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This article examines the evolution and challenges of robotic hands, designed to enhance flexibility and dexterity in fine manipulation tasks. It emphasizes that anthropomorphism alone does not guarantee optimal performance and addresses fundamental concepts such as kinematic architecture and dexterity evaluation. Two design approaches are analyzed: underactuated hands, which exploit motor synergies to reduce the number of actuators, and fully actuated hands, which offer precise but complex control. The article also explores control strategies, including real-time architectures and the integration of artificial intelligence to improve the adaptability of robotic hands.
Robotic systems have been developed to assist people with frailty in walking and lifting. The main role of controlling such a system is to detect the person’s intention through interactions with the system. The development of solutions for the assistance of frail people has brought constraints such as equipping the system rather than the subject. This paper explores the possibilities of monitoring human movement to detect the intention of the movement. Some properties of motion are described as they are useful to take into account for ergonomic behavior. Different approaches and their results are presented in a context with real human experimentation data.
This article discusses the dynamic identification of manipulator robots widely used in production facilities. These robots are complex, multi-articulated electromechanical systems that have been studied since the 1950s. This led to the development of a mathematical model representing their dynamic behavior to develop their control, simulation, and design. This model depends on parameters that are not known with sufficient precision. Their identification is essential for the exploitation of the mathematical model. Robot identification is a well-explored and mature field today. This article presents a set of mathematical tools as well as three identification methods illustrated by experimental results.
Microrobotics is a field that is growing significantly. Technologies are now mature enough to be used in a wide range of application fields, such as biology or industry, which require handling small-size biological or artificial objects. This paper highlights how microrobotics enables us to reach performance levels beyond what can be achieved with classical technologies. In particular, smaller objects can be handled, with higher frequencies and with greater precision. This paper briefly reviews the most common manipulation techniques, either with contact, such as those using grippers, or without contact such as those using remote force fields. It also provides an overview of the application fields of microrobotics.
Planning a robot's movements requires a map and a localization method. SLAM (Simultaneous Localisation and Mapping) algorithms enable these maps to be constructed autonomously while estimating the robot pose. The techniques employed are varied, in terms of the representations produced, algorithmic approaches and sensors used. This article presents the main classes of algorithms and common methods for data correlation, filtering and optimization, as well as their concrete applications.
Robotic solutions can meet the need to compensate for deficiencies, but it is essential to take into account the clinical and usage purpose, and to co-design them with users to ensure they are adapted and to test their acceptability. In this article, we will address the development process of these systems, particularly as applied to navigation assistance for power wheelchairs, where the goal is to avoid obstacles, but also to integrate more complex functionalities such as semi-autonomous assistance or social navigation. In this context, the physical human-robot interface and intention detection are of crucial importance.
Robots are taking an increasingly important place in Society, which is why, in order to guarantee sustainable robotic development, it is necessary to think as early as possible about their eco-design. Thus, this article makes a focus on the environmental impacts of robots and the means that exist or are being developed to potentially reduce them. Two main classes of techniques to reduce some environmental impacts of robots are highlighted : techniques to reduce energy consumption and replacement of robot bodies by parts made of materials with low environmental impact.
Compared to traditional rigid robots, continuum robots (CRs) are made up of flexible bodies that undergo large-scale deformation. Their movements are achieved by controlling the deformations of their constituent bodies.Their intrinsic flexibility means they can be used in many fields where safe interaction with the environment is required. There are several types of CRs, including continuum parallel robots (CPRs), which consist of a parallel assembly of several flexible bodies.In this article, CPRs will be studied, going through their different designs, their models, as well as investigating their stability properties.
This article discusses robotic control methods adapted to the continuous physical interaction between human and robot to accomplish common tasks. The article describes so-called "compliant" control methods (impedance or admittance), which exploit the robot’s dynamic model and adapt to the humman’s forces interaction. The principle of compliance adaptation is also detailed and applied to a typical use case of object co-manipulation (with or without uncertainties).
The robotization of large spaces requires in-depth expertise in robotic behavior, follow-up on rigorous methodologies, and a precise understanding of the impact of processes on robots. This document examines various robotic architectures, assesses robot performance in terms of accuracy and repeatability, and presents concrete examples to structure needs. It also explores the scientific challenges associated with integrating robots into large spaces, the available measurement tools, and highlights the specificities of architectures based on the tasks to be performed. Finally, a methodology is proposed for effective implementation, emphasizing the challenges to be addressed and the future prospects for robotics in these environments.
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