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Jean-Sébastien Plante

11 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 ↗
2022

Design Exploration and Experimental Characterization of a 6 Degrees-of-Freedom Robotic Manipulator Powered by Cable-Driven Semi-Delocalized Magnetorheological Actuators

Mathieu Gervais, Louis-Philippe Lebel, Jean-Sébastien Plante
ICRA 2022poster

Collaborative robots need to work closely and safely with users while being fast and strong. Fulfilling both these needs simultaneously presents a significant challenge, if not a roadblock, for conventional geared motor technology. Magnetorheological (MR) actuation is an alternative technology that…

Cited by 2Source ↗Scholar ↗
2022

Multimodal Hydrostatic Actuators for Wearable Robots: A Preliminary Assessment of Mass-Saving and Energy-Efficiency Opportunities

Jeff Denis, Alex Lecavalier, Jean-Sébastien Plante, Alexandre Girard
ICRA 2022poster

Wearable robots are limited by their actuators performances because they must bear the weight of their own power system and energy source. This paper explores the idea of leveraging hybrid modes to meet multiple operating points with a lightweight and efficient system by using hydraulic valves to dy…

Cited by 8Source ↗Scholar ↗
2020

A Supernumerary Robotic Leg Powered by Magnetorheological Actuators to Assist Human Locomotion

Charles Khazoom, Pierre Caillouette, Alexandre Girard, Jean-Sébastien Plante
RA-L 2020

Supernumerary robotic limbs are emerging to augment human function. Unlike exoskeletons, these robots provide additional kinematic structures to the user that enable novel human-robot interactions. To assist walking, a supernumerary leg should be compliant to impacts, minimize efforts on users, move

Cited by 56Source ↗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 ↗
2019

Design and Experimental Validation of a 2DOF Sidestick Powered by Hyper-Redundant Magnetorheological Actuators Providing Active Feedback

Marc-André Bégin, Marc Denninger, Jean-Sébastien Plante
ICRA 2019poster

Haptic joysticks for man-machine interaction used in aerospace flight control have highly demanding requirements of reliability, force density, and high dynamics that can hardly be met with conventional electromagnetic actuators. This work explores the potential of using an alternative actuation str…

Cited by 7Source ↗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 ↗
2015

Projected PID controller for Tendon-Driven Manipulators actuated by magneto-rheological clutches

Joël Viau, Patrick Chouinard, Jean-Philippe Lucking Bigué, Guifré Julió, François Michaud, Shingo Shimoda +1
IROS 2015poster

Tendon-Driven Manipulators (TDM) have been used in various applications requiring low inertia robots having multiple degrees-of-freedom (DOF) and redundancy. TDMs are generally actuated by gear electric motors placed at the base of the robot, and consequently require complex cable tension feedback f…

Cited by 12Source ↗Scholar ↗