Publications

Journals:

1. T. Essomba, W.-H. Wang, "Design of a Spherical Parallel Mechanism with Controllable Center of Rotation using a Spherical Reconfiguration Linkage," Mechanism and Machine Theory, 119, 105672, 2024. Link

2. C. Reinaldo, S. Nguyen Phu, T. Essomba, L. Nurahmi, “Kinematic Comparisons of Hybrid Mechanisms for Bone Surgery: 3-PRP-3-RPS and 3-RPS-3-PRP,” Machines, 10(11), 979, 2023. Link

3. S. Nguyen Phu, T. Essomba, “Kinematic Analysis of an Augmented 3-RPSP Tripod Mechanism with Six Degrees of Freedom for Bone Reduction Surgery,” Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 236(8), pp. 4059-4072, 2022. Link

4. T. Essomba, J. Sandoval, M.A. Laribi, C.-T. Wu, C. Breque, S. Zeghloul, J.-P. Richer, “Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data,” Applied Sciences, 11(14), p. 6534, 2021. Link

5. T. Essomba, “Design of a Five-Degrees of Freedom Statically Balanced Mechanism with Multi-Directional Functionality,” Robotics, 10(1), p. 11, 2021. Link

6. T. Essomba, S. Nguyen Phu, “Kinematic Analysis and Design of a Six-Degrees of Freedom 3-RRPS Mechanism for Bone Reduction Surgery,” ASME Journal of Medical Devices, 15(1), p. 011101, 2021. Link

7. T. Essomba, S. Nguyen Phu, “Kinematic Design of a Hybrid Planar-Tripod Mechanism for Bone Reduction Surgery,” Mechanics & Industry, 21(4), 2020. Link

8. T. Essomba, L. Nguyen Vu, C.-T Wu, “Optimization of a Spherical Decoupled Mechanism for Neuro-Endoscopy Based on Experimental Kinematic Data,” Journal of Mechanics, 36(1), pp. 133-147, 2020. Link

9. S. Nguyen Phu, T. Essomba, I. Idram, J.-Y. Lai, “Kinematic Analysis and Evaluation of a Hybrid Mechanism for Computer Assisted Bone Reduction Surgery,” Mechanical Sciences, 10, pp. 589-604, 2019. Link

10. T. Essomba, Y. Hsu, J.S. Sandoval Arevalo, M.A. Laribi, S. Zeghloul, “Kinematic Optimization of a Reconfigurable Spherical Parallel Mechanism for Robotic-Assisted Craniotomy,” ASME Journal of Mechanisms and Robotics, 11(6), p. 060905, 2019. Link

11. T. Essomba, L. Nguyen Vu, “Kinematic Analysis of a New Five-Bar Spherical Decoupled Mechanism with Two-Degrees of Freedom Remote Center of Motion,” Mechanism and Machine Theory, 119, pp. 184-197, 2017. Link

12. C.-K. Li, T. Essomba, C.-T Wu, S.-T. Lee, C.-H. Kuo, “Kinematic design and optimization of a novel dual-orthogonal remote center-of-motion mechanism for craniotomy,” Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 237(6), pp. 1129-1145, 2017. Link

13. T. Essomba, M.A. Laribi, S. Zeghloul, G. Poisson, “Optimal synthesis of a spherical parallel mechanism for medical application,” Robotica, 34(3), pp. 671-688, 2016. Link

14. L. Nouaille, M.A. Laribi, C.A. Nelson, T. Essomba, G. Poisson, S. Zeghloul, “Design process for robotic medical tool guidance manipulators,” Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 230(2), pp. 259-275, 2016. Link

15. T. Essomba, L. Nouaille, M.A. Laribi, C.A. Nelson, S. Zeghloul G. Poisson, “Spherical wrist dimensional synthesis adapted for tool-guidance medical robots,” Mechanics & Industry, 15(3), pp. 217-223, 2014. Link

16. T. Essomba, M.A. Laribi, L. Nouaille, S. Zeghloul, G. Poisson, P. Vieyres, “A specific performances comparative study of two spherical robots for tele-echography application,” Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 228(8), pp. 3419–3429, 2014. Link

17.  T. Essomba, M.A. Laribi, J.P. Gazeau, G. Poisson, S. Zeghloul, “Contribution to the design of a robotized tele-echography system,” Frontiers of Mechanical Engineering, Special Issue on International Symposium on Robotics and Mechatronics, 7(2), pp. 135-149, 2012. Link

18. T. Essomba, L. Nouaille, M.A. Laribi, G. Poisson, S. Zeghloul, “Design process of a robotized tele-echography system,” Applied Mechanics and Materials, 162, pp. 384-393, 2012. Link

International conferences:

1. C. Reinaldo, T. Essomba, L. Nurahmi, "A New Index for the Evaluation of Mechanism Workspace: Application to Six-DoF Architectures," The 16th IFToMM World Congress 2023, November 6-9, 2023, Tokyo, Japan. Link

2. T. Essomba, W.-H. Wang, "Spherical Reconfigurable Linkage for the Control of Mechanism Center of Rotation," The 16th IFToMM World Congress 2023, November 6-9, 2023, Tokyo, Japan. Link

3. T. Essomba, Y.-W, Wu, M.A. Laribi, "Use of Serial Planar Linkages for an Augmented R-CUBE Mechanism with Six Degrees of Freedom," The 6th IFToMM International Conference on Mechanisms, Transmissions, and Applications (MeTrApp 2023), May 24-26, 2023, Poitiers, France. Link

4. T. Essomba, M.A. Laribi, J. Sandoval, C.-T. Wu, S. Zeghloul, “Robotic-Assisted Platform for Spinal Surgery: a Preliminary Study,” The 30th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2021), June 21-23, 2021, Poitiers, France. Link

5. T. Essomba, Z.-W. Zhao, “Static Balancing of a 5-DoF Mechanism with Manual Reconfiguration Feature,” The 29th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2020), June 17-19, 2020, Poitiers, France. Link

6. S. Nguyen Phu, T. Essomba, “Kinematic Design of a Six-Degrees of Freedom 3-RRPS Parallel Mechanism for Bone Reduction Surgery,” The 6th IFToMM International Symposium on Robotic and Mechatronics (ISRM 2019), October 28-30, 2019, Taipei, Taiwan. Link

7. T. Essomba, J.-Y. Hsieh, “Kinematic Design of a Double Pantographic Mechanism for the Intracranial Echography on Incubated Newborns,” The 6th IFToMM International Symposium on Robotic and Mechatronics (ISRM 2019), October 28-30, 2019, Taipei, Taiwan. Link (Best Application Paper Award)

8. T. Essomba, J. Sandoval, M.A. Laribi, S. Zeghloul, “Multi-Objective Optimization of a Reconfigurable Spherical Parallel Mechanism for Tele-Operated Craniotomy,” The 6th IFToMM International Symposium on Robotic and Mechatronics (ISRM 2019), October 28-30, 2019, Taipei, Taiwan. Link

9. T. Essomba, S. Nguyen Phu, “Kinematic Design of a Hybrid Mechanism for Bone Reduction Surgery,” The 28th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2019), June 19-21, 2019, Kaiserslautern, Germany. Link

10. T. Essomba, J. Sandoval, M.A. Laribi, C.-T Wu, C. Breque, S. Zeghloul, J.-P. Richard, “Kinematic and Force Experiments on Cadavers for the Specification of a Tele-operated Craniotomy Robot,” The 28th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2019), June 19-21, 2019, Kaiserslautern, Germany. Link

11. T. Essomba, M.A. Laribi, Y. Hsu, S. Zeghloul, “Kinematic Analysis of a 3-RRR Spherical Parallel Mechanism with configurable Base,” The 4th IFToMM Symposium on Mechanism Design for Robotics (MEDER 2018), September 11-14th 2018, Udine, Italy. Link

12. T. Essomba, L. Nguyen Vu, “The kinematic analysis of a novel spherical decoupled mechanism – Toward a robotic manipulator for neuro-endoscopy,” International Conference on Advanced Technology Innovation 2016 (ICATI2016), June 30th-July 03rd 2016, Bali, Indonesia. 

13. T. Essomba, C.-T. Wu, S.-T. Lee, C.-H. Kuo, “Optimum design of a new craniotomy robotic manipulator based on experimental motion and force analyses in real craniotomy environment,” The 14th IFToMM World Congress 2015, October 25-30th 2015, Taipei, Taiwan. Link

14. T. Essomba, C.-T. Wu, S.-T. Lee, C.-H. Kuo, “Mechanical design of a craniotomy robotic manipulator based on optimal kinematic and force performance,” The 4th IFToMM 2015 International Symposium on Robotic and Mechatronics (ISRM2015), June 23-25th 2015, Poitiers, France. Link

15. C.-H. Kuo, T. Essomba, G.-K. Li, C.-T. Wu, S.-T. Lee, “Kinematic performance analysis of a novel mechanism for craniotomy robotic system,” The 3rd International Conference on Engineering and Technology Innovation (ICETI2014), October 31st-November 4th 2014, Kenting, Taiwan.

16. C.-H. Kuo, T. Essomba, G.-K. Li, C.-T. Wu, S.-T. Lee, “Toward a craniotomy robotic system: mechanism design and preliminary Result,” The 18th International Conference on Mechatronic Technology (ICMT 2014), October 21st-24th 2014, Taipei, Taiwan.

17. C.-H. Kuo, T. Essomba, G.-K. Li, C.-T. Wu, S.-T. Lee, “Kinematic optimization of a novel remote center-of-motion mechanism for robotic craniotomy,” The 3rd IFToMM Asian Conference on Mechanism and Machine Science (Asian MMS2014), 9-10th July 2014, Tianjin, China. (Best Paper Award)

18. C.-H. Kuo, T. Essomba, G.-K. Li, C.-T. Wu, S.-T. Lee, “A novel remote center-of-motion mechanical manipulator for applications in craniotomy robots,” 2014 International Conference on Advanced Robotics and Intelligent Systems (ARIS2014), 6-8th June 2014, Taipei, Taiwan.

19. T. Li, M. Ceccarelli, T. Essomba, M.A. Laribi, S. Zeghloul, “Analysis of human bicep obstacle overcoming by motion system,” The 17th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD2012), September 10-13th 2012, Napoli, Italy.

20. T. Essomba, M.A. Laribi, J.P. Gazeau, G. Poisson, S. Zeghloul, “Design and optimization of a master-slave system for tele-echography application,” The ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA2012), July 2-4th 2012, Nantes, France.

21. T. Essomba, L. Nouaille, M.A. Laribi, G. Poisson, S. Zeghloul, “Design process of a robotized tele-echography system,” The 11th MTM & Robotic 2011 International Conference on Mechanisms and Mechanical Transmissions (MTM2011), June 6-8th 2012, Clermont-Ferrand, France.

22. T. Essomba, M.A. Laribi, G. Poisson, S. Zeghloul, “Contribution to the design of a robotized tele-echography system,” 2nd IFToMM 2011 International Symposium on Robotic and Mechatronics (ISRM2011), November 3-5th 2011, Shanghaï, China. 

23. M.A. Laribi, T. Essomba, S. Zeghloul, G. Poisson, “Optimal synthesis of a new spherical parallel mechanism for application to a tele-echography chain,” The ASME International Design Engineering Technical Conferences (IDETC2011), August 29-31th 2011, Washington DC, USA. Link

24. G. Charon, N. Morette, T. Essomba, P. Vieyres, J. Canou, P. Fraisse, S. Zeghloul, A. Krupa, P. Arbeille, “Robotic platform for an interactive tele-echography system: the PROSIT ANR-2008 project,” Hamlyn Symposium on medical robotic, May 10th 2010, London, United Kingdom. 

Domestic conferences:

1. T. Essomba, W.-K. Huang, “Workspace Characterization of a 3-RRR Spherical Parallel Mechanism”, 第23屆全國機構與機器設計學術研討會 (CSMMT2020), November 13th 2020, Tainan, Taiwan.

2. T. Essomba, J.-Y. Hsieh, “Kinematic Design of Double Pantographic Linkage for the Tele-Echography on Intra-Incubated Newborns”, 第21屆全國機構與機器設計學術研討會 (CSMMT2018), October 26th 2018, Keelung, Taiwan.

3. L. Nguyen Vu, T. Essomba, “Kinematic Analysis of a Spherical Decoupled Mechanism Concept”, 第19屆全國機構與機器設計學術研討會 (CSMMT2016), October 28th 2016, Pingtung, Taiwan.

4. T. Essomba, L. Nouaille, M.-A. Laribi, C.A. Nelson, S. Zeghloul, G. Poisson, “Spherical wrist dimensional synthesis adapted for tool-guidance medical robots”, CFM 21ème CONGRÉS FRANÇAIS DE MÉCANIQUE, August 26-30th 2013, Bordeaux, France.

5. T. Essomba, G. Poisson, S. Zeghloul, “Design of a haptic device for a tele-echography robot”, Journée des Jeunes Chercheurs du Laboratoire PRISME, June 16-17th 2011, Nouan le Fuzelier, France.

6. T. Essomba, S. Zeghloul, G. Poisson, “Contribution to the design of a robot for tele-echography”, Journée des Jeunes Chercheurs en Robotique 2010, November 8th 2010, Paris, France.