Reymond Clavel

Biography

Reymond CLAVEL obtained his degree in mechanical engineering at the Federal Institute of Technology of Lausanne (EPFL), Switzerland, in 1973. After nine years of gathered experience in industrial plants at Hermes Precisa International (research and development), he was appointed professor at the EPFL, where he obtained his PhD degree in parallel robotics in 1991. He was then consecutively entrusted with the following positions: Head of the department, Director of the Section of micro engineering and, in 1993, Director of the Laboratory of robotics systems (LSRO). His present research topics are parallel robotics, high speed and high precision robotics, medical and surgical robotics applications, surgical instrumentation and precision mechanisms.

Reymond Clavels research successes in parallel and industrial robotics received worldwide special mentions.

Awards :

1989: Laureate of the JIRA AWARD (Japan Industrial Robot Association) for the DELTA parallel robot invented in 1985.

1996: Project winner of the Technologiestandort Schweiz competition and ABB Sonderpreis for the best robotics project.

1998: His laboratory is awarded the Grand Prix de lInnovation in Monaco for new robot technologies.

1999: Laureate of the Golden Robot Award for the DELTA Robot.

2003: Each of his three different submitted projects received the Swiss Technology Award.

2005: Project winner of the Swiss Technology Award competition with further the Sonderpreis 2005 from the Vontobel Foundation in the field of Inventing the future.

2006: Project winner of the Swiss Technology Award competition with Quantum leap into world of nano-EDM (a new high precision EDM machine based on the Delta kinematics).

2007: Two projects based on the LSROs researches are winner of the Swiss Technology Award competition: Cyberthosis for paraplegia rehabilitation (a collaboration with the company Swortec and the Fondation Suisse pour les Cyberthèses (FSC)) and the Microfactory realized in partnership with the CSEM .

Official source

https://people.epfl.ch/reymond.clavel

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A Ball-Screw Driven Motorized Hip Orthosis

Hannes Bleuler, Mohamed Bouri, Reymond Clavel, Jeremy Olivier, Amalric Louis Ortlieb

In this paper we present a motorized hip orthosis to assist elderly people while walking, stair climbing and during the sit-to-stand transitions. The design is based on biomechanics considerations. Ranges of motion, velocities and torques of the hip joint rotations were studied from the literature to define precise design specifications. In order to fit with these requirements, an amplification mechanism inspired by excavators was developed and implemented. Our prototype’s workspace is therefore sufficient for most common activities. The paper also presents a theoretical model of the motorized orthosis which illustrates the device capabilities. Additional tests with the prototype showed that excellent transparency can be achieved with the device, in particular when using an extra sensor to detect small position variations. The assistance capabilities are limited at higher frequencies but can typically go up to 30% for a 70 kg subject during walking at a cadence of 100 steps/min.

2014

Minimally invasive surgeries on the lungs have eliminated the ability for surgeons to place their hands on the patient's organ to feel for abnormalities. Therefore, in this paper, a force sensor for 2 degrees of freedom haptic applications is described. Its integration within a force feedback teleoperated device would allow the medical doctor to essentially feel the lung without making physical contact. Its design relies on a specific elastic frame. The latter is based on two flexible structures bending around the same axis, in order to reduce cross-sensitivity. The manufacturing by wire electrical discharge machining allowed to obtain a monolithic, compact and highly precise structure. The force sensor has been sized on the basis of the study of the flexible parts it is made of. Next, it has been characterized and implemented on a haptic interface reproducing the contact with a human lung. The results show that the developed sensor is adequate to the study of lung palpation. (C) 2014 Elsevier B.V. All rights reserved.

Elsevier Science Sa2014

Development and integration of high straightness flexure guiding mechanisms dedicated to the METAS watt balance Mark II

Reymond Clavel, Florent Cosandier

There is a firm will in the metrology community to redefine the kilogram in the International System of units by linking it to a fundamental physical constant. The watt balance is a promising way to link the mass unit to the Planck constant h. At the Federal Institute of Metrology METAS a second watt balance experiment is under development. A decisive part of the METAS Mark II watt balance is the mechanical linear guiding system. The present paper discusses the development and the metrological characteristics of two guiding systems that were conceived by the Laboratoire de Systemes Robotiques of EPFL and built using flexure mechanical elements. Integration in the new setup is also described.

Iop Publishing Ltd2014