teleoperation with Pneumatic Master and Slave for MRI

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I have been working on this research activity since 2002 but I am progressively slowing it down since early 2011 as I moved from LIESP laboratory to AMPERE.


This research deals with computer aided hands-on laboratories (e-laboratories) in the more general context of E-Learning.


My publication on this topic


Here is the list of publications related to this research topic.