Stéphane Régnier

Institut Systèmes Intelligents et de Robotique

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i-10 index

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Sinan Haliyo

Institut Systèmes Intelligents et de Robotique

Hui Xie

Harbin Institute of Technology

Mokrane Boudaoud

Centre National de la Recherche Scientifique

Pierre Lambert

Université Libre de Bruxelles

Gilgueng Hwang

The University of Tokyo

Julien Vitard

Institut Systèmes Intelligents et de Robotique

Sergej Fatikow

Carl von Ossietzky Universität Oldenburg

Christian Dahmen

BMW (Germany)

Tuncay Alan

Australian Regenerative Medicine Institute

Michèle Riesen

University College London

Cooperative Institutions

Centre National de la Recherche Scientifique

Sorbonne Université

Institut Systèmes Intelligents et de Robotique

Franche-Comté Électronique Mécanique Thermique et Optique - Sciences et Technologies

École Nationale Supérieure de Mécanique et des Microtechniques

Université Paris Cité

Université de franche-comté

Commissariat à l'Énergie Atomique et aux Énergies Alternatives

Université Bourgogne Franche-Comté

Université de technologie de belfort-montbéliard

Author Statistics

Papers

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Variation of the Electrostatic Adhesion Force on a Rough Surface due to the Deformation of Roughness Asperities During Micromanipulation of a Spherical Rigid Body

Journal of Adhesion Science and Technology (2009)

Marion Sausse Lhernould Péter Berke Thierry Massart Stéphane Régnier Pierre Lambert

Abstract The micromanipulation of objects of size between 10 μm and 1 mm is often disturbed by the adhesion between the contacting surfaces. The electrostatic force in the contact alone can significantly perturb the micromanipulation by its important adhesion effect. The electrostatic adhesion force is influenced by many factors, i.e., the materials of the contacting bodies and the topography of the contact surface. Micromanipulation by contact involves applying a squeezing force to hold the object firmly which causes the contact surface to deform, flattening the surface asperities. The prime purpose of this work is to study the influence of the plastic deformation of the surface asperities on the electrostatic adhesion force considering the contact between two conductors. A single-level model of the surface roughness was considered in this study, approximating the shape of a surface asperity by a sine function. A simulation tool based on the finite element method was used to compute the elastic–plastic deformation of the model surface asperities during micromanipulation. Another numerical model was used to compute the electrostatic adhesion force acting on the surface asperities in the initial and in the deformed configurations. A magnification factor of up to 20 was obtained for the electrostatic force in the contact evaluated numerically, related to the flattening of the surface asperities, which can potentially lead to perturbations when releasing the object. The observed effect is merely a lower bound of the real one, considering the simplifying assumptions of the numerical models. Keywords: MICROSCALE MANIPULATIONELECTROSTATIC FORCESURFACE ROUGHNESSFINITE DEFORMATIONNUMERICAL SIMULATIONCONTACT

Flattening

Asperity (geotechnical engineering)

Microscale chemistry

Surface force

Contact area

Contact force

10.1163/156856109x434026

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Citations (4)

Descriptions and Challenges of AFM Based Nanorobotic Systems

Springer tracts in advanced robotics (2011)

Hui Xie Çağdaş D. Önal Stéphane Régnier Metin Sitti

Nanorobotics

Microscale chemistry

10.1007/978-3-642-20329-9_2

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Citations (2)

High Fidelity Force Feedback Facilitates Manual Injection in Biological Samples

IEEE Robotics and Automation Letters (2020)

Abdenbi Mohand-Ousaid Sinan Haliyo Stéphane Régnier Vincent Hayward

Micro-teleoperated interaction with biological cells is of special interest. The low fidelity of previous systems aimed at such small scale tasks prompted the design of a novel manual bilateral cell injection system. This systems employed the coupling of a null-displacement active force sensor with a haptic device having negligible effective inertia. This combination yielded a bilateral interaction system that was unconditionally stable even when the scaling gains were high. To demonstrate the capability of this system, two experiments were performed. A hard trout egg was delicately punctured and a small dye amount was injected in an embryo within a zebra fish egg without causing other forms of damage. The results demonstrate that the system let an operator dextrously interact with reduced reliance on visual feedback.

Teleoperation

High fidelity

Null (SQL)

Operator (biology)

10.1109/lra.2020.2969940

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Citations (15)

Piezo displacement sensors for a compact high-speed x–y nanopositioner in differential actuation mode

Mechatronics (2022)

Ali Bazaei Mokrane Boudaoud Massoud Hemmasian Ettefagh Zhiyong Chen Stéphane Régnier

Linearity

Piezoresistive effect

Strain gauge

10.1016/j.mechatronics.2022.102860

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Citations (1)

Instrumentation Issues of an AFM Based Nanorobotic System

Springer tracts in advanced robotics (2011)

Hui Xie Çağdaş D. Önal Stéphane Régnier Metin Sitti

Instrumentation

10.1007/978-3-642-20329-9_3

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Citations (1)

Index

Mathieu Grossard Nicolas Chaillet Stéphane Régnier

10.1002/9781118572016.index

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Citations (0)

Actuation means for the mechanical stimulation of living cells via microelectromechanical systems: A critical review

Journal of Biomechanics (2011)

Denis Desmaële Mehdi Boukallel Stéphane Régnier

Living cell

10.1016/j.jbiomech.2011.02.085

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Citations (56)

Nonlinear modeling for a class of nano-robotic systems using piezoelectric stick-slip actuators

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2015)

Tianming Lu Mokrane Boudaoud David Hériban Stéphane Régnier

This paper addresses modeling issues for a class of nano-robotic systems using piezoelectric stick-slip actuators. The work focuses on the friction force modeling to describe the dynamics of a stick-slip actuator in a wide operating range needed in nano-robotics. Based on the theory of the single state elasto-plastic model and on an experimental analysis, necessary conditions on presiding modeling are highlighted. The conditions allow describing the dynamics of stick-slip type actuators for both scanning mode and stepping mode in the time and the frequency domains and for backward and forward directions of the motion. The proposed dynamic model opens new perspective for closed loop control of nano-robotic system.

10.1109/iros.2015.7354234

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Citations (15)

Force-feedback micromanipulation with inconditionnally stable coupling

HAL (Le Centre pour la Communication Scientifique Directe) (2005)

Gentiane Venture Sinan Haliyo Alain Micaelli Stéphane Régnier

Source

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Citations (0)

In-Situ Semiconductor Position Sensor for Differentially Piezo-Driven Nanopositioners

IEEE Sensors (2019)

Ali Bazaei Mokrane Boudaoud Massoud Hemmasian Ettefagh Zhiyong Chen Stéphane Régnier

We address design, implementation, and characterization of semiconductor strain gauges as stage displacement sensors with small footprint for piezo-driven nanopositioners in differential actuation mode. The results indicate that in this actuation mode, a differential sensing strategy provides much better accuracy than the conventional non-differential schemes. The proposed differential sensor has a large sensitivity of kHz.4.4V/μm, 3σ-resolution of 2.4 nm, and bandwidth of 4 nm, and bandwidth of 4 kHz.

Strain gauge

Footprint

Position sensor

Differential phase

Position (finance)

10.1109/sensors43011.2019.8956836

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Citations (2)