Research Interests

• Robotics and Telerobotics
• Haptics and Teleoperation Control
• Surgical and Hands-On Training Robotics
• Industrial Robotics

Appointments

• From 2001 to 2010, Arnaud was working in E-Learning teams of former ICTT and LIESP laboratories. He focused on Virtual/Remote Laboratories in E-Learning applications.
• Since 2011, he joined the Automatic Control for Systems Engineering department
  of Ampere lab (CNRS UMR 5005) to work on Robotics.

Research Topics

His global research topic is the study and design of haptic tools for hands-on training (since 2011).

His research activity covers the design and the control of electropneumatical systems, mainly for realizing human-robot interaction with kinesthetic feedback. It features methodological and applied workds.

Theoretical works to cover the needs for :

• Modeling haptic feedback for haptic simulation and stiffness control of electropneumatic actuators (PhD of Thibaut Senac, 2019)
• Research of mathematical tools for the objective evaluation of trainees in training haptic simulators, applied on epidural training (PhD of Thibault Sénac, 2019, supervised with Richard Moreau)
• Energetic modeling of dual-user training architectures with Port-Hamiltonian tools (PhD of Fei Liu, 2016, and Angel Licona, 2020)
• Tissues modeling during needle insertion for haptics feedback rendering (PhD of Benjamin Delbos, 2024)

Applications

Haptic simulation for the training of:

• 2021 Basic gestures in laparoscopy
• 2019 Epidural needle insertion (PhD of Thibaut Senac)
• 2024 Ventriculoscomy (PhD of Benjamin Delbos)
• (Current) Endovascular navigation (PhD of Kenza Oussalah)

Supervised training in simulators (trainer and trainee(s) all together interacting inside the simulation both with haptic feedback) (PhD of Angel Licona 2020).

He has also participated, to a lesser extent, to works on birth simulation (PhD Nicolas Herzig 2016).

Publications

Mentoring

Academic Engagement

Collaborations

At the Regional Scale

At the National Scale

At the International Scale

Former Research Topics

Farming Robotics (2017-2020)

Recently, his research activity had momentarily extended toward farming robotics. In this context, he has been the PI of the Greenshield (2017-21) project which aimed at demonstrating the feasibility of a robotized solution to replace pesticides in the crops by means of AI-based video real-time analyzis and laser based aphid neutralization.

Computer-based Approach (2001-2010)

During the first part of his career as Associate Professor at INSA Lyon, he studied it in terms of computer based solutions : more exactly through E-Learning. Two approaches have been developed:

• Design of a computer based tool (ELab Management System) to manage a flotilla of training apparatuses (used locally or at distance, and featuring common components: sensors, electric motors, PID controllers, …) and facilitate the exchange of information with classical software such as Learning Management Systems (LMS) (PhD Benmohamed 2007)
• SysML Modeling of a computer based tool (configurator) which facilitates the design of pedagogical (paper and electronic) content (Authoring tool) for laboratories on complex automated production systems, and its configuration (PhD Arnous 2011).

These works are presented (in French) in Chapter 2 of his HdR report.