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Thierry Laliberté
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Journal Articles

Kinematic Design and Prototyping of a Gripper With Grasping and Scooping Capabilities Driven by the Redundant Degrees of Freedom of a Parallel Robot

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Charles-Antoine Beaulieu, Tan-Sy Nguyen, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081001.
Paper No: JMR-22-1612
https://doi.org/10.1115/1.4063668
Published Online: December 11, 2023
View Articletitled, Kinematic Design and Prototyping of a Gripper With Grasping and Scooping Capabilities Driven by the Redundant Degrees of Freedom of a Parallel Robot
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Topics: Design, Grasping, Grippers, Kinematics, Robots, Degrees of freedom
Journal Articles

On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm

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Jean-Michel Boisclair, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051001.
Paper No: JMR-22-1043
https://doi.org/10.1115/1.4055605
Published Online: November 24, 2022
View Articletitled, On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm
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Topics: Artificial limbs, Deformation, Design, Grasping, Rolling contact, Optimization, Cables, Pinch effect, Friction, Prostheses
Journal Articles

Modeling and Development of Passively Adaptive Assistive Tools for the Assembly of Press-Fit Components

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Jérôme Landuré, Thierry Laliberté, Clément Gosselin, Muhammad E. Abdallah
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2021, 143(9): 093301.
Paper No: MD-20-1715
https://doi.org/10.1115/1.4050106
Published Online: March 19, 2021
View Articletitled, Modeling and Development of Passively Adaptive Assistive Tools for the Assembly of Press-Fit Components
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Topics: Design, Manufacturing, Springs, Rotation, Kinematics, Architecture, Press fits
Proceedings Papers

Simulation and Design of Two-Degree-of-Freedom Underactuated Mechanical Fingers

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Thierry Laliberté, Clément M. Gosselin
Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A038, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1562
https://doi.org/10.1115/96-DETC/MECH-1562
View Paper titled, Simulation and Design of Two-Degree-of-Freedom Underactuated Mechanical Fingers
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Topics: Design, Simulation, Grasping, Mechanical hands, Architecture, Shapes, Simulation results
Proceedings Papers

Static Balancing of a Class of Spatial Parallel Platform Mechanisms

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Imme Ebert-Uphoff, Clément M. Gosselin, Thierry Laliberté
Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A022, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5964
https://doi.org/10.1115/DETC98/MECH-5964
View Paper titled, Static Balancing of a Class of Spatial Parallel Platform Mechanisms
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Topics: Actuators, Design, Flight, Kinematics, Manipulators, Potential energy, Static stability, Stress, Weight (Mass)
Journal Articles

Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human–Robot Interaction

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Gabriel Boucher, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021002.
Paper No: JMR-20-1132
https://doi.org/10.1115/1.4049191
Published Online: January 18, 2021
View Articletitled, Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human–Robot Interaction
Open the PDF for Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human–Robot Interaction in another window
Topics: Design, Design engineering, Displacement, Engineering prototypes, Kinematics, Robots, Sensors, Shells, Human-robot interaction, Springs
Proceedings Papers

Rapid Prototyping of Lower-Pair, Geared-Pair and Cam Mechanisms

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Thierry Laliberté, Clément M. Gosselin, Gabriel Côté
Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1353-1361, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14202
https://doi.org/10.1115/DETC2000/MECH-14202
View Paper titled, Rapid Prototyping of Lower-Pair, Geared-Pair and Cam Mechanisms
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Topics: Rapid prototyping, Design, Engineering prototypes, Kinematics, Computer-aided design, Databases, Machinery, Modeling, Visualization
Journal Articles

Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human–Robot Interaction

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Meiying Zhang, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2017, 9(2): 021003.
Paper No: JMR-16-1287
https://doi.org/10.1115/1.4035683
Published Online: March 9, 2017
View Articletitled, Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human–Robot Interaction
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Topics: Design, Springs, Torque
Journal Articles

A Haptic Bilateral System for the Remote Human–Human Handshake

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Nicolò Pedemonte, Thierry Laliberté, Clément Gosselin
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. April 2017, 139(4): 044503.
Paper No: DS-15-1549
https://doi.org/10.1115/1.4035171
Published Online: February 13, 2017
View Articletitled, A Haptic Bilateral System for the Remote Human–Human Handshake
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Topics: Control equipment, Haptics, Robotics, Mechanical admittance
Proceedings Papers

Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human-Robot Interaction

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Meiying Zhang, Thierry Laliberté, Clément Gosselin
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A062, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59205
https://doi.org/10.1115/DETC2016-59205
View Paper titled, Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human-Robot Interaction
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Topics: Design, Human-robot interaction, Torque, Springs, Manipulators, Stiffness
Journal Articles

Force Capabilities of Two-Degree-of-Freedom Serial Robots Equipped With Passive Isotropic Force Limiters

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Meiying Zhang, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2016, 8(5): 051002.
Paper No: JMR-15-1250
https://doi.org/10.1115/1.4032120
Published Online: May 4, 2016
View Articletitled, Force Capabilities of Two-Degree-of-Freedom Serial Robots Equipped With Passive Isotropic Force Limiters
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Topics: Robots, Torque, End effectors
Proceedings Papers

Force Capabilities of Two-Degree-of-Freedom Serial Robots Equipped With Passive Isotropic Force Limiters

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Meiying Zhang, Thierry Laliberté, Clément Gosselin
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A003, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46486
https://doi.org/10.1115/DETC2015-46486
View Paper titled, Force Capabilities of Two-Degree-of-Freedom Serial Robots Equipped With Passive Isotropic Force Limiters
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Topics: Robots, Torque, End effectors, Safety, Human-robot interaction
Journal Articles

Design, Control, and Experimental Validation of a Handshaking Reactive Robotic Interface

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Nicolò Pedemonte, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2016, 8(1): 011020.
Paper No: JMR-15-1026
https://doi.org/10.1115/1.4031167
Published Online: September 25, 2015
View Articletitled, Design, Control, and Experimental Validation of a Handshaking Reactive Robotic Interface
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Topics: Design, Grasping, Haptics, Robotics, Robots, Stress, Control equipment
Proceedings Papers

Design and Experimental Validation of a Two-Degree-of-Freedom Force Illusion Device

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Nicolò Pedemonte, Frédérik Berthiaume, Thierry Laliberté, Clément Gosselin
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A002, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34375
https://doi.org/10.1115/DETC2014-34375
View Paper titled, Design and Experimental Validation of a Two-Degree-of-Freedom Force Illusion Device
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Topics: Design, Haptics, Parallel mechanisms
Proceedings Papers

Dynamic Balancing of Two-DOF Parallel Mechanisms Using a Counter-Mechanism

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Thierry Laliberté, Clément Gosselin
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A001, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12107
https://doi.org/10.1115/DETC2013-12107
View Paper titled, Dynamic Balancing of Two-DOF Parallel Mechanisms Using a Counter-Mechanism
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Topics: Engineering prototypes, Inertia (Mechanics), Parallel mechanisms
Journal Articles

Construction, Mobility Analysis and Synthesis of Polyhedra With Articulated Faces

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Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2014, 6(1): 011007.
Paper No: JMR-13-1126
https://doi.org/10.1115/1.4025859
Published Online: December 27, 2013
View Articletitled, Construction, Mobility Analysis and Synthesis of Polyhedra With Articulated Faces
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Topics: Mechanical admittance, Solids, Construction, Cycles
Journal Articles

Two-Degree-of-Freedom Decoupled Nonredundant Cable-Loop-Driven Parallel Mechanism

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Hanwei Liu, Clément Gosselin, Thierry Laliberté
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2014, 6(1): 014501.
Paper No: JMR-12-1159
https://doi.org/10.1115/1.4025621
Published Online: October 31, 2013
View Articletitled, Two-Degree-of-Freedom Decoupled Nonredundant Cable-Loop-Driven Parallel Mechanism
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Topics: Cables, Parallel mechanisms, End effectors, Stiffness
Journal Articles

On the Design of a Mechanically Programmable Underactuated Anthropomorphic Prosthetic Gripper

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Mathieu Baril, Thierry Laliberté, Clément Gosselin, François Routhier
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. December 2013, 135(12): 121008.
Paper No: MD-12-1520
https://doi.org/10.1115/1.4025493
Published Online: October 4, 2013
View Articletitled, On the Design of a Mechanically Programmable Underactuated Anthropomorphic Prosthetic Gripper
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Topics: Artificial limbs, Design, Grasping, Grippers, Levers, Tendons, Friction
Proceedings Papers

On the Design of Mechanically Programmable Underactuated Anthropomorphic Robotic and Prosthetic Grippers

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Mathieu Baril, Thierry Laliberté, Clément Gosselin, François Routhier
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 85-94, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70705
https://doi.org/10.1115/DETC2012-70705
View Paper titled, On the Design of Mechanically Programmable Underactuated Anthropomorphic Robotic and Prosthetic Grippers
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Topics: Artificial limbs, Design, Grippers, Robotics, Engineering prototypes, Design engineering, Geometry, Grasping, Levers, Synchronization
Proceedings Papers

Two-Degree-of-Freedom Decoupled Non-Redundant Cable-Loop-Driven Parallel Mechanism

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Hanwei Liu, Clément Gosselin, Thierry Laliberté
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 781-790, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70442
https://doi.org/10.1115/DETC2012-70442
View Paper titled, Two-Degree-of-Freedom Decoupled Non-Redundant Cable-Loop-Driven Parallel Mechanism
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Topics: Cables, Parallel mechanisms, Stiffness, Actuators, Bridges (Structures), Damping, Degrees of freedom, Design, End effectors, Equations of motion