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Gérard POISSON

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Professeur des Universités, section CNU 61, Roboticien

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Gérard Poisson

Enseignant à l'IUT de Bourges. En BUT Génie Mécanique et Productique, en Licences Professionnelles Mécatronique et RobotiqueDynamique du solide, Vibrations mécaniques, Robotique industrielle.

Enseignant à l'Université d'Orléans. Au Master MARS : Modélisation des robots pour la commande.

 

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Eléments-finis

 


Thèmes de recherche

  • Conception Mécatronique de Robots
  • Téléopération, Comanipulation, Téléopération & Comanipulation Combinées (TC2)
  • Télé-échographie robotisée

Principales applications en robotique médicale

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Robot Melody

 

 

Thèse encadrée récemment soutenue

  • Joseph Diab (03 décembre 2021) : " Commande robotique hybride par téléopération et comanipulation : Application au positionnement d'une sonde échographique "

Thèses encadrées en cours

  • Manel Abbès : Conception d'un robot porte-outil pour la délivrance de médicaments dans la cochlée
  • Mustafa Elahres : Robotique collaborative et IA
  • Rahul Ray : Conception mécatronique d'un exosquelette robotisé pour le traitement de la scoliose

Publications

De 2018 à ce jour

 

  1. J. Diab, A. Fonte, C. Novales and G. Poisson. “Virtual Adjustable Joint Stiffness Toward a Safer Human-Robot Interaction”. Spinger book of International Conference on Informatics in Control (ICINCO 2020), Automation and Robotics.  Lecture Notes in Electrical Engineering, Vol. 793, 01 Jan 2022.
  2. M. Abbes, K. Belharet, H. Mekki and G. Poisson. “Robotic platform for Targeted Drug Delivery in the Cochlea”. Innovation and Research in BioMedical Engineering (IRBM). À paraître, 2022.
  3. M. Elhares, A. Fonte and G. Poisson. “Evaluation of an Artificial Potential Field Method in Collision-Free Path Planning for a Robot Manipulator”. ROBOVIS 2021, July 2021.
  4. R. Ray, L. Nouaille, B. Colobert, L. Calistri and G. Poisson. “Design of a Robotic Brace with Parallel Structure for Spine Deformities Correction”. 5th IFToMM Symposium on Mechanism Design for Robotics (MEDER 2021). Mechanism and Machine Science, Springer link, Vol. 103, 159-167, May 2021.
  5. C.A. Nelson, L. Nouaille and G. Poisson. “A Redundant Rehabilitation Robot with a Variable Stiffness Mechanism”. Mechanism and Machine Theory (MECH MACH THEORY). Vol. 150. 103862, Aug. 2020.
  6. R. Ray, L. Nouaille, B. Colobert & G. Poisson. “Design of Robotic Braces for Patients with Scoliosis”. In: Zeghloul S., Laribi M., Sandoval Arevalo J. (eds) Advances in Service and Industrial Robotics. Robotics in Alpe-Adria-Danube région (RAAD 2020). Mechanisms and Machine Science, Vol. 84. Springer, Cham, July 2020. 
  7. J. Diab , A. Fonte, C. Novales and G. Poisson. “PHRI Safety Control Using a Virtual Flexible Joint Approach”. 17th International Conference on Informatics in Control, Automation and Robotics (ICINCO), 7-9 July 2020.
  8. L. Amouri, M. Jallouli, C. Novales, G. Poisson and N. Derbel. “Evaluation of User Interface Performing a DVZ-Fuzzy Logic Pilot for powered wheelchair”. Journal of Automation, Mobile Robotics and Intelligent Systems, Vol. 13. N°3, 27-33, Dec. 2019.
  9. M. Abbes, K. Belharet, H. Mekki and G. Poisson. “Permanent Magnets based Actuator for Microrobots Navigation”. 2019 IEEE International Conference on Intelligent Robots and Systems (IROS). Macau, China, Nov. 04-08, 2019.
  10. C.A. Nelson, L. Nouaille and G. Poisson. “Variable Stiffness Mechanism for Robotic Rehabilitation”. In: Uhl T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanism and Machine Science, Vol. 73, 1761-1769, Springer, Cham 2019.
  11. J. Sandoval, L. Nouaille, Y. Parmantier, B. Magnain and G. Poisson. “Design Process of a New Lighting Robotic Arm for Operating Room”. In Mechanism Design for Robotics: Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics (MEDER 2018). Springer Int. Publishing, 2019.
  12. J. Sandoval, MA. Laribi, S. Zeghloul, M. Arsicault, G. Poisson. “Safety performance of a variable stiffness actuator for collaborative robots”. In Advances in Service and Industrial Robotics, Proceedings of the 27th International Conference on Robotics in Alpe Adria Danube Region (RAAD 2018), Print ISBN: 978-3-030-00231-2, Springer Int. Publishing, 2019.
  13. C. Nelson, L. Nouaille and G. Poisson. “Variable Stiffness Mechanism for Robotic Rehabilitation”. 2019 IFToMM World Congress on Mechanism and Machine Science, Krakow, Poland, 30 June - 4 July 2019.
  14. M. Abbes, K. Belharet, H. Mekki and G. Poisson. “Robotic Manipulator for Positioning a Magnetic Actuator to Drug Delivery in the Cochlea”. Journées d’Etudes sur la TéléSanté (JETSAN 2019), Paris, 23-24 May 2019.
  15. Hang Su, J.S. Sandoval, P. Vieyres, G. Poisson, G. Ferrigno and E. de Momi. “Safety-Enhanced Collaborative Framework for Tele-operated Minimally Invasive Surgery using a 7-DoF Torque-Controlled Robot”. International Journal of Control, Automation and Systems (INT J CONTROL AUTOM). Vol. 16, Issue 6, 2915-2923, Dec. 2018.
  16. J.S. Sandoval, P. Vieyres, G. Poisson, Giancarlo Ferrigno and Elena de Momi. “Collaborative framework for robot-assisted Minimally Invasive Surgery using a 7-DoF anthropomorphic robot”. Robotics and Autonomous Systems (ROBOT AUTON SYST). Vol. 106, 95-106, Aug. 2018.
  17. M. Abbes, M. Souissi, K. Belharet, G. Poisson and H. Mekki. “A novel remote-center-of-motion serial manipulator for inner ear drug delivery”. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM-2018), Auckland, New Zealand, July 9-12 2018.
  18. J.S. Sandoval, P. Vieyres and G. Poisson. “Generalized framework for control of redundant manipulators in robot-assisted Minimally Invasive Surgery”. Innovation and Research in BioMedical Engineering (IRBM), Vol.  39, Issue 3, 160-166, June 2018.
  19. B. Navarro, A. Fonte, P. Fraisse, G. Poisson and A. Cherubini, “In pursuit of safety: An open-source library for safe physical human-robot interaction”. IEEE Robotics and Automation Magazine Submission and Review Management System (IEEE ROBOT & AUTOM MAG). Vol. 25, Issue 2, 39-50, May 17th 2018.