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

  • Alexis Poignant, Mathilde Legrand, Nathanael Jarrassé, Guillaume Morel. 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), 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561613⟩. ⟨hal-03248786⟩
  • Mahdi Khoramshahi, Guillaume Morel, Nathanael Jarrasse. Intent-aware control in kinematically redundant systems: Towards collaborative wearable robots. 2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021, Xi'an, China. ⟨hal-03181212⟩
  • Mathilde Legrand, Nathanael Jarrasse, Etienne de Montalivet, Florian Richer, Guillaume Morel. Closing the loop between body compensations and upper-limb prosthetic movements: a feasibility study. IEEE Transactions on Medical Robotics and Bionics, IEEE, 2021, pp.1-1. ⟨10.1109/TMRB.2020.3048251⟩. ⟨hal-03099461⟩
  • Mathilde Legrand, Nathanael Jarrasse, Charlotte Marchand, Florian Richer, Amélie Touillet, et al.. Controlling upper-limb prostheses with body compensations. WeRob, Oct 2020, Valencia, Spain. ⟨hal-03038844⟩
  • Rémi Chalard, David Reversat, Guillaume Morel, Marie-Aude Vitrani. Fast and accurate intracorporeal targeting through an anatomical orifice exhibiting unknown behavior. ICRA, Jun 2020, Paris, France. ⟨hal-02863542⟩
  • Mathilde Legrand, Nathanaël Jarrassé, Florian Richer, Guillaume Morel. A closed-loop and ergonomic control for prosthetic wrist rotation. IEEE International Conference on Robotics and Automation, May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9197554⟩. ⟨hal-02884219⟩
  • Ignacio Avellino, Gilles Bailly, Mario Aricò, Guillaume Morel, Geoffroy Canlorbe. Multimodal and Mixed Control of Robotic Endoscopes. CHI Conference on Human Factors in Computing Systems Proceedings (CHI 2020), Apr 2020, Honolulu, United States. ⟨10.1145/3313831.3376795⟩. ⟨hal-02475088⟩
  • Omar Mounir Alaoui, Fabien Expert, Guillaume Morel, Nathanael Jarrasse. 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, IEEE, 2020, 2 (2), pp.236-247. ⟨10.1109/TMRB.2020.2982004⟩. ⟨hal-02541938⟩
  • Mario Aricò, Jimmy da Silva, Lucas Joseph, Ignacio Avellino, Philippe Gauthier, et al.. A surgical Cockpit for Minimally Invasive Surgery: Hamlyn Symposium 2019 - Surgical Robot Challenge Finalists. [Research Report] Sorbonne Université. 2019. ⟨hal-02404391⟩
  • Mathilde Legrand, Étienne de Montalivet, Florian Richer, Nathanaël Jarrassé, Guillaume Morel. Reciprocal Kinematic Control: using human-robot dual adaptation to control upper limb assistive devices. Hamlyn Symposium on Medical Robotics, Jun 2019, Londres, United Kingdom. ⟨hal-02324425⟩
  • Lucas Joseph, Vincent Padois, Guillaume Morel. 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, May 2019, Montreal, Canada. ⟨hal-02333065⟩
  • François Schmitt, Josue Sulub, Ignacio Avellino, Jimmy da Silva, Laurent Barbé, et al.. Using Comanipulation with Active Force Feedback to Undistort Stiffness Perception in Laparoscopy. 2019 International Conference on Robotics and Automation (ICRA), May 2019, Montréal, Canada. ⟨10.1109/ICRA.2019.8793662⟩. ⟨hal-02343485⟩
  • Ignacio Avellino, Gilles Bailly, Geoffroy Canlorbe, Jérémie Belghiti, Guillaume Morel, et al.. Impacts of Telemanipulation in Robotic Assisted Surgery. CHI Conference on Human Factors in Computing Systems Proceedings (CHI 2019), May 2019, Glasgow, United Kingdom. ⟨10.1145/3290605.3300813⟩. ⟨hal-02024723⟩
  • Oscar de la Cruz, Florian Gosselin, Wael Bachta, Guillaume Morel. 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), Jul 2018, Singapore, Singapore. pp.130-135, ⟨10.1109/ICARM.2018.8610825⟩. ⟨hal-02497707⟩
  • Rémi Chalard, David Reversat, Guillaume Morel, Pierre Mozer, Marie-Aude Vitrani. 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, Springer Verlag, 2018, 13 (5), pp.611-618. ⟨10.1007/s11548-018-1718-6⟩. ⟨hal-02049450⟩
  • Lucas Joseph, Vincent Padois, Guillaume Morel. Experimental validation of an energy constraint for a safer collaboration with robots. 2018 International Symposium on Experimental Robotics (ISER 2018), Nov 2018, Buenos Aires, Argentina. ⟨hal-01883995⟩
  • Oscar de la Cruz Fierro, Wael Bachta, Florian Gosselin, Guillaume Morel. 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, Jul 2017, Madrid, Spain. ⟨10.5220/0006474704710480⟩. ⟨cea-01842394⟩
  • Tommaso Proietti, Guillaume Morel, Agnès Roby-Brami, Nathanael Jarrasse. 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), May 2017, Singapore, Singapore. pp.6645-6650. ⟨hal-02110132⟩
  • Marie-Aude Vitrani, Cecile Poquet, Guillaume Morel. Applying Virtual Fixtures to the Distal End of a Minimally Invasive Surgery Instrument. IEEE Transactions on Robotics, IEEE, 2017, 33 (1), pp.114-123. ⟨10.1109/tro.2016.2623332⟩. ⟨hal-02049433⟩
  • Lucas Joseph, Vincent Padois, Guillaume Morel. Towards X-ray medical imaging with robots in the open: safety without compromising performances. International Conference on Robotics and Automation, May 2018, Brisbane, Australia. ⟨hal-01614508v2⟩
  • Marie-Aude Vitrani, Michael Baumann, David Reversat, Guillaume Morel, Alexandre Moreau-Gaudry, et al.. Prostate biopsies assisted by comanipulated probe-holder: first in man. International Journal of Computer Assisted Radiology and Surgery, Springer Verlag, 2016, ⟨10.1007/s11548-016-1399-y⟩. ⟨hal-01312297⟩
  • N. Jarrasse, M. Maestrutti, Guillaume Morel, Agnès Roby-Brami. Robotic Prosthetics : Moving Beyond Technical Performance. IEEE Technology and Society Magazine, Institute of Electrical and Electronics Engineers, 2015, 34 (2), pp.71-79. ⟨10.1109/MTS.2015.2425813⟩. ⟨hal-02110254⟩
  • Tommaso Proietti, Nathanael Jarrasse, Agnès Roby-Brami, Guillaume Morel. Adaptive control of a robotic exoskeleton for neurorehabilitation. 2015 7th International IEEE/EMBS Conference on Neural Engineering (NER), Apr 2015, Montpellier, France. pp.803-806. ⟨hal-02110265⟩
  • M.-A. Vitrani, Jocelyne Troccaz, A.-S. Silvent, S.Y. Selmi, J. Sarrazin, et al.. PROSBOT – Model and image controlled prostatic robot. Innovation and Research in BioMedical engineering, Elsevier Masson, 2015, 36 (2), pp.118-125. ⟨10.1016/j.irbm.2015.01.012⟩. ⟨hal-02347634⟩
  • Marie-Aude Vitrani, Anja Marx, Razvan Iordache, Serge Muller, Guillaume Morel. 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, Springer Verlag, 2015, pp.1861-6429. ⟨10.1007/s11548-015-1244-8⟩. ⟨hal-01170661⟩
  • Nathanael Jarrasse, Marina Maestrutti, Guillaume Morel, Agnès Roby-Brami. Robotic prosthetics: beyond the technical performance: A study of socio-anthropological and cultural phenomena influencing the appropriation of technical objects interacting with the body.. IEEE Technology and Society Magazine, Institute of Electrical and Electronics Engineers, 2015, 34 (2), pp.69-77. ⟨10.1109/MTS.2015.2425813⟩. ⟨hal-03161262⟩
  • Cécile Poquet, Pierre Mozer, Guillaume Morel, Marie-Aude Vitrani. An Endorectal Ultrasound Probe Comanipulator With Hybrid Actuation Combining Brakes and Motors. IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2015, 20 (1), pp.186-196. ⟨10.1109/TMECH.2014.2314859⟩. ⟨hal-01170908⟩
  • Nathanaël Jarrassé, Tommaso Proietti, Vincent Crocher, Johanna Robertson, Anis Sahbani, et al.. Robotic exoskeletons: a perspective for the rehabilitation of arm coordination in stroke patients. Frontiers in Human Neuroscience, Frontiers, 2014, 8, pp.947. ⟨10.3389/fnhum.2014.00947⟩. ⟨hal-01320175⟩
  • N Jarrassé, Agnès Roby-Brami, Ludovic Saint-Bauzel, Guillaume Morel. Les exosquelettes robotisés : réalités et perspectives José Ángel Córdova Villalobos. Académie de Chirurgie Magazine, 2014, 13, pp.6 - 9. ⟨hal-01170514⟩
  • Simon Bouvel, Agnès Roby-Brami, Guillaume Morel, Viviane Pasqui. Vector field interpolation for scapular position estimation from noisy acromial motion capture. Surgetica 2014, 2014, Grenoble, France. pp.1-4. ⟨hal-03161255⟩
  • Cécile Poquet Torterotot, Marie-Aude Vitrani, Pierre Mozer, Guillaume Morel. Achieving high precision in prostate biopsy thanks to robot closed loop control based on 3d ultrasound imaging. Surgetica 2014, 2014, -, Unknown Region. pp.1-4. ⟨hal-03248224⟩
  • Mustafa Suphi Erden, Benoît Rosa, Jérome Szewczyk, Guillaume Morel. Mechanical design of a distal scanner for confocal microlaparoscope: A conic solution. 2013 IEEE International Conference on Robotics and Automation (ICRA), May 2013, Karlsruhe, France. ⟨10.1109/ICRA.2013.6630725⟩. ⟨hal-01765054⟩
  • M. Erden, B. Rosa, Jérome Szewczyk, Guillaume Morel. Understanding Soft-Tissue Behavior for Application to Microlaparoscopic Surface Scan. IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers, 2013, 60 (4), pp.1059 - 1068. ⟨10.1109/TBME.2012.2234748⟩. ⟨hal-01765034⟩
  • Vincent Francoise, Anis Sahbani, Agnès Roby-Brami, Guillaume Morel. Assistance to bone milling: tool mounted visual display improves the efficiency of robotic guidance. IEEE Engineering in Medicine and Biology Society (EMBC'13), 2013, Osaka, Japan. To-appear. ⟨hal-03161256⟩
  • Anja Marx, Marie-Aude Vitrani, Serge Muller, Guillaume Morel. Underactuated comanipulation for ultrasound breast exams. IEEE EMBS, Jul 2013, OSAKA, Japan. ⟨10.1109/EMBC.2013.6610639⟩. ⟨hal-01171248⟩
  • Cécile Poquet, P Mozer, Guillaume Morel, Marie-Aude Vitrani. A novel comanipulation device for assisting needle placement in ultrasound guided prostate biopsies. France. 2013, ⟨10.1109/IROS.2013.6696941⟩. ⟨hal-01170728⟩
  • Benoît Rosa, Mustapha Suphi Erden, Tom Vercauteren, Benoît Herman, Jérome Szewczyk, et al.. Building large mosaics of confocal endomicroscopic images using visual servoing. IEEE Transactions on Biomedical Engineering, Institute of Electrical and Electronics Engineers, 2012, 60 (4), pp.1041-1049. ⟨10.1109/TBME.2012.2228859⟩. ⟨hal-01765030⟩
  • Benoît Rosa, Mustapha Suphi Erden, Tom Vercauteren, Jérome Szewczyk, Guillaume Morel. 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), Oct 2012, Vilamoura-Algarve, Portugal. ⟨10.1109/IROS.2012.6385643⟩. ⟨hal-01765059⟩
  • Nathanaël Jarrassé, Vincent Crocher, Guillaume Morel. 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), Oct 2012, Vilamoura-Algarve, Portugal. pp.3461-3466. ⟨hal-02110619⟩
  • Nathanael Jarrasse, Guillaume Morel. Connecting a Human Limb to an Exoskeleton. IEEE Transactions on Robotics, IEEE, 2012, 28 (3), pp.697-709. ⟨10.1109/TRO.2011.2178151⟩. ⟨hal-02109366⟩
  • Vincent Crocher, Anis Sahbani, J. Robertson, Agnès Roby-Brami, Guillaume Morel. 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, IEEE Institute of Electrical and Electronics Engineers, 2012, 20 (3), pp.247--257. ⟨10.1109/TNSRE.2012.2190522⟩. ⟨hal-00731067⟩
  • Benoît Rosa, Benoît Herman, Jérome Szewczyk, Brice Gayet, Guillaume Morel. Laparoscopic optical biopsies: In vivo robotized mosaicing with probe-based confocal endomicroscopy. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), Sep 2011, San Francisco, United States. ⟨10.1109/IROS.2011.6094513⟩. ⟨hal-01765044⟩
  • Vincent Crocher, Nathanael Jarrasse, Anis Sahbani, Agnès Roby-Brami, Guillaume Morel. Changing human upper-limb synergies with an exoskeleton using viscous fields. 2011 IEEE International Conference on Robotics and Automation (ICRA), May 2011, Shanghai, China. pp.4657-4663. ⟨hal-02110627⟩
  • Benoît Herman, Ali Hassan Zahraee, Jérome Szewczyk, Guillaume Morel, Christophe Bourdin, et al.. Ergonomic and Gesture Performance of Robotized Instruments for Laparoscopic Surgery. 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2011, 345 E 47TH ST, NEW YORK, NY 10017 USA, United States. pp.1333-1338. ⟨hal-01436023⟩
  • Anja Marx, Marie-Aude Vitrani, Benoˆt Herman, Rˇzvan Iordache, Serge Muller, et al.. Synergic comanipulation despite underactuated robot. France. 2011, ⟨10.1109/ICRA.2011.5979938⟩. ⟨hal-01170713⟩
  • Grégoire Coffin, Cécile Poquet Torterotot, Michael Baumann, Marie-Aude Vitrani, Guillaume Morel, et al.. Trus prostate biopsies pierced area can impact cancer rate detection. Journal of Endourology, 2011, 25(9), pp.59. ⟨hal-03248226⟩
  • Cecile Torterotot-Poquet, Marie-Aude Vitrani, Pierre Mozer, Guillaume Morel. Ultrasound image-based comanipulation for enhanced perception of the contacts with a distal soft organ. France. 2011, ⟨10.1109/ROBIO.2011.6181441⟩. ⟨hal-01170729⟩
  • Nathanaël Jarrassé, M. Tagliabue, J. Robertson, A Maiza, Vincent Crocher, et al.. A methodology to quantify alterations in human upper limb movement during co-manipulation with an exoskeleton. IEEE Transactions on Neural Systems and Rehabilitation Engineering, IEEE Institute of Electrical and Electronics Engineers, 2010, 18 (4), pp.389-397. ⟨10.1109/TNSRE.2010.2056388⟩. ⟨hal-02110660⟩
  • Nathanael Jarrasse, Guillaume Morel. A formal methodology for avoiding hyperstaticity when connecting an exoskeleton to a human member. 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), May 2010, Anchorage, France. pp.1188-1195. ⟨hal-02110635⟩
  • Nabil Zemiti, Guillaume Morel, Alain Micaelli, Barthélemy Cagneau, Delphine Bellot. On the Force Control of Kinematically Defective Manipulators Interacting With an Unknown Environment. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2010, 18 (2), pp.307-322. ⟨10.1109/TCST.2009.2022170⟩. ⟨lirmm-02476015⟩