Centre National De La Recherche Scientifique

Sorbonne Université

Université Pierre Et Marie Curie (paris 6)

Université Pierre Et Marie Curie

Robeaute

Percipio Robotics

Stéphane Regnier

Ryad Benosman

Ni Zhenjiang

Cécile Pacoret

Dogan Sinan Haliyo

Ieng Siohoi

Vincent Hayward

David Heriban

Siohoi Ieng

Bertrand Duplat

Sinan Haliyo

Quentin Francois

Régis Marchiano

Tianming Lu

Thomas Daunizeau

Marie Lutringer

Guillaume Millet

Antoine Weill Duflos

This system for real-time localization of a millimetric or submillimetric object, such as a microrobot, in a viscoelastic medium, in particular in an organ of a subject such as a brain, a liver or a pancreas, includes: at least one bubble configured to be attached to said object, the or each bubble having a hermetic envelope filled with a gas; at least one ultrasound transducer configured to emit initial ultrasound signals and to detect deflected ultrasound signals deflected at the surface of the bubble(s); a processing unit in communication with the ultrasound transducers and configured to generate localization data of the object from localization data of the bubble(s) based on the deflected ultrasound signals detected by the ultrasound transducers.

System and method for real-time localization

A mechatronic device includes two arms extending from a base in a first direction and shaped to be handheld by an operator, the two arms having free ends forming a gripper and arranged to move closer together by rotation from a rest position to an active position, a motor housed in the base, an actuator mounted between the arms, and a means for controlling said actuator, the actuator connected to the motor so as to be driven in movement in translation in the first direction. The actuator also has a first contact surface that forms a cam with a respective second contact surface on each arm, the first contact surface remaining engaged with the second contact surface. The control means controls the movement in translation of the actuator to produce a movement in rotation of the arms that applies a chosen force of the gripper in its active position.

Mechatronic forceps

Method for visual tracking of at least one object represented by a cluster of points with which information is associated, characterised in that it includes steps to: receive (E) data representing a set of space-time events, determine (E) the probability that an event in the set belongs to the cluster of points representing the at least one object, for each event in the received set, determine (E) whether or not an event belongs to the cluster of points as a function of the determined probability for the event considered, for each event in the received set, update (E) information associated with the cluster of points for at least one object, for each event for which it was determined in the previous step that it belongs to the cluster of points, calculate (E, E) the position, size and orientation of the at least one object as a function of the updated information.

Visual tracking of an object

Asynchronous information is provided by a sensor having a matrix of pixels disposed opposite the scene. The asynchronous information includes, for each pixel of the matrix, successive events originating from this pixel, that may depend on variations of light in the scene. A model representing the tracked shape of an object is updated after detecting events attributed to this object in the asynchronous information. Following detection, the updating of the model includes an association of a point of the model with the event detected by minimizing a criterion of distance with respect to the pixel of the matrix from which the detected event originates. The updated model is then determined as a function of the pixel of the matrix from which the detected event originates and attributed to the object and of the associated point in the model, independently of the associations performed before the detection of this event.

Method of tracking shape in a scene observed by an asynchronous light sensor

Method for visual tracking of at least one object represented by a cluster of points with which information is associated, characterized in that it includes steps to: receive (E1) data representing a set of space-time events, determine (E2) the probability that an event in the set belongs to the cluster of points representing the at least one object, for each event in the received set, determine (E3) whether or not an event belongs to the cluster of points as a function of the determined probability for the event considered, for each event in the received set, update (E4) information associated with the cluster of points for at least one object, for each event for which it was determined in the previous step that it belongs to the cluster of points, calculate (E4, E5) the position, size and orientation of the at least one object as a function of the updated information.

A device, having first and second motor units, for generating a torque on an output member in response to a torque setpoint. The first motor unit includes at least one motor of a first power, or small motor, having a shaft to which the output member is connected. The second motor unit includes at least one motor of a second power higher than the first power, or large motor, having a shaft rotationally connected to the output member via viscous coupler, and computer programmed, in response to a torque setpoint, to power the second motor unit so that the viscous coupler provides a viscous torque conforming to the torque setpoint. Further, in parallel with this, the first motor unit is powered so that it produces the additional torque between the torque setpoint and the viscous torque until the viscous torque reaches the value of the torque setpoint.

Device for quickly generating a torque on an extended dynamic range with low inertia

Growing community of inventors

Bois Colombes, France

Stéphane Regnier