1 Institut des Systèmes Intelligents et de Robotique (ISIR) Institut for Intelligent Systems and Robotics, Univ. of Paris 6 Director : Philippe Bidaud ~ 120 people including : 80 PhD or Post-Doc students Activities : Medical robotics Nanorobotics Perception Movement Mobile robotics Autonomous systems

2 Assistance aux Gestes et Applications THerapeutiquE (AGATHE) Assistive Robotics for Medical and Therapeutics Applications ~25 people including : 3 associate professors 6 assistant professors 3 surgeons General purpose : design and control of robotic devices devoted to human gesture and movement assistance Main application topics : Postural analysis and rehabilitation Neuro-rehabilitation for human upper-limb Serial and parallel comanipulation for medical/surgical applications Force-based control of human/tool/organ interactions

Postural analysis and rehabilitation Method for postural stability modeling Robust reconstruction of lower limb joint movements and efforts Response analysis to 3D disturbances Analysis of synergies in the control of lower limbs Assistance to walking and sit-and-stand (see video) Intuitive control using the user’s intentional movements Trajectory adaptation to the patient pathology : – By observing synergies during standard rehabilitation – By iterative learning 3/17 Foot-ground interaction measurment Muscular activity measurment Joint position measurment Motorized postural Platform

Neuro-rehabilitation of human upper-limb Transparency oriented design of an exoskeleton Hyperstaticity reduction : the arm/robot interface provides additional mobilities. Force sensors intergration and distributed force control of the exoskeleton Upper limb rehabilitation (see video) Method for evaluating various comanipulation modes using forces and movement analysis. 4/17

Serial and parallel comanipulation for medical/surgical applications Medical imaging and parallel comanipulation Active guidance of instrument based on real time medical imaging Exploitation of under actuated systems Dexterous instrumentation for laparoscopy (see video) Study of hand-tool-eye coordination under indirect vision Gesture analysis for kinematic and handle optimal design Postural analysis for improment of global ergonomy 5/17

Force and vision-based control of human/tool/organ interactions Comanipulation for interface dynamics adaptation Programmed impedance of the hand-tool interaction Force reconstruction and haptic feedback using real-time imaging of organ deformation Virtual fixtures obtained using local 3D imaging (see video) Gesture guidance in case of high tool-environment interaction forces Physiological movements compensation 6/17