Vincent Duchaine

Conception d'une prothèse de bras robotisée pour personne amputée, by Blanc,Rémi.
Fall 2019


Co-directed by: Bonev, Ilian
Utilisation d'un outil adaptatif pour l'alimentation d'un tour numérique, by Noiseux,Yanick.
Summer 2012


Investigation des technologies de mesure de la capacitance pour les appliquer dans les capteurs d'effort multi-axes, by Cajas,Tulio Arbey.
Winter 2013


Développement d'une interface logiciel permettant de faciliter l'utilisation et la programmation d'un préhenseur sous-actionné sur un robot industriel, by Saber Cherif,Kaouthar.
Winter 2014


Conception mécanique et prototypage d'un doigt sous actionné permettant les mouvements de saisie d'objet par pincement en bout de doigt et de saisie en pleine main, by Pellois,Robin.
Winter 2015


Évaluation du fonctionnement et des limites d'un robot collaboratif dans le cas de tâches de prises, by Gauthier,Raphaël.
Winter 2015


Innovation médicale : gestion d'un projet d'innovation dans le milieu hospitalier, by Dewambrechies,Gautier.
Winter 2016


Innovation médicale "SCARACERS", by Aidibe,Fayez.
Fall 2016


Apprentissage interactive de trajectoire par une commande robotique d'admittance variable, by Linteau,Jean-Philippe.
Fall 2016


Développement d'une interface graphique pour cellule de préhension automatisée, by Llopis,Jonathan.
Winter 2016


Étude d'un système photovoltaïque de production d'énergie électrique : cas d'ombrage partiel, by Dabib,Abla.
Winter 2017


Pointer for Minimally Invasive Surgeries Control Unit Hardware, by Rincon Mora,Luis Carlos.
Summer 2016


Conception d'un préhenseur magnétique pour robots industriels, by Bernier,Alexandre.
Summer 2019

Conception d'un dispositif de stimulation haptique pour la restitution du sens du toucher, by Lavertu,Jean-Simon.
Fall 2019


Développement d'un appareil haptique transmettant par pression des évènements tactiles extéroceptifs, by Florant,David.
Fall 2013


Discrimination de textures et quantification de rugosité par algorithme d'apprentissage, by Rispal,Samuel.
Summer 2014


Using Tactile Sensors and IMUs with an Unsupervised Feature-Leaning Approach for Robotic Grasp Stability Assessment, by Cockburn,Deen.
Winter 2018


Développement d'un capteur tactile multimodal, by Maslyczyk,Alexis.
Fall 2016


Développement d'un système de programmation par démonstration de tâches d'insertion pour la robotique collaborative, by Roberge,Etienne.
Winter 2019

Optimisation d'un actionneur à aimants permanents programmable pour des applications robotiques, by Ulagaoozhian,Chandramouly.
Winter 2020


Co-directed by: Bigras, Pascal
Development of Highly Sensitive Multimodal Tactile Sensor, by Rana,Axaykumar.
Fall 2015


Co-directed by: Cardou, Philippe
Geometrical, Mechanical and Transduction Techniques for Designing Multi-Axis Force-Torque Sensors for Robotic Applications, by Bekhti,Rachid.
Fall 2015


Co-directed by: Bigras, Pascal
The Use of Multi-Modal Haptic Feedback to Convey Various Aspects of Touch Sensitivity, by Motamedi,Mohammadreza.
Summer 2015


Co-directed by: Park, Yong-Lae
Sensing and Actuation for the Design of Upper Limb Prosthetics, by Chossat,Jean-Baptiste.
Fall 2017


Co-directed by: Wong, Tony
Path planning for mobile robots, by Mohseni,Seyed Alireza.
Winter 2020


Co-directed by: Cutkosky, Mark
Developping an Intelligent Tactile-sensitive Gripper for Robotic Grasping Improvement, by Roberge,Jean-Philippe.
Fall 2019


Development and integration of tactile intelligence into robotic grasping, by Kwiatkowski,Jennifer.
Winter 2020

Co-directed by: Baudet, Jean-Claude
Règles dimensionnantes de conception de réseaux maillés ZIGBEE de géolocalisation, by Jasinsky,Pierre.
Summer 2015

Iñigo Iturrate, Etienne Roberge, Esben Hallundbæk Østergaard, Vincent Duchaine, Thiusius Rajeeth Savarimuthu. 2019. « Improving the generalizability of robot assembly tasks learned from demonstration via CNN-based segmentation ». IEEE 15th International Conference on Automation Science and Engineering (CASE) (Vancouver, BC, Canada, Aug. 22-26, 2019) p. 553-560. Piscataway, NJ, USA : IEEE.

Jennifer Kwiatkowski, Jean-Simon Lavertu, Chloé Gourrat, Vincent Duchaine. 2019. « Determining object properties from tactile events during grasp failure ». IEEE 15th International Conference on Automation Science and Engineering (CASE) (Vancouver, BC, Canada, Aug. 22-26, 2019) p. 1692-1698. Piscataway, NJ, USA : IEEE.

Jennifer Kwiatkowski, Jean-Philippe Roberge, Nicholas A. Nadeau, Louis L'Écuyer-Lapierre, Vincent Duchaine. 2018. « An extrinsic dexterity approach to the IROS 2018 fan robotic challenge ». 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Madrid, Spain, Oct. 1-5, 2018) p. 4139-4144. Piscataway, NJ, USA : IEEE.

Deen Cockburn, Jean-Philippe Roberge, Le Thuy-Hong-Loan, Alexis Maslyczyk, Vincent Duchaine. 2017. « Grasp stability assessment through unsupervised feature learning of tactile images ». 2017 IEEE International Conference on Robotics and Automation (ICRA) (Singapore, Singapore, May 29- June 03, 2017) p. 2238-2244. Piscataway, NJ, USA : IEEE.

Jennifer Kwiatkowski, Deen Cockburn, Vincent Duchaine. 2017. « Grasp stability assessment through the fusion of proprioception and tactile signals using convolutional neural networks ». IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Vancouver, BC, Canada, Sept. 24-28, 2017) p. 286-292. Piscataway, NJ, USA : IEEE.

Sayed Alireza Mohseni, Vincent Duchaine, Tony Wong. 2017. « A comparative study of the optimal control design using evolutionary algorithms: Application on a close-loop system ». Intelligent Systems Conference (IntelliSys) (London, UK, Sept. 07-08, 2017) p. 942-948. Piscataway, NJ, USA : IEEE.

Samuel Rispal, Axay K. Rana, Vincent Duchaine. 2017. « Texture roughness estimation using dynamic tactile sensing ». 3rd International Conference on Control, Automation and Robotics (ICCAR) (Nagoya, Japan, April 22-24, 2017) p. 555-562. Piscataway, NJ, USA : IEEE.

Samuel Rispal, Axay Rana, Vincent Duchaine. 2017. « Textures recognition through tactile exploration for robotic applications ». 3rd International Conference on Control, Automation and Robotics (ICCAR) (Nagoya, Japan, April 22-24, 2017) p. 121-128. IEEE.

Etienne Roberge, Vincent Duchaine. 2017. « Detecting insertion tasks using convolutional neural networks during robot teaching-by-demonstration ». IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Vancouver, BC, Canada, Setp. 24-28, 2017) p. 3210-3216. Piscataway, NJ, USA : IEEE.

Le Thuy-Hong-Loan, Alexis Maslyczyk, Jean-Philippe Roberge, Vincent Duchaine. 2017. « A highly sensitive multimodal capacitive tactile sensor ». 2017 IEEE International Conference on Robotics and Automation (ICRA) (Singapore, Singapore, May 29- June 03, 2017) p. 407-412. Piscataway, NJ, USA : IEEE.

M. Reza Motamedi, Jean-Baptiste Chossat, Jean-Philippe Roberge, Vincent Duchaine. 2016. « Haptic feedback for improved robotic arm control during simple grasp, slippage, and contact detection tasks ». 2016 IEEE International Conference on Robotics and Automation (ICRA) (Stockholm, Sweden, May 16-21, 2016) p. 4894-4900. IEEE.

Jean-Philippe Roberge, Samuel Rispal, Tony Wong, Vincent Duchaine. 2016. « Unsupervised feature learning for classifying dynamic tactile events using sparse coding ». 2016 IEEE International Conference on Robotics and Automation (ICRA) (Stockholm, Sweden, May 16-21, 2016) p. 2675-2681. IEEE.

J. B. Chossat, Tao Yiwei, Vincent Duchaine, Park Yong-Lae. 2015. « Wearable soft artificial skin for hand motion detection with embedded microfluidic strain sensing ». 2015 IEEE International Conference on Robotics and Automation (ICRA). Proceedings (Seattle, WA, USA, May 26-30, 2015) p. 2568-2573. Piscataway, NJ, USA : IEEE.

M. Reza Motamedi, Jean-Philippe Roberge, Vincent Duchaine. 2015. « Tactile sensation transmission from a robotic arm to the human body via a haptic interface ». 2015 IEEE World Haptics Conference (WHC) (Evanston, Il, USA, June 22-26, 2015) p. 139-145. Piscataway, NJ, USA : IEEE.

R. Bekhti, Vincent Duchaine, P. Cardou. 2014. « Miniature capacitive three-axis force sensor ». 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) (Chicago, IL, USA, Sept. 14-18, 2014) p. 3939-3946. Piscataway, N. J., USA : IEEE.

P. Fortin, M. J. D. Otis, Vincent Duchaine, J. R. Cooperstock. 2014. « Event-based haptic vibration synthesis using a recursive filter for lower limb prosthetics ». 2014 IEEE International Symposium on Haptic, Audio and Visual Environments and Games (HAVE). Proceedings (Richardson, TX, USA, Oct. 10-11, 2014) p. 47-52. Piscataway, N. J., USA : IEEE.

Rachid Bekhti, Vincent Duchaine, Philippe Cardou. 2013. « Structural optimization of force-torque sensor using a symbolic analysis ». Symposium CCToMM 2013 sur les mécanismes, machines et mécatronique (Montréal, QC, Canada, May 30-31, 2013)

J. B. Chossat, Y. L. Park, Vincent Duchaine. 2013. « Use of Ionic liquid and electrical impedance tomography for touch‐sensitive skins in robotics ». IROS 2013 Workshop on Soft Technologies for Wearable Robots (Tokyo, Japan, Nov. 7, 2013)

Vincent Duchaine, Clément Gosselin. 2013. « Passive Contact Reaction for Enhancing Human-Robot Collaboration ». 8th ACM/IEEE International Conference on Human-Robot Interaction : Workshop on Collaborative Manipulation (Tokyo, Japan, May 3-6, 2013)

A. Rana, Vincent Duchaine. 2013. « Improved Soft Dielectric for Highly Sensitive Capacitive Tactile Sensor ». 2013 IEEE International Conference on Robotics and Automation : Workshop on Research Frontiers in Electronic Skin Technology (Karlsruhe, Germany, May 6-10, 2013)

J. B. Chossat, J. W. Park, R. J. Wood, Vincent Duchaine. 2012. « A Soft Elastomer Strain Sensor Based on an EGaIn/Ionic Solution Hybrid Construction ». ATBio: Workshop on smart materials and alternative technologies for bio-inspired robots and systems part of IEEE/RSJ International Conference on Intelligent Robots and Systems (Vilamoura, Portugal, Oct. 7-12, 2012)

Daniel Aukes, Barrett Heyneman, Vincent Duchaine, Mark R. Cutkosky. 2011. « Varying spring preloads to select grasp strategies in an adaptive hand ». IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (San Francisco, CA, USA, Sept. 25-30, 2011) p. 1373-1379. Piscataway, NJ, USA : Institute of Electrical and Electronics Engineers.

Marc-André Lacasse, Vincent Duchaine, Clément Gosselin. 2010. « Characterization of the electrical resistance of carbon-black-filled silicone : application to a flexible and stretchable robot skin ». IEEE International Conference on Robotics and Automation (ICRA) (Anchorage, AK, USA, May, 3-7 2010) p. 4842-4848. Piscataway, NJ, USA : Institute of Electrical and Electronics Engineers.

Jean-Baptiste Chossat, Alexis Maslyczyk, Jean-Simon Lavertu, Vincent Duchaine. 2018. « The programmable permanent magnet actuator: A paradigm shift in efficiency for low-speed torque-holding robotic applications ». IEEE Robotics and Automation Letters. vol. 3 , nº 3. p. 1751-1758.

Jean-Philippe Roberge, Wilson Ruotolo, Vincent Duchaine, Mark Cutkosky. 2018. « Improving industrial grippers with adhesion-controlled friction ». IEEE Robotics and Automation Letters. vol. 3 , nº 2. p. 1041-1048.

M. Reza Motamedi, David Florant, Vincent Duchaine. 2017. « Comparing the exteroceptive feedback of normal stress, skin stretch, and vibrotactile stimulation for restitution of static events ». Frontiers in Robotics and AI. vol. 4 9 p.

M. Reza Motamedi, Jean-Philippe Roberge, Vincent Duchaine. 2017. « The Use of vibrotactile feedback to restore texture recognition capabilities, and the effect of subject training ». IEEE Transactions on Neural Systems and Rehabilitation Engineering. vol. 25 , nº 8. p. 1230-1239.

M. Reza Motamedi, Martin Otis, Vincent Duchaine. 2017. « The Impact of Simultaneously Applying Normal Stress and Vibrotactile Stimulation for Feedback of Exteroceptive Information ». Journal of Biomechanical Engineering. vol. 139 , nº 6. 9 p.

Rachid Bekhti, Philippe Cardou, Vincent Duchaine. 2016. « Designing multi-axis force-torque sensors by minimizing the amplitudes of their nonlinear displacements ». Journal of Mechanical Design. vol. 138 , nº 3.

Rachid Bekhti, Vincent Duchaine, Philippe Cardou. 2016. « A novel force sensing method based on stress imaging analysis ». IEEE Sensors Journal. vol. 16 , nº 7. p. 1926-1936.

Seyed Alireza Mohseni, Tony Wong, Vincent Duchaine. 2016. « MCOA: mutated and self-adaptive cuckoo optimization algorithm ». Evolutionary Intelligence. vol. 9 , nº 1. 16 p. p. 21-36.

Axaykumar Rana, Jean-Philippe Roberge, Vincent Duchaine. 2016. « An improved soft dielectric for a highly sensitive capacitive tactile sensor ». IEEE Sensors Journal. vol. 16 , nº 22. 11 p. p. 7853-7863.

Tony Wong, Pascal Bigras, Vincent Duchaîne, Jean-Philippe Roberge. 2016. « Empirical comparison of differential evolution variants for industrial controller design ». International Journal of Computational Intelligence Systems. vol. 9 , nº 5. p. 957-970.

Jean-Baptiste Chossat, Hee-Sup Shin, Yong-Lae Park, Vincent Duchaine. 2015. « Soft tactile skin using an embedded ionic liquid and tomographic imaging ». Journal of Mechanisms and Robotics. vol. 7 , nº 2.

M. Reza Motamedi, David Florant, Vincent Duchaine. 2015. « A wearable haptic device based on twisting wire actuators for Feedback of tactile pressure information ». Journal of Robotics and Mechatronics. vol. 27 , nº 4. p. 419-429.

Rachid Bekhti, Vincent Duchaine, Philippe Cardou. 2014. « Structural optimisation of a force-torque sensor through its input-output relationship ». Transactions of the Canadian Society for Mechanical Engineering. vol. 38 , nº 2. p. 199-212.

J. B. Chossat, Park Yong-Lae, R. J. Wood, Vincent Duchaine. 2013. « A Soft Strain Sensor Based on Ionic and Metal Liquids ». IEEE Sensors Journal. vol. 13 , nº 9. p. 3405-3414.

Clément Gosselin, Thierry Laliberté, Boris Mayer-St-Onge, Simon Foucault, Alexandre Lecours, Vincent Duchaine, Noémie Paradis, Dalong Gao, Roland Menassa. 2013. « A friendly beast of burden: A human-assistive robot for handling large payloads ». IEEE Robotics and Automation Magazine. vol. 20 , nº 4. p. 139-147.

V. Duchaine, B. Mayer St.-Onge, Gao Dalong, C. Gosselin. 2012. « Stable and intuitive control of an intelligent assist device ». IEEE Transactions on Haptics. vol. 5 , nº 2. p. 148-159.

Vincent Duchaine, Clément Gosselin. 2011. « Unified robot control scheme for cooperative motion, autonomous motion and contact reaction ». Journal of Robotics and Mechatronics. vol. 23 , nº 4. p. 557-566.

Vincent Duchaine. 2016-07-18. « Why tactile intelligence is the future of robotic grasping ». IEEE Spectrum : Blogs. IEEE Spectrum : Blogs, vol.

Dalong Gao, Diane Marie Wegner, Roland J. Menassa, Alexandre Lecours, Clément Gosselin, Thierry Laliberté, Simon Foucault, Vincent Duchaine. 2014-02-04. « Sensor for handling system ».

Vincent Duchaine, Noémie Paradis, Thierry Laliberté, Boris Mayer-St-Onge, Clément Gosselin, Dalong Gao. 2013-03-05. « Photo-interrupter based force sensing handle and method of use ».

R. Bekhti, Vincent Duchaine, P. Cardou. 2013. « Structural optimization of force-torque sensor using a symbolic analysis ». Communication during a conference : 2013 CCToMM Symposium on Mechanisms, Machines, and Mechatronics (2013 CCToMM M3 Symposium) ( Montreal, QC, Canada, May 30-31, 2013 )

Vincent Duchaine, C.M. Gosselin. 2013. « Passive contact reaction for enhancing human-robot collaboration ». Communication during a conference : 2013 ACM/IEEE International Conference on Human-Robot Interaction ( Tokyo, Japon, Mar. 3-6, 2013 )

A. Rana, Vincent Duchaine. 2013. « Improved soft dielectric for highly sensitive capacitive tactile sensor ». Communication during a conference : 2013 IEEE International Conference on Robotics and Automation ( Karlsruhe, Allemagne, May 6-10, 2013 )

J-B. Chossat, Y-L. Park, R.J. Wood, Vincent Duchaine. 2012. « A soft elastomer strain sensor based on an EGaln/ionic solution hybrid construction ». Communication during a conference : IEEE International Conference on Intelligent Robots and Systems ( Vilamoura, Portugal, Oct. 1-12, 2012 )

Vincent Duchaine, Nicolas Lauzier, Clément Gosselin. 2010. « On the design of human-safe robot manipulators ». In Robot manipulators : new achievements . p. 419-434. InTech.

Martin J. D. Otis, Vincent Duchaine, Greg Billette, Simon Perreault, Clément Gosselin, Denis laurendeau. 2010. « Cartesian control of a cable-driven haptic mechanism ». In Advances in Haptics . p. 75-102. InTech.