Jeff Denis — accepted AI-conference 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 15 Source ↗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 8 Source ↗Scholar ↗

2021

Low-Level Force-Control of MR-Hydrostatic Actuators

Jeff Denis, Jean-Sébastien Plante, Alexandre Girard

RA-L 2021

Precise and high-fidelity force control is critical for new generations of robots that interact with humans and unknown environments. Mobile robots, such as wearable devices and legged robots, must also be lightweight to accomplish their function. Hydrostatic transmissions have been proposed as a pr

Cited by 8 Source ↗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 74 Source ↗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 35 Source ↗Scholar ↗