Arnaud Bruyas

Toward unibody robotic structures with integrated functions using multimaterial additive manufacturing: Case study of an MRI-compatible interventional device

In this paper, a new multifunctional compliant joint is introduced for the design of unibody robotic mechanisms. Developed in the demanding context of interventional MRI, the compliant joint integrates kinematic, actuation, braking and sensing functions. Such integration is performed thanks to multi…