Home » Teams » ASIMOV » Guillaume Morel
  • Guillaume Morel

  • Director
  • Team: ASIMOV
  • Office: J17
  • Email: guillaume.morel@sorbonne-universite.fr
  • Phone:0664167377
  • Addresse: Pyramide ISIR - Campus Pierre et Marie Curie
  • Bio: Guillaume Morel is professor of robotics at Sorbonne University. He has been researching the design and control of handling robots for 30 years. After having specifically worked on the control of interactions (effort and vision), in particular during his thesis (1994) and his postdocs at MIT (1996) and EDF (1997), he oriented his research towards medical robotics, first of all for surgery (from 1999, when he was a lecturer in Strasbourg) then for assistance to people with motor disabilities (from 2005, when he had returned to Sorbonne University). In this context, he develops the concept of co-handling by interweaving the sensorimotor loops of the user and those of the gesture assistance device. Guillaume Morel was the director-creator of the first engineering course specializing in robotics labeled by the CTI in 2007, of the first medical robotics research team labeled by INSERM in 2010, and of Carnot-Interfaces, a structure of industrial partnership in 2016. He now heads ISIR.

Publications

  • Elie Saghbiny, Lilyan Leblanc, Antoine Harlé, Christina Bobbio, Raphael Vialle, et al.. Breach detection in spine surgery based on cutting torque. 2024. ⟨hal-04606977⟩
  • Elie Saghbiny, Jimmy Da Silva, Lilyan Leblanc, Christina Bobbio, Guillaume G. Morel, et al.. Breach detection in spine surgery based on cutting torque with ex-vivo experimental validation. Conference on New Technologies for Computer and Robot Assisted Surgery, Sep 2023, Paris, France. ⟨hal-04346410⟩
  • Mahdi Khoramshahi, Alexis Poignant, Guillaume Morel, Nathanael Jarrassé. A Practical Control Approach for Safe Collaborative Supernumerary Robotic Arms. 2023 IEEE Conference on Advanced Robotics and its Social Impact (ARSO 2023), IEEE, Jun 2023, Berlin, Germany. ⟨hal-04067845⟩
  • Alexandra Nassar, Fabien Vérité, Félix Pechereau, Guillaume Morel, Marie-Aude Vitrani. Adaptative damping assistance in bimanual laparoscopic surgery. International Journal of Computer Assisted Radiology and Surgery, In press, ⟨10.1007/s11548-022-02796-9⟩. ⟨hal-04031713⟩
  • Stéphane Bette, Jimmy Da Silva, Thibault Chandanson, Guillaume Morel, Maurice Bourlion. Medical devices and methods for penetrating an anatomical structure based on sensed electrical characteristics. France, Patent n° : US20220361896A1. 2022. ⟨hal-04059648⟩
  • Alexis Poignant, Nathanael Jarrasse, Guillaume Morel. Virtually turning robotic manipulators into worn devices: opening new horizons for wearable assistive robotics. 2023. ⟨hal-04236124⟩
  • Lin Dong, Nicolas Perrin, Florian Richer, Agnes Roby-Brami, Guillaume Morel. The stability investigation of variable viscosity control in the human‐robot interaction. The International Journal of Medical Robotics and Computer Assisted Surgery, 2022, 18 (5), ⟨10.1002/rcs.2416⟩. ⟨hal-03869394⟩
  • Maurice Bourlion, Olivier Frezal, Guillaume Morel, Stéphane Bette, Thibault Chandanson, et al.. MEDICAL SYSTEM. France, Patent n° : US011399902B2. 2022. ⟨hal-04059621⟩
  • Mathilde Legrand, Charlotte Marchand, Florian Richer, Amélie Touillet, Noël Martinet, et al.. Simultaneous control of 2DOF upper-limb prosthesis with body compensations-based control: a multiple cases study. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2022, ⟨10.1109/TNSRE.2022.3186266⟩. ⟨hal-03846023⟩
  • Omar Mounir Alaoui, Fabien Expert, Guillaume Morel, Nathanael Jarrasse. Using Arm Swing Movements to Maintain the Walking State in a Self-Balanced Lower-Limb Exoskeleton. 2022 IEEE International Conference on Robotics and Automation (ICRA), May 2022, Philadelphia, France. pp.6444-6450, ⟨10.1109/ICRA46639.2022.9811824⟩. ⟨hal-03870400⟩
  • Maurice Bourlion, Olivier Frezal, Guillaume Morel, Stéphane Bette, Thibault Chandanson, et al.. ROBOTIC SURGICAL SYSTEM. France, Patent n° : US011344372B2. 2022. ⟨hal-04059560⟩
  • Jimmy Da Silva, Elie Saghbiny, Thibault Chandanson, Stéphane Bette, Maurice Bourlion, et al.. Automatic bone breach detection for spine surgery based on bio-electrical conductivity sensing: Ex-vivo experimental validation. 11th edition of Conference on New Technologies for Computer and Robot Assisted Surgery CRAS 2022, Apr 2022, Naples, Italy. ⟨hal-03768356⟩
  • Jimmy Da Silva, Saman Vafadar, Thibault Chandanson, Guillaume Morel. Force control of the KUKA LBR Med without external force sensor. 11 th edition of Conference on New Technologies for Computer and Robot Assisted Surgery, Apr 2022, Naples, Italy. ⟨hal-03768357⟩
  • Elie Saghbiny, Jimmy Da Silva, Célia Chaimi, Thibault Chandanson, Guillaume Morel, et al.. Toward automatic bone breach detection for spine surgery using tissue bio-electrical conductivity sensing. Conference on New Technologies for Computer and Robot Assisted Surgery, Apr 2022, Naples, Italy. ⟨hal-03768358⟩
  • Mathilde Legrand-Lestoille, Charlotte Marchand, Florian Richer, Amélie Touillet, Noël Martinet, et al.. Simultaneous control of 2DOF upper-limb prosthesis with body compensations-based control: a multiple cases study. IEEE Transactions on Neural Systems and Rehabilitation Engineering, In press. ⟨hal-03697470⟩
  • 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⟩
  • Alexis Poignant, Mathilde Legrand, Nathanaël 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), May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561613⟩. ⟨hal-03846009⟩
  • 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, 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, 2020, 2 (2), pp.236-247. ⟨10.1109/TMRB.2020.2982004⟩. ⟨hal-02541938⟩
  • Nathanael Jarrasse, Mathilde Legrand-Lestoille, Guillaume Morel. Device for controlling a robotic system for assisting the mobility of a user. France, Patent n° : WO2020193571A1. 2020. ⟨hal-03980694⟩
  • 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⟩
  • Jimmy Da Silva, Thibault Chandanson, Guillaume Morel. Robot-assisted spine surgery guided by conductivity sensing: first preclinical experiments demonstrate X-ray free breach detection. The Hamlyn Symposium on Medical Robotics, Jun 2019, London, United Kingdom. ⟨10.31256/HSMR2019.38⟩. ⟨hal-03768353⟩
  • 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⟩
  • Nathanael Jarrasse, Mathilde Legrand-Lestoille, Guillaume Morel. Dispositif de commande d'un système robotique d'assistance à la mobilité d'un utilisateur. France, N° de brevet: FR1903103. 2019. ⟨hal-03980631⟩
  • 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 G. Morel, Pierre 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, 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 Torterotot Poquet, Guillaume G. Morel. Applying Virtual Fixtures to the Distal End of a Minimally Invasive Surgery Instrument. IEEE Transactions on Robotics, 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, 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, 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, 2015, 36 (2), pp.118-125. ⟨10.1016/j.irbm.2015.01.012⟩. ⟨hal-02347634⟩
  • 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, 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, 2015, 20 (1), pp.186-196. ⟨10.1109/TMECH.2014.2314859⟩. ⟨hal-01170908⟩
  • 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, 2015, pp.1861-6429. ⟨10.1007/s11548-015-1244-8⟩. ⟨hal-01170661⟩
  • N Jarrassé, Agnès Roby-Brami, Ludovic Saint-Bauzel, Guillaume Morel. Les exosquelettes robotisés : réalités et perspectives. Académie de Chirurgie Magazine, 2014, 13, pp.6 - 9. ⟨hal-01170514⟩
  • 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, 2014, 8, pp.947. ⟨10.3389/fnhum.2014.00947⟩. ⟨hal-01320175⟩
  • 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⟩