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Plateau de Moulon, Rue Noetzlin, 91400 Orsay, France

Interactive Robotics Lab

Scientific Responsible
Christophe Leroux

The structure

The aim of the Interactive Robotics Lab (LRI) is to design and develop ICT and robotics solutions to provide support and assistance to citizens in daily life activities. Particularly the studies carried out in the “Active and Assisted Living” field aims to integrate robotics, internet, cloud, mobile and electronic technologies for applications, such as healthcare, agriculture, logistic and manufacture. The main scientific challenges to enhance the abilities and capabilities of robotic systems revolve around the physical and cognitive human robot interaction, the integration in intelligent environments and the dependable design. LRI institute is responsible for the development, integration and transfer of robotics technologies to industry.

LRI is tightly involved in CEA’s Advanced Manufacturing research programme. Specialized originally in remote handling for operations in hazardous environments (nuclear, underwater applications), the LRI has now a large part of its activities devoted to manufacturing in that respect the robotics lab is deeply involved in innovation of the European industry.

The laboratory has an historical background in robotics for Healthcare applications including assistive, surgical robotics and rehabilitation robotics. One part of the laboratory’s activities dedicates to field robotics essentially for agricultural applications. Its main research foci carry on human robot collaboration (co-working). The technological researches cover mechatronics and the conception of actuators for the design of innovative robotics systems, robot control, supervision and user assistances (force, haptic, vision, graphic, immersive feedback) aiming at an efficient human robots collaboration in all domains of applications.

Available platforms


The Cobomanip assists the operator during handling operation. It is designed as a standard a force generator more than a robot driven in position control mode. In the entire workspace it will assist or oppose to the movements of the operator according to the task definition and the requested assistances. One may therefore consider two distinct operating modes:
• Movements in free space: the Cobomanip is a perfect balance with 3 or 4 dofs. It behaves like if the load is handled in a zero-gravity area.
• Constrained movements: motors (one for each dof) apply counteracting torques to limit the manipulator movements into specific directions.
• All the frictions are compensated with motors situated in the frame of the cobot.

COBOMANIP provides assistances to keep the attention of the operator focused on the main task using virtual guides to constrain the movement within a specific part of the workspace. Concepts for such constraints applied to teleoperation tasks are proposed in two distinct types:
• The operator cannot enter a specific area of the workspace. The movement is possible until a boundary is reached.
• Assistance to guide the operator. Movements of the operator are limited to those allowed by a mechanism attached to the robot.

Key features

  • Load capacity 100kg
  • Workspace radius 4m
  • Safe to users
  • 3D graphic supervision with SCORE software
  • Internet communication

Possible applications

  • Manufacturing tasks involving carrying heavy loads

SYBOT PK0 (3 axes) and PK2 (6 axes)

Thanks to its unique mechanical qualities, the SYBOT brings competitiveness and attractiveness to manual operations that cannot be automated.
Through agile automation, SYBOT simplifies the response to flexibility and variability requirements for all types of processes such as grinding.

Without special training, the operator integrates and optimizes the use of the COBOT by enhancing his know-how in a work environment that does not require any modification.
SYBOT interactive COBOTs improve productivity while reducing operator fatigue.

Key features

  • Load capacity 10kg in the whole workspace
  • Workspace radius 1.6m
  • 3 and 6 axes
  • Programmable through Finite state machine
  • C++ API TAO Component
  • 3D Graphic supervision with SCORE software (option)

Possible applications

  • Manufacturing tasks: polishing, grinding, assembly, etc.
  • Robotics in harsh conditions and for hazardous environments
  • Teleoperation

TX90 6-axis robot

The TX90 6-axis robot is an articulated arm with 6 axes for increased flexibility.
The spherical work envelope allows maximum utilization of cell workspace. It can also be mounted on the floor, wall or ceiling. The fully enclosed structure (IP65) makes the robotic arm ideal for applications in harsh environments.
The TX90 6-axis robot has a maximum payload of 20 kg and a 1000 mm reach.

Key features

  • Load capacity 7kg in the whole workspace
  • Workspace radius 1m
  • 6 axes

Possible applications

  • Manufacturing tasks: polishing, grinding, assembly, etc.
  • Robotics in harsh conditions and for hazardous environments
  • Teleoperation


At only 38 kg and approximately the size of a small human, YuMi® is quickly and easily installed on the production line to work hand-in-hand with a human colleague. Lead-through programming means YuMi® can be taught a process by being physically guided through it, eliminating the need for complex, time-consuming code-based instruction.
• Can operates equally effectively side-by-side or face-to-face with human coworkers.
• Servo grippers (the “hands”) include options for built-in cameras
• Real-time algorithms set a collision-free path for each arm customized for the required task.
• Padding protects coworkers in high-risk areas by absorbing force if contact is made.
• If the robot encounters an unexpected object – even a slight contact with a coworker – it can pause its motion within milliseconds, and the motion can be restarted again as easily as pressing play on a remote control.
• Pinch points have been eliminated or minimized to an acceptable level between moving parts, and between moving and stationary parts.

Key features

  • Load capacity 500g in the whole workspace
  • Workspace radius 560mm
  • Programmable through Ethernet IP, Profibus, USB ports, DeviceNet™, communication port

Possible applications

  • Manufacturing tasks: polishing, grinding, assembly, etc.

UR10 Universal Robot

Collaborative robot UR10 are designed to mimic the range of motion of a human arm and incidentally all it takes to program and reprogram the robotic arms is a human arm. It doesn’t get any easier – and perhaps most importantly it eliminates the need for expensive third-party programmers every time you want to assign the robot arm to a different task. The intuitive software allows even the most inexperienced user to quickly grasp the basics of programming and set waypoints by simply moving the robot into position. Recurring tasks, programs can be stored in the UR robot arm and re-used.


Key features

  • Load capacity 10kg in the whole workspace
  • Workspace radius 1300mm
  • Programmable through Ethernet IP, Profibus, USB ports, DeviceNet™, communication port

Possible applications

  • Manufacturing tasks: polishing, grinding, assembly, etc.

LBR IIWA robot

The IIWA enables humans and robots to work together on highly sensitive tasks in close cooperation.
Thanks to its joint torque sensors in all seven axes, the LBR IIWA can detect contact and is able to work directly with its human operator.
You can choose from three operating modes and program the LBR iiwa via simulation: indicate the desired position and it will remember the coordinates of the path point.
The LBR iiwa’s controller, KUKA Sunrise Cabinet, simplifies the quick start-up of even complex applications.

Key features

  • Load capacity 7 to 14kg in the whole workspace
  • Workspace radius 800 to 820mm
  • Programmable through Kuka Sunrise cabinet

Possible applications

  • Manufacturing tasks: polishing, grinding, assembly, etc.

Haption Virtuose 6D

The Virtuose 6D is the only product on the market combining a high force feedback in the 6 degrees of freedom with a large workspace. The Virtuose 6D is especially suited for scale one manipulations virtual and distant (robotic control). It is also used as a co-manipulation medical robot and in rehabilitation applications. Its handle has 3 buttons (2 programmable), and is replaceable through our tool changer. You can for instance use it with 3D printed objects.
This product is available in a High Force Version, for applications in need of a very high level of force feedback.

Key features

  • Maximum force (translation): 35N
  • Continuous force (translation): 9.5N
  • Maximum torque (rotation): 3.1 N.m
  • Continuous torque (rotation): 1N.m
  • Maximum control stiffness (translation): from 1800 N/m to 8000N/m
  • Maximum control stiffness (rotation): 30 N.m/rad
  • Weight balancing: Static (mechanical, with springs)
  • Number of buttons: 3 (2 programmable)
  • Replaceable handle: Yes, through our tool changer

Possible applications

  • Industrial simulation
  • Medical training
  • Virtual Reality
  • Virtual and distant manipulations (robotic control)
  • Co-manipulation
  • Medical robotics
  • Rehabilitation

Haption ABLE

The Able is an exoskeleton haptic interface for the arm and the hand. It provides from 4 to 7 active degrees of freedom. Able is the first industrialized exoskeleton haptic device – it can be ordered off-the-shelf.
The Able is available for right configuration and for left configuration.

Key features

  • Upper Arm length 275 to 325 mm
  • Forearm length 220 to 245 mm
  • Translation force continuous 37 N
  • Rotation force continuous 12Nm
  • Position resolution 0.001 mm
  • Rotation resolution 0.003°

Possible applications

  • Virtual Reality
  • Medical
  • Nuclear teleoperation


Prototype of a lower limbs exoskeleton.

Key features

  • Development platform

Possible applications

  • Virtual Reality
  • Medical rehabilitation
  • Manufacturing
  • Walking assistance


JACO robot arm allow individuals to do the many “daily living” activities that promote self-reliance, independence and comfort—all things that contribute to their well-being.
Safe to humans, JACO empowers people living with upper mobility impairments diagnosed with
one of the following conditions: Muscular Dystrophy (MD), Spinal Muscular Atrophy (SMA), Tetraplegia, Amyotrophic Lateral Sclerosis (ALS), Cerebral Palsy (CP).

Key features

  • Lightweight
  • Weather resistant
  • Reach the floor with standard installation on wheelchair
  • 3 fingers gripper

Possible applications

  • Rehabilitation