News
I am giving a keynote at the second edition of the Summer School "Deformation in Robotics" in Lille, France on the role of continuum robots for medical applications, on July 12, 2024.
Azad Artinian started his Postdoctoral on Design of Continuum Robots on April 15, 2024. He is supervised by Benoît Rosa from ICube laboratory and myself.
Azad's stay is supported by the French Laboratory of Excellence Labex-CAMI and ANR MACROS project.
Juliana Castelo Branco Dreyer started her Master thesis on Control of Continuum Robots on April 2, 2024.
Juliana's thesis is supported by COSSEROOTS project funded by Agence Nationale de la Recherche (ANR).
Nicolas Blanc successfully defended his PhD Thesis on October 18, 2023 and is now MD specialized in Urology.
I was glad to serve as a jury member in his thesis committee, which was chaired by Pr. Jean-Luc Descotes and composed by Pr. Gaëlle Fiard (thesis director) and Dr. Quentin Franquet all from University Hospital Grenoble Alpes, and by Dr. Nadia Abid from Hospices Civils de Lyon.
David Biaré joined our team on October 1st, 2023, as a research engineer in charge of developing and improving continuum robot prototypes.
David's stay is supported by CNRS Informatics (INS2I) Institute.
Ambroise Ulrich started his PhD thesis on Development of a Continuum Robot for Neural Implant Insertion on October 1st, 2023. He is supervised by Blaise Yvert from GIN laboratory and Edwige Bano from IMEP-LAHC laboratory, and myself.
Ambroise's thesis is supported by CDP Grenoble-Neurotech project funded by Université Grenoble Alpes (UGA).
Arold Gaborit started his PhD thesis on State Estimation of Continuum Robots on October 1st, 2023. He is supervised by Hassen Fourati and Ahmad Hably from GIPSA-lab, Sandrine Caroly from PACTE laboratory, and myself.
Arold's thesis is supported by CDP BOOT project funded by Université Grenoble Alpes (UGA).
Quentin Boyer, PhD student in TIMC and FEMTO-ST presented his paper during the Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS) 2023 held in Sorbonne University in Paris:
Q. Boyer, M. T. Chikhaoui, P. Roux, F. Marionnet, S. Voros, and K. Rabenorosoa (2023): "Real-time Closed-loop Control of Concentric Tube Robots: Performance Assessment". Conference on New Technologies for Computer and Robot Assisted Surgery (CRAS), pp. 103-104, Paris, France.
I was glad to co-chair Session 3: Continuum Robots with my colleague Emmanuel Vander Poorten.
Matthias Tummers successfully defended his PhD Thesis, entitled "Cosserat Rod Modeling of Continuum Robots: Application to Concentric Agonist-Antagonist Robots" on April 26, 2023 before the examining committee:
Jocelyne Troccaz Thesis Director
Research Director, CNRS, TIMC
Christian Duriez Reviewer
Research Director, INRIA, CRIStAL
Jérôme Szewczyk Reviewer
Full Professor, Sorbonne Université, ISIR
Jessica Burgner-Kahrs Examiner
Associate Professor, University of Toronto, Canada
Grégory Chagnon Examiner
Full Professor, Université Grenoble Alpes, TIMC
Christine Chevallereau President
Research Director, CNRS, LS2N
M. Taha Chikhaoui Invited
Research Scientist, CNRS, TIMC
Benoît Rosa Invited
Research Scientist, CNRS, ICube
We just published codes on Github (https://github.com/TIMClab-CAMI/Cosserat-Rod-Modeling-of-Tendon-Actuated-Continuum-Robots) related to modeling Tendon-Actuated Continuum Robots (TACR).
These codes are associated to the following paper:
Matthias Tummers, Vincent Lebastard, Frédéric Boyer, Jocelyne Troccaz, Benoît Rosa, and M. Taha Chikhaoui (2023): "Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives". IEEE Transactions on Robotics, 39(3): 2360-2378. DOI: 10.1109/TRO.2023.3238171 (pdf)
Ambroise Ulrich started his Master thesis on Design of a Continuum Robot for Neural Implant Insertion on February 20, 2023.
Ambroise's thesis is supported by CDP Grenoble-Neurotech project funded by Université Grenoble Alpes (UGA).
Arold Gaborit started his Master thesis on Shape/Whole-Body Estimation of Continuum Robots on February 6, 2023. He is co-supervised by Hassen Fourati (GIPSA-Lab).
Arold's thesis is supported by CDP BOOT project funded by Université Grenoble Alpes (UGA).
January 2023 edition of "CNRS Le Journal" on a new generation of surgical robots highlights continuum robots developed in our lab, among other French research advances.
The French version of this article is accessible via: https://lejournal.cnrs.fr/nos-blogs/de-la-decouverte-a-linnovation/une-nouvelle-generation-de-robots-chirurgiens-prete-a
We are honored that our paper authored by
H. J. Zhang, S. Lilge, M. T. Chikhaoui, J. Burgner-Kahrs (2022): "Cooperative Control of Dual-Arm Concentric Tube Continuum Robots", presented at the International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS) in Toronto, Canada is Finalist: Best Robotics Paper Award!
Within the Cross-Disciplinary Program, two projects get funded by Université Grenoble Alpes for the next 3 years:
BOOT: roBOts for real wOrld interacTion
Grenoble-Neurotech: Neurotechnologies for functional rehabilitation
Exciting research with cross-disciplinary communities in Grenoble is starting soon!
I am giving a keynote at the Summer School "Deformation in Robotics" in Lille, France on the role of continuum robots for medical applications, on July 8, 2022.
An exciting week ahead with great speakers and audience.
Ali Alayan and Bakaou Niangaly started their summer projects until mid-July on design and interfacing of continuum robots. Ali and Bakaou are supervised by Alexis Offermann and myself.
These summer projets are supported by Université Grenoble Alpes - "Stages d'Excellence" program.
Amine Djouadi started his Master thesis on Design of Continuum Robots on April 4, 2022.
Amine's thesis is supported by COSSEROOTS project funded by Agence Nationale de la Recherche (ANR).
Imane Ferradj started her Master thesis on Design of Tendon-Actuated Continuum Robots on February 23, 2022.
Imane's thesis is supported by COSSEROOTS project funded by Agence Nationale de la Recherche (ANR).
Tarek Alsaka started his PhD thesis on Control of Continuum Robots on February 1st, 2022. He is supervised by Philippe Cinquin and myself.
Tarek's thesis is supported by Campus France PhD Program.
Zibo Zhang started his PhD thesis on Control of Tendon-Actuated Continuum Robots on November 1st, 2021. He is supervised by Frédéric Boyer and Vincent Lebastard from LS2N, Nantes, and myself.
Zibo's thesis is supported by COSSEROOTS project funded by Agence Nationale de la Recherche (ANR).
Alexis Offermann joined our team on November 1st, 2021, as an engineer in charge of developing continuum robot prototypes.
Alexis's stay is supported by COSSEROOTS project funded by Agence Nationale de la Recherche (ANR).
The major research program Equipex+, within the Programme d'Investissement d'Avenir 3 of the ANR gets funded from 2021 to 2028.
Technological Infrastructure for Robotics Research of Excellence (TIRREX) project, lead by CNRS, has the objective to develop cutting-edge robotic platforms, developed and coordinated at a national level (32 lab partners), and open-access to the community.
TIMC lab is co-responsible of the Medical Axis within TIRREX, as M. Taha Chikhaoui is a Scientific Manager and Pierre-Alain Barraud is a Technical Manager, together with ICube lab.
Lèna de Thomasis started her summer project on June 1st, 2021 on design and fabrication of continuum robots. She is supervised by Matthias Tummers and myself.
Lèna's projet is supported by Anatomy2020 project, funded by Agence Nationale de la Recherche (ANR).
Edouardo Ghoussein, Amine Djouadi, and Mahamadou Togola started their summer projects until mid-July on design, fabrication, simulation, and tracking of continuum robots. They are supervised by Matthias Tummers, Sandrine Voros, and myself.
These summer projets are supported by Université Grenoble Alpes - "Stages d'Excellence" program.
Quentin Boyer started his PhD thesis on Control of Continuum Robots under Ultrasound Imaging on May 1st, 2021. He is supervised by Sandrine Voros and myself, as well as Kanty Rabenorosoa from FEMTO-ST Institute, Besançon.
Quentin's thesis is supported by the French Laboratory of Excellence Labex-CAMI and FEMTO-ST Institute funding.
Mohamed Labadla started his Master thesis on Tendon-Actuated Continuum Robots on March 30, 2021. He is supervised by Frédéric Boyer and Vincent Lebastard from IMT-Atlantique (Nantes) and myself.
Mohamed's thesis is supported by COSSEROOTS project funded by Agence Nationale de la Recherche (ANR).
I am glad to announce that I am serving as:
- Review Editor for Frontiers in Robotics and AI - Soft Robotics journal
- Review Board member for Actuators journal
Started in 2012 for 8 years, the Computer Assisted Medical Interventions Laboratory of Excellence (CAMI Labex) has been extended for 5 more years.
The 6 partners are eager to present you CAMI collaborative achievements and future plans in a one-day online event.
The program includes keynote speakers, presentations of CAMI partners and alumni, as well as video demonstrations.
Join CAMI Day on December 15, 2020 on Youtube.
We are very glad to announce that our project Cosserat Rod Theory for Slender Robots (COSSEROOTS) got funded by the National Agency for Research (ANR)! Four years of an exciting research will be carried by four laboratories (LS2N, INRIA Lille, TIMC, and IUSTI), starting from November 1st, 2020.
We are honored that our paper authored by F. Zaccaria, S. Briot, M. T. Chikhaoui, E. Idà, and M. Carricato (2020): "An Analytical Formulation for the Geometrico-static Problem of Continuum Planar Parallel Robots", accepted at ROMANSY 2020 is finalist: Best Research Paper Award!
Pierric Méléard started his summer project on design and fabrication of continuum robots on July 27, 2020. He is supervised by Matthias Tummers and myself.
Enrico Casagrande started his Master thesis on Dual-Arm Continuum Robots on February 3, 2020. He is supervised by myself, in close link with DOORS project.
We are glad to announce the funding of our project Dual-Arm Continuum Robots for Single-Port Interventions (DOORS) by the CNRS-U. of Toronto Joint Research Programme (PRC) during the year 2020.
Our partner, Prof. Jessica Burgner-Kahrs, head of the Continuum Robotics Laboratory (U of T), and I are confident this project will open a few doors for scientific exchange and students' international experience.
Matthias Tummers started his PhD thesis on Design and Control of Continuum Robots on October 1, 2019. He is supervised by Jocelyne Troccaz and myself, as well as Benoît Rosa from ICube Laboratory, Strasbourg.
Matthias's thesis is supported by the French Laboratory of Excellence Labex-CAMI and Multidisciplinary Institute in Artificial intelligence (MIAI) Grenoble Alpes within Axis 5 Health.
The call for papers for the 17th International Conference on New Actuator Systems and Applications is open for extended abstract (2 pages) submission until December 13, 2019.
The conference will take place in Mannheim, Germany between June 16-20, 2020.
I am glad to serve in the Program Committee of ACTUATOR'20 Conference.
I am attending Surgetica Conference in Rennes, France on June 17 & 18, 2019, supported and organized by the French Laboratory of Excellence Labex-CAMI.
I am glad to serve in the Program Committee of Surgetica 2019 Conference.
I am visiting Sébastien Briot at the Laboratory of Digital Sciences of Nantes (LS2N) in Nantes, France on June 14, 2019.
I am visiting Jessica Burgner-Kahrs's Continuum Robotics Laboratory at University of Toronto in Mississauga, Canada between May 27-31, 2019.
I will be at the IEEE International Conference on Robotics and Automation (ICRA) 2019 in Montreal, Canada.
Session: Medical Robotics VII | Tuesday May 21, 2019 | 15:15-16:30
Read our paper here: RAL-2019
I am very happy about joining the CNRS (French National Centre for Scientific Research) since 2019, appointed to TIMC-IMAG Laboratory!
I will give a Keynote at the 16th International Conference on New Actuators in Bremen, Germany on June 25, 2018.
Read our paper here: Actuator-2018
I am giving a talk at the "Medical Robotics Days" co-organized by French and Belgian researchers at Univesité Libre de Bruxelles.
See the Agenda for June 14 & 15, 2018 in Brussels, Belgium.
I am recipient of the Prix de Thèse 2016, awarded annually by GdR Robotique (the French Research Group for Robotics) of the CNRS (the National Center for Scientific Research) that acknowledges the best doctoral theses in robotics in France.
The award ceremony will take place during the French Days for Robotic Research (JNRR), where I will give a talk on November 8, 2017 in Biarritz, France.