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Complementary Methods to Acquire the Kinematics of Swimming Snakes:A Basis to Design Bio-inspired Robots

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Journal of Bionic Engineering 2023年第2期20卷 668-682页

作者： Elie Gautreau Xavier Bonnet Tom Fox Guillaume Fosseries Valéry Valle Anthony Herrel med amine laribi Department of GMSC University of PoitiersISAE-ENSMACNRSPPRIME UPR 3346PoitiersFrance CEBC Center for Biological Studies of Chizé CNRS and University of la RochelleVilliers en BoisFrance MNHN National Museum of Natural History CNRSParisFrance

The vast diversity of morphologies,body size,and lifestyles of snakes represents an important source of information that can be used to derive bio-inspired robots through a biology-push and pull *** understanding of the detailed kinematics of swimming snakes is a fundamental prerequisite to conceive and design bio-inspired aquatic snake ***,only limited information is available on the kinematics of swimming *** and accurate methods are needed to fill this knowledge *** the present paper,three existing methods were compared to test their capacity to characterize the kinematics of swimming snakes.(1)Marker tracking(Deftac),(2)Markerless pose estimation(DeepLabCut),and(3)Motion capture were considered.(4)We also designed and tested an automatic video processing *** methods provided different albeit complementary data sets;they also involved different technical issues in terms of experimental conditions,snake manipulation,or processing *** tracking provided accurate data that can be used to calibrate other *** capture posed technical difficulties but can provide limited 3D *** pose estimation required deep learning(thus time)but was efficient to extract the data under various experimental ***,automatic video processing was particularly efficient to extract a wide range of data useful for both biology and robotics but required a specific experimental setting.

关键词： Locomotion Image processing Motion capture Kinematic analysis Snake robot Biomimicry DeepLabCut

Cable-Driven Parallel Robot Workspace Identification and Optimal Design Based on the Upper Limb Functional Rehabilitation

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Journal of Bionic Engineering 2022年第2期19卷 390-402页

作者： Ferdaws Ennaiem Abdelbadia Chaker Juan Sandoval Sami Bennour Abdelfattah Mlika Lotfi Romdhane Said Zeghloul med amine laribi Department of GMSC Pprime Institute CNRSENSMAUniversity of PoitiersUPR 3346PoitiersFrance Mechanical Laboratory of Sousse(LMS) National Engineering School of SousseUniversity of Sousse4000 SousseTunisia American University of Sharjah PO Box 26666SharjahUnited Arab Emirates

An assessment of the human motion repeatability for three selected Activities of Daily Living(ADL)is performed in this *** exercises were prescribed by an occupational therapist for the upper limb *** movement patterns of five participants,recorded using a Qualisys motion capture system,are compared based on the Analysis of Variance(ANOVA)*** survey is motivated by the need to find the appropriate task workspace of a 6-degrees of freedom cable-driven parallel robot for upper limb rehabilitation,which is able to reproduce the three selected *** comparison is performed to justify,whether or not,there is enough similarity between the participants’gestures,and so a single reference trajectory can be adopted as the robot-prescribed *** the results of the comparative study,an optimization process of the sought robot design is carried out,where the structure size and the cable tensions simultaneously minimized.

关键词： Human motion repeatability Activities of Daily Living(ADL) Analysis of Variance(ANOVA) Task workspace Cable-driven parallel robot Upper limb rehabilitation Optimization

Analysis and optimal synthesis of single loop spatial mechanisms

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2011年第9期12卷 665-679页

作者： med amine laribi Lotfi ROMDHANE Sad ZEGHLOUL Laboratoire de Génie Mécanique LAB-MA-05 Ecole Nationale d'Ingénieurs de Sousse Institut Pprime-UPR 3346 CNRS-Université de Poitiers-ENSMA Département Génie Mécanique et Systémes Complexes SP2MIBP30179 86962 Futuroscope France

In this work, a systematic approach is presented to obtain the input-output equations of a single loop 4-bar spatial mechanisms. The dialytic method along with Denavit-Hartenberg parameters can be used to obtain these equations efficiently. A genetic algorithm (GA) has been used to solve the problem of spatial mechanisms synthesis. Two types of mechanisms, e.g., RSCR and RSPC (R: revolute; S: spherical; C: cylindrical; P: prismatic), have illustrated the application of the GA to solve the problem of function generation and path generation. In some cases, the GA method becomes trapped in a local minimum. A combined GA-fuzzy logic (GA-FL) method is then used to improve the final result. The results show that GAs, combined with an adequate description of the mechanism, are well suited for spatial mechanism synthesis problems and have neither dificulties inherent to the choice of the initial feasible guess, nor a problem of convergence, as it is the case for deterministic methods.

关键词：空间机制基因算法模糊的逻辑(GA-FL ) 方法 Denevit-Hartenberg 参数机制合成

An Experimental Analysis of Overcoming Obstacle in Human Walking

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Journal of Bionic Engineering 2014年第4期11卷 497-505页

作者： Tao Li Marco Ceccarelli Minzhou Luo med amine laribi Said Zeghloul Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Changzhou 213164 P. R. China Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino 03043 Italy Institute PPRIME- DGMSC CNRS-University of Poitiers- ENSMA 15 Rue de l'Hotel Dieu 86000 Poitiers France

In this paper, an experimental analysis of overcoming obstacle in human walking is carried out by means of a motion capture system. In the experiment, the lower body of an adult human is divided into seven segments, and three markers are pasted to each segment with the aim to obtain moving trajectory and to calculate joint variation during walking. Moreover, kinematic data in terms of displacement, velocity and acceleration are acquired as well. In addition, ground reaction forces are measured using force sensors. Based on the experimental results, features of overcoming obstacle in human walking are ana- lyzed. Experimental results show that the reason which leads to smooth walking can be identified as that the human has slight movement in the vertical direction during walking; the reason that human locomotion uses gravity effectively can be identified as that feet rotate around the toe joints during toe-off phase aiming at using gravitational potential energy to provide propulsion for swing phase. Furthermore, both normal walking gait and obstacle overcoming gait are characterized in a form that can provide necessary knowledge and useful databases for the implementation of motion planning and gait planning towards overcoming obstacle for humanoid robots.

关键词： human locomotion overcoming obstacle walking gait biped robot motion capture

Design Study of a Cable-based Gait Training Machine

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Journal of Bionic Engineering 2017年第2期14卷 232-244页

作者： Houssein Lamine med amine laribi Sami Bennour Lotfi Romdhane Said Zeghloul Mechanical Laboratory of Sousse (LMS) National Engineering School of Sousse University of Sousse Sousse 4000 Tunisia Department of GMSC Pprime Institute CNRS ENSMA University of Poitiers UPR 3346 France Mechanical Engineering Department American University of Sharjah PO Box 26666 Sharjah United Arab Emirates

This paper deals with a design approach of a gait training machine based on a quantitative gait analysis. The proposed training machine is composed of a body weight support device and a cable-driven parallel robot. This paper is focused on the cable-driven robot, which controls the pose of the lower limb through an orthosis placed on the patient＇s leg. The cable robot reproduces a normal gait movement through the motion of the orthosis. A motion capture system is used to perform the quantitative analysis of a normal gait, which will be used as an input to the inverse dynamic model of the cable robot. By means of an optimization algorithm, the optimal design parameters, which minimize the tensions in the cables, are determined. Two constraints are considered, i.e., a non-negative tension in the cables at all times, and a free cable/end-effector collision. Once the optimal solution is computed, a power analysis is carried out in order to size the robot actuators. The proposed approach can be easily extended for the design study of a similar type of cable robots.

关键词： gait rehabilitation cable-driven robots body weight support system design optimization

On the Optimal Design of Cable Driven Parallel Robot with a Prescribed Workspace for Upper Limb Rehabilitation Tasks

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Journal of Bionic Engineering 2019年第3期16卷 503-513页

作者： laribi med amine Carbone Giuseppe Zeghloul Said Department of GMSC Pprime Institute CNRS-University of Poitiers - ENSMA - UPR 3346 Poitiers France Department of Mechanical Energy and Management Engineering University of Calabria 87036 Rende Italy CESTER Technical University of Cluj-Napoca Muncii Ave. 103-105 400641 Cluj-Napoca Romania

This paper deals with an optimization approach to design a cable driven parallel robot intended for upper limb rehabilitation tasks. The cable driven parallel robots have characteristics that make them best candidate for rehabilitation exercise purposes such as large workspace, re-configurable architecture, portability and cost effectiveness. Here, both the cable tensions that are needed to move a wristband as well as the workspace need to be carefully optimized for fulfilling the prescribed operation tasks. A specific case of study is addressed in this work by referring to LA RM wire driven exercising device (LAWEX), which is applied to upper limbs exercises. To that end, a motion capture system is used to collect quantitative data on the prescribed workspace of a human upper limb. A specific optimization problem is settled up for considering combining two optimization goals, namely, the smallest robot size reaching a prescribed workspace and the minimum cable tension distributions. A sequence of optimization steps is defined using Genetic Algorithms (GAs) applied to LAWEX robot. The proposed objective function is based on a mathematical formulation of the power of a point with respect to bounding surfaces in combination with a performance index to show the distributions of the minimum cable tensions.

关键词： LAWEX robot design bionic robot cable-driven robots optimization power of the point rehabilitation tasks

Place of Tranexamic Acid and Fibrinogen Association in the Management of Severe Postpartum Haemorrhage

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Open Journal of Obstetrics and Gynecology 2018年第11期8卷 1040-1051页

作者： Raja Briki Fahmi Ferhi Ons Cherif med amine Saadi Mouna Derouich Abdeljalil Khlifi Sassi Boughizane Khalil Tarmiz Obstetrics and Gynecology Department University Hospital Farhat Hached Sousse Tunisia Anesthesia and Resuscitation Department University Hospital Farhat Hached Sousse Tunisia

Introduction: Severe postpartum hemorrhage (PPH) is the main cause of death in Tunisia. Its management is multidisciplinary and requires perfect knowledge of a regularly updated protocol and consistent with available resources. We propose an evaluation of the impact of different therapeutic attitudes, in particular the combination of tranexamic acid and fibrinogen concentrates in the management of this hemorrhage. Material and Methods: This was a retrospective, descriptive and analytical study, conducted in the departments of Gynecology-Obstetrics and Surgical Resuscitation anesthesia of the Farhat Hached University Hospital, Sousse, Tunisia. The study was conducted over six years (2009-2014), and included all parturients who were treated for severe PPH that occurred on a term greater than 24 weeks of amenorrhea. Patients were divided into two groups according to the study period: 1) Group 1 (G1): from 1 January 2009 to 31 December 2011, 2) Group 2 (G2): from January 1, 2012 to December 31, 2014, a group that benefited particularly from the combination of tranexamic acid and fibrinogen concentrates for the management of their PPH. Results: 166 patients were included: 57 in G1 and 109 in G2. The overall incidence of severe PPH was 3.15/1000 deliveries. We noted a significant decrease in the fall of hemoglobin in per and post haemorrhagic manifestations in favor of G2 with a p value of 0.003 and p = 0.025, respectively. The use of blood transfusion decreased significantly, in frequency and in number of packed red cells per patient, between the two groups;transfusion ratio was 1/1.7/1.5 for G1, and 1/2/1.8 for G2. Fluid therapy, use of macromolecules and catecholamines were less important in G2. The use of tranexamic acid, fibrinogen and the association of both increased significantly between the two groups (p 10-4). Haemostasis hysterectomies were less performed (p 10-3) in G2. Conclusion: The management of PPH has evolved over the years. The use of tranexamic acid in

关键词： Postpartum Haemorrhage Tranexamic Acid Fibrinogen Management