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Catherine Véronneau

5 accepted papers

2023

Modular Magnetorheological Actuator With High Torque Density and Transparency for the Collaborative Robot Industry

Catherine Véronneau, Jeff Denis, Pierre Lhommeau, Alexandre St-Jean, Alexandre Girard, Jean-Sébastien Plante +1
RA-L 2023

In the last decade, the development of simple and easy-to-use robotics has provided a significant step towards the democratization of collaborative robots, which can now work closely alongside humans. However, state-of-the-art cobots still provide safety at the cost of work-speed, which is purposely

Cited by 15Source ↗Scholar ↗
2020

Multifunctional Remotely Actuated 3-DOF Supernumerary Robotic Arm Based on Magnetorheological Clutches and Hydrostatic Transmission Lines

Catherine Véronneau, Jeff Denis, Louis-Philippe Lebel, Marc Denninger, Vincent Blanchard, Alexandre Girard +1
RA-L 2020

Supernumerary robotic limbs (SRL) are wearable extra limbs intended to help humans perform physical tasks beyond conventional capabilities in domestic and industrial applications. However, unique design challenges are associated with SRLs as they are mounted on the human body. SRLs must!) be lightwe

Cited by 74Source ↗Scholar ↗
2019

A Lightweight Force-Controllable Wearable Arm Based on Magnetorheological-Hydrostatic Actuators

Catherine Véronneau, Jeff Denis, Louis-Philippe Lebel, Marc Denninger, Jean-Sébastien Plante, Alexandre Girard
ICRA 2019poster

Supernumerary Robotic Limbs (SRLs) are wearable robots augmenting human capabilities by acting as a co-worker, reaching objects, support human arms, etc. However, existing SRLs lack the mechanical backdrivability and bandwidth required for tasks where the interaction forces must be controlled such a…

Cited by 35Source ↗Scholar ↗
2019

Design and Control of a Multifunctional Ankle Exoskeleton Powered by Magnetorheological Actuators to Assist Walking, Jumping, and Landing

Charles Khazoom, Catherine Véronneau, Jean-Philippe Lucking Bigué, Jordane G. Grenier, Alexandre Girard, Jean-Sébastien Plante
RA-L 2019

Lower-limb exoskeletons have shown increasing potential to augment human performance in many locomotion tasks. However, most lower-limb exoskeletons use highly geared, nonback-drivable actuators with limited power and force bandwidth in order to be light enough to be carried without metabolic penalt

Cited by 69Source ↗Scholar ↗
2018

A High-Bandwidth Back-Drivable Hydrostatic Power Distribution System for Exoskeletons Based on Magnetorheological Clutches

Catherine Véronneau, Jean-Philippe Lucking Bigué, Alexis Lussier Desbiens, Jean-Sébastien Plante
RA-L 2018

Exoskeletons are increasingly interesting for human assistance applications ranging from rehabilitation to force enhancement. However, today's exoskeletons are relatively slow and lack the mechanical transparency required to complete several daily tasks, mainly due to their bulky and non-back-drivab

Cited by 24Source ↗Scholar ↗