Med Amine Laribi — accepted AI-conference papers

2021

Towards an Autonomous Robot-Assistant for Laparoscopy Using Exteroceptive Sensors: Feasibility Study and Implementation

Juan Sandoval, Med Amine Laribi, J. P. Faure, Cyril Breque, Jean-Pierre Richer, Saïd Zeghloul

RA-L 2021

A new autonomous camera-holder robotic system for Laparoscopic Surgery (LS) is presented in this paper. In the proposed system, a 7-DoF collaborative robot holds and moves the laparoscope, or surgical camera, so that it permanently points towards the instruments' tips. A motion capture (MoCap) syste

Cited by 22 Source ↗Scholar ↗

2015

Optimal haptic control of a redundant 3-RRR Spherical Parallel Manipulator

Houssem Saafi, Med Amine Laribi, Said Zeghloul

IROS 2015poster

This paper discusses an optimal torque distribution for a redundant 3-RRR spherical parallel manipulator (SPM). The SPM has parallel singular configurations within its workspace. The singularity leads to an amplification of the actuated joint torques which violates the actuator torque limits. The us…

Cited by 13 Source ↗Scholar ↗