DEXTER: Conception et commande de robots pour la manipulation

The DEXTER team conducts research on design, control, and prototyping of efficient robot manipulators capable of achieving accurate and/or very quick motions, sometimes across wide workspaces and while handling heavy payloads. To reach these challenging goals, each fundamental research activity is validated by realistic experiments, an essential step in the valuation of these results with industrial partners, or with medical surgeons or clinicians.
The research topics addressed by the DEXTER team include methodologies for mechanical design, performance analysis and synthesis for parallel robots, the development of estimation protocols and the synthesis of sensor-based (e.g. force, vision) and/or model-based (e.g. predictive, adaptive) control laws. The team emphasizes innovation with a strong mathematical modeling and mechatronics approach.

DEXTER’s main contributions are found in two main application areas:

  • Healthcare robotics, from assistive robotics to surgery,and
  • Parallel robotics for industrial applications requiring high speed, accuracy, large workspace and/or high payloads.



No permanents

Research Topics

The DEXTER team works on two main topics:

  • Surgery/assistive robotics
  • Parallel robotics

Main publications

  • M. Bennehar, A.Chemori, M. Bouri, L.F. Jenni and F. Pierrot, "A New RISE-based Adaptive Control of PKMs: Design, Stability Analysis and Experiments", International Journal of Control, to appear, 2017.
  • Q. Boehler, S. Abdelaziz, M. Vedrines, P. Poignet, P. Renaud, "From Modeling to Control of a Variable Stiffness Device Based on a Cable-driven Tensegrity Mechanism", Mechanism and Machine Theory, vol 107, 2017.
  • L. Gagliardini, S. Caro, M. Gouttefarde, A. Girin, "Discrete reconfiguration planning for Cable-Driven Parallel Robots," Mechanism and Machine Theory, Vol. 100, pp. 313-337, 2016.
  • F. Despinoy, D. Bouget, G. Forestier, C. Pinet, N. Zemiti, P. Poignet, and P. Jannin, "Unsupervised Trajectory Segmentation for Surgical Gesture Recognition in Robotic Training", IEEE Transactions on Biomedical Engineering, Vol 63, No. 6, pp 1280-1291, 2016.
  • M. Gouttefarde, J. Lamaury, C. Reichert, T. Bruckmann, "A Versatile Tension Distribution Algorithm for n-DOF Parallel Robots Driven by n+2 Cables," IEEE Transactions on Robotics, Vol. 31, No. 6, pp. 1444-1457, 2015.
  • G. Sartori-Natal, A.Chemori and F. Pierrot, "Dual-Space Control of Extremely Fast Parallel Manipulators: Payload Changes and the 100G Experiment", IEEE Transactions on Control Systems Technology, Vol 23, Issue 4, pp. 1520--1535, 2015.


DEXTER research team has active partnerhip with foreign universities and research centers that are validated by joint publications, among them, betwwen 2010 and 2014, we can mention:

  • Université Catholique de Louvain : PhD of B. Hermann, Post-doc J.-F. Collard and trainees
  • Washington university: Work on Raven surgical platform, Summer school of surgical robotics (Univ. of Washington) 2010 and 2014 (Carnegie Mellon)
  • Waseda university (Tokyo) : PhD and Post-doc exchanges
  • Brasilia university: PhD of M. Bernardes
  • Scuela Superiore Santa Anna à Pise : European FP7 projet ARAKNES control architecture of a robot for single port surgery
  • TECNALIA : Strong industrial partner in competitive funding calls. Tecnalia has also funded 4 PhDs between 2008 and 2013.


Between 2008 and 2013, the activity and outreach of DEXTER research team can be measured by the following figures:

5 European-funded projects: FP6 NEXT, FP6 ACCUROBAS, FP7 ARAKNES, FP7 CABLEBOT, FP7 ECHORD-PRADA and 7 projects funded by french ANR: TecSan ROBACUS, ContInt USCOMP, COGIRO, ARROW, OBJECTIF 100G, SHERPA, PsiRob TREMOR.

active partner of 3 National excellence programs (french PIA): LABEX CAMI (Medical robotics), LABEX NUMEV (Assistive robotics), EQUIPEX ROBOTEX (Surgical robotics and parallel robotics)

Valuated results : François PIERROT has recieved CNRS medal of innovation in 2012. 3 patents.

Best paper Award in Medical Robotics (MICCAI 2010), 4 finalist papers (IEEE ICRA Best Paper Award (2010 and 2012), IEEE/RSJ IROS Best Application Paper (2009), ICROS Application Paper Award (2010)), 3rd prize for ASME Student Mechanism and Robot Design Competition Graduate Robot Division Award, Invited confernces

13 Prototypes or experimental platforms (DUAL-V, R4, VELOCE, Adept QUATTRO, COGIRO, ReelAx8, SHERPA, SPRINT, ARAKNES, RAVEN 3, Dual hand surgical platform, Needle insertion platform, Concentric tube robot)



Manipulation, Design, Control, Parallel Robot, Medical Robot

Last update on 09/01/2019