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Institut des Systèmes Intelligents et de Robotique (ISIR)Institut for Intelligent Systems and Robotics, Univ. of Paris 6

Director : Philippe Bidaud

~ 120 people including :80 PhD or Post-Doc students

Activities :

• Medical robotics• Nanorobotics• Perception• Movement• Mobile robotics• Autonomous systems

2

Assistance aux Gestes et Applications THerapeutiquE (AGATHE)Assistive Robotics for Medical and Therapeutics Applications

~25 people including : 3 associate professors6 assistant professors3 surgeons

General purpose : design and control of robotic devices devoted to human

gesture and movement assistance

Main application topics :

• Postural analysis and rehabilitation• Neuro-rehabilitation for human upper-limb• Serial and parallel comanipulation for medical/surgical applications• Force-based control of human/tool/organ interactions

Postural analysis and rehabilitation

Method for postural stability modeling• Robust reconstruction of lower limb joint

movements and efforts• Response analysis to 3D disturbances• Analysis of synergies in the control of lower limbs

Assistance to walking and sit-and-stand (see video)• Intuitive control using the user’s intentional

movements• Trajectory adaptation to the patient pathology :

– By observing synergies during standard rehabilitation

– By iterative learning

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Foot-ground interaction

measurment

Muscular activity

measurment

Joint position measurment

Motorized postural Platform

Neuro-rehabilitation of human upper-limbTransparency oriented design of an exoskeleton • Hyperstaticity reduction : the arm/robot interface provides additional

mobilities.• Force sensors intergration and distributed force control of the exoskeleton

Upper limb rehabilitation (see video)• Method for evaluating various comanipulation modes using forces and

movement analysis.

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Serial and parallel comanipulation for medical/surgical applications

Medical imaging and parallel comanipulation• Active guidance of instrument based on real time medical imaging• Exploitation of under actuated systems

Dexterous instrumentation for laparoscopy (see video)• Study of hand-tool-eye coordination under indirect vision• Gesture analysis for kinematic and handle optimal design• Postural analysis for improment of global ergonomy

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Force and vision-based control of human/tool/organ interactions

Comanipulation for interface dynamics adaptation• Programmed impedance of the hand-tool interaction• Force reconstruction and haptic feedback using real-time imaging of organ deformation

Virtual fixtures obtained using local 3D imaging (see video)• Gesture guidance in case of high tool-environment interaction forces• Physiological movements compensation

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