Home » Teams » Agathe » Guillaume Morel
  • Guillaume Morel

  • Directeur
  • Équipe: Agathe
  • Bureau: J17
  • Email: Guillaume.Morel@sorbonne-universite.fr
  • Telephone:0664167377
  • Addresse: Pyramide ISIR - Campus Pierre et Marie Curie
  • Bio: Guillaume Morel est professeur en robotique à Sorbonne Université. Il mène des recherches sur la conception et commande des robots de manipulation depuis 30 ans. Après avoir spécifiquement travaillé sur la commande des interactions (effort et vision), notamment pendant sa thèse (1994) et ses postdocs au MIT(1996) et à EDF (1997), il a orienté ses recherches vers la robotique médicale, d’abord pour la chirurgie (à partir de 1999, alors qu’il était Maître de Conférences à Strasbourg) puis pour l’assistance aux personnes souffrant de déficience motrice (à partir de 2005, alors qu’il était revenu à Sorbonne Université). Dans ce cadre, il développe le concept de comanipulation en imbriquant les boucles sensori-motrices de l’utilisateur et celles du dispositif d’assistance au geste. Guillaume Morel fût le directeur-créateur de la première formation d’ingénieur spécialisé en robotique labellisée par la CTI en 2007, de la première équipe de recherche de robotique médicale labellisée par l’INSERM en 2010, et de Carnot-Interfaces, une structure de partenariat industriel en 2016. Il dirige aujourd’hui l’ISIR.

Publications

  • Mahdi Khoramshahi, Guillaume Morel, Nathanael Jarrasse (2021). Intent-aware control in kinematically redundant systems: Towards collaborative wearable robots. 2021 IEEE International Conference on Robotics and Automation (ICRA)
  • Alexis Poignant, Mathilde Legrand, Nathanaël Jarrassé, Guillaume Morel (2021). Computing the positioning error of an upper-arm robotic prosthesis from the observation of its wearer's posture. 2021 IEEE International Conference on Robotics and Automation (ICRA)
  • Mathilde Legrand, Nathanael Jarrasse, Etienne de Montalivet, Florian Richer, Guillaume Morel (2021). Closing the loop between body compensations and upper-limb prosthetic movements: a feasibility study. IEEE Transactions on Medical Robotics and Bionics Pages 1-1.
  • Mathilde Legrand, Nathanael Jarrasse, Charlotte Marchand, Florian Richer, Amélie Touillet, Noël Martinet, Jean Paysant, Guillaume Morel (2020). Controlling upper-limb prostheses with body compensations. WeRob
  • Rémi Chalard, David Reversat, Guillaume Morel, Marie-Aude Vitrani (2020). Fast and accurate intracorporeal targeting through an anatomical orifice exhibiting unknown behavior. ICRA
  • Mathilde Legrand, Nathanaël Jarrassé, Florian Richer, Guillaume Morel (2020). A closed-loop and ergonomic control for prosthetic wrist rotation. IEEE International Conference on Robotics and Automation
  • Ignacio Avellino, Gilles Bailly, Mario Aricò, Guillaume Morel, Geoffroy Canlorbe (2020). Multimodal and Mixed Control of Robotic Endoscopes. CHI Conference on Human Factors in Computing Systems Proceedings (CHI 2020)
  • Omar Mounir Alaoui, Fabien Expert, Guillaume Morel, Nathanael Jarrasse (2020). Using Generic Upper-Body Movement Strategies in a Free Walking Setting to Detect Gait Initiation Intention in a Lower-Limb Exoskeleton. IEEE Transactions on Medical Robotics and Bionics Vol 2 Pages 236-247.
  • Mario Aricò, Jimmy da Silva, Lucas Joseph, Ignacio Avellino, Philippe Gauthier, Jesus Mago, Eleonore Ferrier-Barbut, Guillaume Morel, Marie-Aude Vitrani (2019). A surgical Cockpit for Minimally Invasive Surgery.
  • Mathilde Legrand, Étienne de Montalivet, Florian Richer, Nathanaël Jarrassé, Guillaume Morel (2019). Reciprocal Kinematic Control: using human-robot dual adaptation to control upper limb assistive devices. Hamlyn Symposium on Medical Robotics
  • Lucas Joseph, Vincent Padois, Guillaume Morel (2019). Online minimization of the projected mass of a robot for safe workspace sharing with a human. Workshop on "Human movement science for physical human-robot collaboration" at the IEEE International Conference on Robotics and Automation
  • François Schmitt, Josue Sulub, Ignacio Avellino, Jimmy da Silva, Laurent Barbé, Olivier Piccin, Bernard Bayle, Guillaume Morel (2019). Using Comanipulation with Active Force Feedback to Undistort Stiffness Perception in Laparoscopy. 2019 International Conference on Robotics and Automation (ICRA)
  • Ignacio Avellino, Gilles Bailly, Geoffroy Canlorbe, Jérémie Belghiti, Guillaume Morel, Marie-Aude Vitrani (2019). Impacts of Telemanipulation in Robotic Assisted Surgery. CHI Conference on Human Factors in Computing Systems Proceedings (CHI 2019)
  • Oscar de la Cruz, Florian Gosselin, Wael Bachta, Guillaume Morel (2018). Contributions to the Design of a 6 DoF Contactless Sensor Intended for Intermittent Contact Haptic Interfaces. 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM) Pages 130-135.
  • Rémi Chalard, David Reversat, Guillaume Morel, Pierre Mozer, Marie-Aude Vitrani (2018). Precisely positioning the tip of an instrument inserted through an orifice with a free wrist robot: application to prostate biopsies. International Journal of Computer Assisted Radiology and Surgery Vol 13 Pages 611-618.
  • Lucas Joseph, Vincent Padois, Guillaume Morel (2018). Experimental validation of an energy constraint for a safer collaboration with robots. 2018 International Symposium on Experimental Robotics (ISER 2018)
  • Oscar de la Cruz Fierro, Wael Bachta, Florian Gosselin, Guillaume Morel (2017). A New Control Strategy for the Improvement of Contact Rendering with Encounter-type Haptic Displays. 14th International Conference on Informatics in Control, Automation and Robotics
  • Tommaso Proietti, Guillaume Morel, Agnès Roby-Brami, Nathanael Jarrasse (2017). Comparison of different error signals driving the adaptation in assist-as-needed controllers for neurorehabilitation with an upper-limb robotic exoskeleton. 2017 IEEE International Conference on Robotics and Automation (ICRA) Pages 6645-6650.
  • Marie-Aude Vitrani, Cecile Poquet, Guillaume Morel (2017). Applying Virtual Fixtures to the Distal End of a Minimally Invasive Surgery Instrument. IEEE Transactions on Robotics Vol 33 Pages 114-123.
  • Lucas Joseph, Vincent Padois, Guillaume Morel (2017). Towards X-ray medical imaging with robots in the open: safety without compromising performances. IEEE International Conference on Robotics and Automation (ICRA)
  • Marie-Aude Vitrani, Michael Baumann, David Reversat, Guillaume Morel, Alexandre Moreau-Gaudry, Pierre Mozer (2016). Prostate biopsies assisted by comanipulated probe-holder: first in man. International Journal of Computer Assisted Radiology and Surgery
  • N. Jarrasse, M. Maestrutti, Guillaume Morel, Agnès Roby-Brami (2015). Robotic Prosthetics : Moving Beyond Technical Performance. IEEE Technology and Society Magazine Vol 34 Pages 71-79.
  • Tommaso Proietti, Nathanael Jarrasse, Agnès Roby-Brami, Guillaume Morel (2015). Adaptive control of a robotic exoskeleton for neurorehabilitation. 2015 7th International IEEE/EMBS Conference on Neural Engineering (NER) Pages 803-806.
  • M.-A. Vitrani, Jocelyne Troccaz, A.-S. Silvent, S.Y. Selmi, J. Sarrazin, D. Reversat, E. Promayon, C. Poquet, P. Mozer, Guillaume Morel, G. Fiard, A. Moreau-Gaudry, A. Leroy, M. Janier, M. Baumann (2015). PROSBOT – Model and image controlled prostatic robot. Innovation and Research in BioMedical engineering Vol 36 Pages 118-125.
  • M.-A. Vitrani, Jocelyne Troccaz, A.-S. Silvent, S.Y. Selmi, J. Sarrazin, D. Reversat, E. Promayon, C. Poquet, P. Mozer, Guillaume Morel, G. Fiard, A. Moreau-Gaudry, A. Leroy, M. Janier, M. Baumann (2015). PROSBOT – Model and image controlled prostatic robot. Innovation and Research in BioMedical engineering Vol 36 Pages 118-125.
  • Marie-Aude Vitrani, Anja Marx, Razvan Iordache, Serge Muller, Guillaume Morel (2015). Robot guidance of an ultrasound probe toward a 3D region of interest detected through X-ray mammography. International Journal of Computer Assisted Radiology and Surgery Pages 1861-6429.
  • Cécile Poquet, Pierre Mozer, Guillaume Morel, Marie-Aude Vitrani (2015). An Endorectal Ultrasound Probe Comanipulator With Hybrid Actuation Combining Brakes and Motors. IEEE/ASME Transactions on Mechatronics Vol 20 Pages 186-196.
  • Nathanael Jarrasse, Marina Maestrutti, Guillaume Morel, Agnès Roby-Brami (2015). Robotic prosthetics: beyond the technical performance. IEEE Technology and Society Magazine Vol 34 Pages 69-77.
  • Simon Bouvel, Agnès Roby-Brami, Guillaume Morel, Viviane Pasqui (2014). Vector field interpolation for scapular position estimation from noisy acromial motion capture. Surgetica 2014 Pages 1-4.
  • Nathanaël Jarrassé, Tommaso Proietti, Vincent Crocher, Johanna Robertson, Anis Sahbani, Guillaume Morel, Agnès Roby-Brami (2014). Robotic exoskeletons: a perspective for the rehabilitation of arm coordination in stroke patients. Frontiers in Human Neuroscience Vol 8 Pages 947.
  • Cécile Poquet Torterotot, Marie-Aude Vitrani, Pierre Mozer, Guillaume Morel (2014). Achieving high precision in prostate biopsy thanks to robot closed loop control based on 3d ultrasound imaging. Surgetica 2014 Pages 1-4.
  • Mustafa Suphi Erden, Benoît Rosa, Jérome Szewczyk, Guillaume Morel (2013). Mechanical design of a distal scanner for confocal microlaparoscope: A conic solution. 2013 IEEE International Conference on Robotics and Automation (ICRA)
  • M. Erden, B. Rosa, Jérome Szewczyk, Guillaume Morel (2013). Understanding Soft-Tissue Behavior for Application to Microlaparoscopic Surface Scan. IEEE Transactions on Biomedical Engineering Vol 60 Pages 1059 - 1068.
  • Cécile Poquet, P Mozer, Guillaume Morel, Marie-Aude Vitrani (2013). A novel comanipulation device for assisting needle placement in ultrasound guided prostate biopsies.
  • Anja Marx, Marie-Aude Vitrani, Serge Muller, Guillaume Morel (2013). Underactuated comanipulation for ultrasound breast exams. IEEE EMBS
  • Vincent Francoise, Anis Sahbani, Agnès Roby-Brami, Guillaume Morel (2013). Assistance to bone milling: tool mounted visual display improves the efficiency of robotic guidance. IEEE Engineering in Medicine and Biology Society (EMBC'13) Pages To-appear.
  • Benoît Rosa, Mustapha Suphi Erden, Tom Vercauteren, Benoît Herman, Jérome Szewczyk, Guillaume Morel (2012). Building large mosaics of confocal endomicroscopic images using visual servoing. IEEE Transactions on Biomedical Engineering Vol 60 Pages 1041-1049.
  • Nathanaël Jarrassé, Vincent Crocher, Guillaume Morel (2012). A Method for measuring the upper limb motion and computing a compatible exoskeleton trajectory. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012) Pages 3461-3466.
  • Benoît Rosa, Mustapha Suphi Erden, Tom Vercauteren, Jérome Szewczyk, Guillaume Morel (2012). Scanning the surface of soft tissues with a micrometer precision thanks to endomicroscopy based visual servoing. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)
  • Nathanael Jarrasse, Guillaume Morel (2012). Connecting a Human Limb to an Exoskeleton. IEEE Transactions on Robotics Vol 28 Pages 697-709.
  • Vincent Crocher, Anis Sahbani, J. Robertson, Agnès Roby-Brami, Guillaume Morel (2012). Constraining upper-limb synergies of hemiparetic patients using a robotic exoskeleton in the perspective of neuro-rehabilitation. IEEE Transactions on Neural Systems and Rehabilitation Engineering Vol 20 Pages 247--257.
  • Benoît Rosa, Benoît Herman, Jérome Szewczyk, Brice Gayet, Guillaume Morel (2011). Laparoscopic optical biopsies: In vivo robotized mosaicing with probe-based confocal endomicroscopy. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
  • Vincent Crocher, Nathanael Jarrasse, Anis Sahbani, Agnès Roby-Brami, Guillaume Morel (2011). Changing human upper-limb synergies with an exoskeleton using viscous fields. 2011 IEEE International Conference on Robotics and Automation (ICRA) Pages 4657-4663.
  • Grégoire Coffin, Cécile Poquet Torterotot, Michael Baumann, Marie-Aude Vitrani, Guillaume Morel, Grégoire Chevreau, Pierre Mozer (2011). Trus prostate biopsies pierced area can impact cancer rate detection. Journal of Endourology Vol 25(9) Pages 59.
  • Anja Marx, Marie-Aude Vitrani, Benoˆt Herman, Rˇzvan Iordache, Serge Muller, Guillaume Morel (2011). Synergic comanipulation despite underactuated robot.
  • Cecile Torterotot-Poquet, Marie-Aude Vitrani, Pierre Mozer, Guillaume Morel (2011). Ultrasound image-based comanipulation for enhanced perception of the contacts with a distal soft organ.
  • Benoît Herman, Ali Hassan Zahraee, Jérome Szewczyk, Guillaume Morel, Christophe Bourdin, Jean-Louis Vercher, Brice Gayet (2011). Ergonomic and Gesture Performance of Robotized Instruments for Laparoscopic Surgery. 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS Pages 1333-1338.
  • Nathanaël Jarrassé, M. Tagliabue, J. Robertson, A Maiza, Vincent Crocher, Agnès Roby-Brami, Guillaume Morel (2010). A methodology to quantify alterations in human upper limb movement during co-manipulation with an exoskeleton. IEEE Transactions on Neural Systems and Rehabilitation Engineering Vol 18 Pages 389-397.
  • Nathanael Jarrasse, Guillaume Morel (2010). A formal methodology for avoiding hyperstaticity when connecting an exoskeleton to a human member. 2010 IEEE International Conference on Robotics and Automation (ICRA 2010) Pages 1188-1195.
  • Nabil Zemiti, Guillaume Morel, Alain Micaelli, Barthélemy Cagneau, Delphine Bellot (2010). On the Force Control of Kinematically Defective Manipulators Interacting With an Unknown Environment. IEEE Transactions on Control Systems Technology Vol 18 Pages 307-322.