Personal information

France

Biography

Kanty Rabenorosoa holds a MS degree (2007) in Electrical Engineering from INSA Strasbourg, France and a Ph.D in Microrobotics and Automatic (2010) from Université de Franche-Comté. He was a temporary research assistant at FEMTO-ST Institute in AS2M department (Automatic Control and Micro-Mechatronic Systems) from october 2010 to august 2011. He was a postdoc fellow at LIRMM in DEXTER team between september 2011 to August 2012 in framework of ARKNESS project. He is currently associate professor at FEMTO-ST Institute in Automatic Control and Micro-Mechatronic Systems (AS2M) department. His research interests are microrobotic and micromechatronic systems for medical applications. Especially, his investigation are focused on continuum robotics and electro-active polymers actuators.
He is involved in Labex ACTION (Contract ANR-11-LABX-0001-01) and has participated in several European projects (EUPASS, ARAKNES, μRALP) and ANR projects (Nanorol, NEMRO, µRoCS, GreenShield). With colleagues, they got a Jury Special Awards in MICRONORA 2014, a MEDTEC 2015 Innovation Awards with AMAROB project, and a poster presentation award at Hamlyn Symposium of Medical Robotics 2017.

Activities

Employment (3)

FEMTO-ST: Besancon, Franche-Comté, FR

2012-09-01 to 2017 | Associate Professor (AS2M)
Employment
Source: Self-asserted source
Kanty Rabenorosoa

CNRS Délégation Languedoc-Roussillon: Montpellier, Languedoc-Roussillon, FR

2011-09-01 to 2012-08-31 | Postdoctoral Felllow (LIRMM - Robotics)
Employment
Source: Self-asserted source
Kanty Rabenorosoa

University of Franche-Comté: Besançon, FR

2010-10-01 to 2011-08-31 | Assistant Professor (AS2M)
Employment
Source: Self-asserted source
Kanty Rabenorosoa

Education and qualifications (2)

Université de Franche-Comté: Besancon, Franche-Comté, FR

2007-10-01 to 2010-11-26 | PhD (AS2M)
Education
Source: Self-asserted source
Kanty Rabenorosoa

INSA Strasbourg: Strasbourg, Alsace, FR

2004-09-01 to 2007-08-31 | Master Degree (Electrical Engineering)
Education
Source: Self-asserted source
Kanty Rabenorosoa

Works (50 of 74)

Items per page:
Page 1 of 2

Design and Fabrication of Concentric Tube Robots: A Survey

IEEE Transactions on Robotics
2023 | Journal article
EID:

2-s2.0-85151499215

Part of ISSN: 19410468 15523098
Contributors: Nwafor, C.J.; Girerd, C.; Laurent, G.J.; Morimoto, T.K.; Rabenorosoa, K.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Energy-Based Modeling and Control of a Piezotube Actuated Optical Fiber

IEEE/ASME Transactions on Mechatronics
2023 | Journal article
EID:

2-s2.0-85137603777

Part of ISSN: 1941014X 10834435
Contributors: Ayala, E.P.; Wu, Y.; Rabenorosoa, K.; Le Gorrec, Y.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Miniature Parallel Continuum Robot Made of Glass: Analysis, Design, and Proof-of-Concept

IEEE/ASME Transactions on Mechatronics
2023 | Journal article
EID:

2-s2.0-85161544908

Part of ISSN: 1941014X 10834435
Contributors: Nwafor, C.; Laurent, G.J.; Rabenorosoa, K.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Stochastic model-based contact force estimation for concentric tube robots

Mechanism and Machine Theory
2023 | Journal article
EID:

2-s2.0-85141890992

Part of ISSN: 0094114X
Contributors: Pourafzal, M.; Talebi, A.; Rabenorosoa, K.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

The Caturo: A Submillimeter Diameter Glass Concentric Tube Robot with High Curvature

Advanced Intelligent Systems
2023 | Journal article
EID:

2-s2.0-85170822577

Part of ISSN: 26404567
Contributors: Nwafor, C.J.; Laurent, G.J.; Rougeot, P.; Rabenorosoa, K.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

A Hybrid Concentric Tube Robot for Cholesteatoma Laser Surgery

IEEE Robotics and Automation Letters
2022 | Journal article
EID:

2-s2.0-85120070930

Part of ISSN: 23773766
Contributors: Nguyen, D.V.A.; Girerd, C.; Boyer, Q.; Rougeot, P.; Lehmann, O.; Tavernier, L.; Szewczyk, J.; Rabenorosoa, K.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

An Effective Algorithm for Finding Shortest Paths in Tubular Spaces

Algorithms
2022 | Journal article
EID:

2-s2.0-85125634364

Part of ISSN: 19994893
Contributors: Nguyen, D.-V.-A.; Szewczyk, J.; Rabenorosoa, K.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Design of a Bidirectional Rotational Motion actuator by SMA with geometrico-static requirements

Proceedings of SPIE - The International Society for Optical Engineering
2022 | Conference paper
EID:

2-s2.0-85132191379

Part of ISSN: 1996756X 0277786X
Contributors: Hu, K.; Ouisse, M.; Rabenorosoa, K.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Magnetic concentric tube robots: Introduction and analysis

International Journal of Robotics Research
2022 | Journal article
EID:

2-s2.0-85129606440

Part of ISSN: 17413176 02783649
Contributors: Peyron, Q.; Boehler, Q.; Rougeot, P.; Roux, P.; Nelson, B.J.; Andreff, N.; Rabenorosoa, K.; Renaud, P.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Modeling and Position Control of the HASEL Actuator via Port-Hamiltonian Approach

IEEE Robotics and Automation Letters
2022 | Journal article
EID:

2-s2.0-85132747112

Part of ISSN: 23773766
Contributors: Yeh, Y.; Cisneros, N.; Wu, Y.; Rabenorosoa, K.; Gorrec, Y.L.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Modeling of a Shape Memory Material based Folding Structure: towards Self-reconfigurable Origami Robots

Proceedings of SPIE - The International Society for Optical Engineering
2022 | Conference paper
EID:

2-s2.0-85132025209

Part of ISSN: 1996756X 0277786X
Contributors: Malik, U.S.; Hu, K.; Ouisse, M.; Rabenorosoa, K.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Pesticide-Free Robotic Control of Aphids as Crop Pests

AgriEngineering
2022 | Journal article
EID:

2-s2.0-85144660225

Part of ISSN: 26247402
Contributors: Lacotte, V.; NGuyen, T.; Sempere, J.D.; Novales, V.; Dufour, V.; Moreau, R.; Pham, M.T.; Rabenorosoa, K.; Peignier, S.; Feugier, F.G. et al.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Toward actuation of Kresling pattern-based origami robots

Smart Materials and Structures
2022 | Journal article
EID:

2-s2.0-85139243481

Part of ISSN: 1361665X 09641726
Contributors: Hu, K.; Jeannin, T.; Berre, J.; Ouisse, M.; Rabenorosoa, K.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

4D Thermomechanical metamaterials for soft microrobotics

Communications Materials
2021 | Journal article
EID:

2-s2.0-85121593004

Part of ISSN: 26624443
Contributors: Ji, Q.; Moughames, J.; Chen, X.; Fang, G.; Huaroto, J.J.; Laude, V.; Martínez, J.A.I.; Ulliac, G.; Clévy, C.; Lutz, P. et al.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

A Review of SMA-Based Actuators for Bidirectional Rotational Motion: Application to Origami Robots

Frontiers in Robotics and AI
2021 | Journal article
EID:

2-s2.0-85110429445

Part of ISSN: 22969144
Contributors: Hu, K.; Rabenorosoa, K.; Ouisse, M.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Design of concentric tube robots using tube patterning for follow-the-leader deployment

Journal of Mechanisms and Robotics
2021 | Journal article
EID:

2-s2.0-85107972873

Part of ISSN: 19424310 19424302
Contributors: Girerd, C.; Schlinquer, T.; Andreff, N.; Renaud, P.; Rabenorosoa, K.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

NanoRobotic Structures with Embedded Actuation via Ion Induced Folding

Advanced Materials
2021 | Journal article
EID:

2-s2.0-85115342369

Part of ISSN: 15214095 09359648
Contributors: Benouhiba, A.; Wurtz, L.; Rauch, J.-Y.; Agnus, J.; Rabenorosoa, K.; Clévy, C.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Origami-based auxetic tunable Helmholtz resonator for noise control

Smart Materials and Structures
2021 | Journal article
EID:

2-s2.0-85102354800

Part of ISSN: 1361665X 09641726
Contributors: Benouhiba, A.; Rougeot, P.; Andreff, N.; Rabenorosoa, K.; Ouisse, M.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Piecewise constant strain kinematic model of externally loaded concentric tube robots

Mechatronics
2021 | Journal article
EID:

2-s2.0-85100268264

Part of ISSN: 09574158
Contributors: Pourafzal, M.; Talebi, H.A.; Rabenorosoa, K.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

μRALP and Beyond: Micro-Technologies and Systems for Robot-Assisted Endoscopic Laser Microsurgery

Frontiers in Robotics and AI
2021 | Journal article
EID:

2-s2.0-85120395428

Part of ISSN: 22969144
Contributors: Mattos, L.S.; Acemoglu, A.; Geraldes, A.; Laborai, A.; Schoob, A.; Tamadazte, B.; Davies, B.; Wacogne, B.; Pieralli, C.; Barbalata, C. et al.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Automatic Tip-Steering of Concentric Tube Robots in the Trachea Based on Visual SLAM

IEEE Transactions on Medical Robotics and Bionics
2020 | Journal article
EID:

2-s2.0-85115837285

Part of ISSN: 25763202
Contributors: Girerd, C.; Kudryavtsev, A.V.; Rougeot, P.; Renaud, P.; Rabenorosoa, K.; Tamadazte, B.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Design and Simulation of XZ MEMS Micropositioning with 3D-Complex Structure

2020 Symposium on Design, Test, Integration and Packaging of MEMS and MOEMS, DTIP 2020
2020 | Conference paper
EID:

2-s2.0-85091987482

Contributors: Suthisomboon, T.; Bargiel, S.; Rabenorosoa, K.; Pengwang, E.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

SLAM-Based Follow-the-Leader Deployment of Concentric Tube Robots

IEEE Robotics and Automation Letters
2020 | Journal article
EID:

2-s2.0-85078547354

Part of ISSN: 23773766
Contributors: Girerd, C.; Kudryavtsev, A.V.; Rougeot, P.; Renaud, P.; Rabenorosoa, K.; Tamadazte, B.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

A numerical framework for the stability and cardinality analysis of concentric tube robots: Introduction and application to the follow-the-leader deployment

Mechanism and Machine Theory
2019 | Journal article
EID:

2-s2.0-85056169736

Part of ISSN: 0094114X
Contributors: Peyron, Q.; Rabenorosoa, K.; Andreff, N.; Renaud, P.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Toward Conductive Polymer-Based Soft Milli-Robots for Vacuum Applications

Frontiers in Robotics and AI
2019 | Journal article
EID:

2-s2.0-85093676830

Part of ISSN: 22969144
Contributors: Benouhiba, A.; Rougeot, P.; Ouisse, M.; Clévy, C.; Andreff, N.; Rabenorosoa, K.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

A Multisegment Electro-Active Polymer Based Milli-Continuum Soft Robots

IEEE International Conference on Intelligent Robots and Systems
2018 | Conference paper
EID:

2-s2.0-85062986251

Part of ISSN: 21530866 21530858
Contributors: Benouhiba, A.; Rabenorosoa, K.; Rougeot, P.; Ouisse, M.; Andreff, N.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Adaptive Helmholtz resonator based on electroactive polymers: Modeling, characterization, and control

Smart Materials and Structures
2018 | Journal article
EID:

2-s2.0-85054646288

Part of ISSN: 1361665X 09641726
Contributors: Abbad, A.; Rabenorosoa, K.; Ouisse, M.; Atalla, N.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric Tube Robots

Springer Proceedings in Advanced Robotics
2018 | Book chapter
EID:

2-s2.0-85107056527

Part of ISSN: 25111264 25111256
Contributors: Girerd, C.; Rabenorosoa, K.; Renaud, P.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Developments and Control of Biocompatible Conducting Polymer for Intracorporeal Continuum Robots

Annals of Biomedical Engineering
2018 | Journal article
EID:

2-s2.0-85053383042

Part of ISSN: 15739686 00906964
Contributors: Chikhaoui, M.T.; Benouhiba, A.; Rougeot, P.; Rabenorosoa, K.; Ouisse, M.; Andreff, N.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Electro-active polymer based self-folding approach devoted to origami-inspired structures

ASME 2018 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2018
2018 | Conference paper
EID:

2-s2.0-85057406774

Contributors: Benouhiba, A.; Rabenorosoa, K.; Rougeot, P.; Ouisse, M.; Andreff, N.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Evaluation of dynamic relaxation to solve kinematics of concentric tube robots

ARK 2018 - 16th International Symposium on Advances in Robot Kinematics
2018 | Conference paper
EID:

2-s2.0-85119276990

Contributors: Peyron, Q.; Rabenorosoa, K.; Andreff, N.; Renaud, P.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Eye-in-Hand Visual Servoing of Concentric Tube Robots

IEEE Robotics and Automation Letters
2018 | Journal article
EID:

2-s2.0-85053522792

Part of ISSN: 23773766
Contributors: Kudryavtsev, A.V.; Chikhaoui, M.T.; Liadov, A.; Rougeot, P.; Spindler, F.; Rabenorosoa, K.; Burgner-Kahrs, J.; Tamadazte, B.; Andreff, N.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

In Vivo Inspection of the Olfactory Epithelium: Feasibility of Robotized Optical Biopsy

Annals of Biomedical Engineering
2018 | Journal article
EID:

2-s2.0-85048804720

Part of ISSN: 15739686 00906964
Contributors: Girerd, C.; Lihoreau, T.; Rabenorosoa, K.; Tamadazte, B.; Benassarou, M.; Tavernier, L.; Pazart, L.; Haffen, E.; Andreff, N.; Renaud, P.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Inverse Kinematics Analysis of a P2CuP2Cu Concentric Tube Robot with Embedded Micro-actuation for 3T-1R Contactless Tasks

Springer Proceedings in Advanced Robotics
2018 | Book chapter
EID:

2-s2.0-85062954273

Part of ISSN: 25111264 25111256
Contributors: Chikhaoui, M.T.; Rabenorosoa, K.; Andreff, N.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Kinematic analysis of magnetic continuum robots using continuation method and bifurcation analysis

IEEE Robotics and Automation Letters
2018 | Journal article
EID:

2-s2.0-85063305700

Part of ISSN: 23773766
Contributors: Peyron, Q.; Boehler, Q.; Rabenorosoa, K.; Nelson, B.J.; Renaud, P.; Andreff, N.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Online Robust Endomicroscopy Video Mosaicking Using Robot Prior

IEEE Robotics and Automation Letters
2018 | Journal article
EID:

2-s2.0-85063309183

Part of ISSN: 23773766
Contributors: Rosa, B.; Dahroug, B.; Tamadazte, B.; Rabenorosoa, K.; Rougeot, P.; Andreff, N.; Renaud, P.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

An origami-based tunable helmholtz resonator for noise control: Introduction of the concept and preliminary results

ASME 2017 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2017
2017 | Conference paper
EID:

2-s2.0-85035746467

Contributors: Benouhiba, A.; Rabenorosoa, K.; Ouisse, M.; Andreff, N.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Endoscopic Laser Surgery: Design, Modeling, and Control

IEEE/ASME Transactions on Mechatronics
2017 | Journal article
EID:

2-s2.0-85013422804

Part of ISSN: 10834435
Contributors: Renevier, R.; Tamadazte, B.; Rabenorosoa, K.; Tavernier, L.; Andreff, N.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Investigations on an electroactive polymer based tunable Helmholtz resonator

Proceedings of SPIE - The International Society for Optical Engineering
2017 | Conference paper
EID:

2-s2.0-85024093751

Part of ISSN: 1996756X 0277786X
Contributors: Abbad, A.; Rabenorosoa, K.; Ouisse, M.; Atalla, N.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Preliminary results on OCT-based position control of a concentric tube robot

IEEE International Conference on Intelligent Robots and Systems
2017 | Conference paper
EID:

2-s2.0-85041956237

Part of ISSN: 21530866 21530858
Contributors: Baran, Y.; Rabenorosoa, K.; Laurent, G.J.; Rougeot, P.; Andreff, N.; Tamadazte, B.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Towards optical biopsy of olfactory cells using concentric tube robots with follow-the-leader deployment

IEEE International Conference on Intelligent Robots and Systems
2017 | Conference paper
EID:

2-s2.0-85041956479

Part of ISSN: 21530866 21530858
Contributors: Girerd, C.; Rabenorosoa, K.; Rougeot, P.; Renaud, P.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Design and closed-loop control of a tri-layer polypyrrole based telescopic soft robot

IEEE International Conference on Intelligent Robots and Systems
2016 | Conference paper
EID:

2-s2.0-85006410198

Part of ISSN: 21530866 21530858
Contributors: Chikhaoui, M.T.; Cot, A.; Rabenorosoa, K.; Rougeot, P.; Andreff, N.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Kinematics and performance analysis of a novel concentric tube robotic structure with embedded soft micro-actuation

Mechanism and Machine Theory
2016 | Journal article
EID:

2-s2.0-84974853444

Part of ISSN: 0094114X
Contributors: Chikhaoui, M.T.; Rabenorosoa, K.; Andreff, N.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Scanning micromirror platform based on MEMS technology for medical application

Micromachines
2016 | Journal article
EID:

2-s2.0-84960084105

Part of ISSN: 2072666X
Contributors: Pengwang, E.; Rabenorosoa, K.; Rakotondrabe, M.; Andreff, N.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Synthesis, encapsulation, and performance analysis of large deformation tri-layer polypyrrole actuator

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2016 | Conference paper
EID:

2-s2.0-84992428500

Contributors: Cot, A.; Chikhaoui, M.T.; Rabenorosoa, K.; Rougeot, P.; Andreff, N.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Multiphysics and parallel kinematics modeling of a 3DOF MEMS Mirror

MATEC Web of Conferences
2015 | Conference paper
EID:

2-s2.0-84976593020

Part of ISSN: 2261236X
Contributors: Mamat, N.; Rabenorosoa, K.; Clevy, C.; Lutz, P.; Xie, H.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Performances analysis of piezoelectric cantilever based energy harvester devoted to mesoscale intra-body robot

Proceedings of SPIE - The International Society for Optical Engineering
2015 | Conference paper
EID:

2-s2.0-84938703692

Part of ISSN: 1996756X 0277786X
Contributors: Rabenorosoa, K.; Rakotondrabe, M.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Squipabot: A Mesoscale Parallel Robot for a Laser Phonosurgery

International Journal of Optomechatronics
2015 | Journal article
EID:

2-s2.0-84947495438

Part of ISSN: 15599620 15599612
Contributors: Rabenorosoa, K.; Tasca, B.; Zerbib, A.; Rougeot, P.; Andreff, N.; Pengwang, T.E.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Structural analysis and static responses of electrostatic actuators for 3-DOF micromanipulators in phonomicrosurgery

2015 10th International Microsystems, Packaging, Assembly and Circuits Technology Conference, IMPACT 2015 - Proceedings
2015 | Conference paper
EID:

2-s2.0-84964285327

Contributors: Pengwang, E.; Rabenorosoa, K.; Rakotondrabe, M.; Andreff, N.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier

Characterization and micro-assembly of electrostatic actuators for 3-DOF micromanipulators in laser phonomicrosurgery

MESA 2014 - 10th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Conference Proceedings
2014 | Conference paper
EID:

2-s2.0-84911978861

Contributors: Pengwang, E.; Rabenorosoa, K.; Rakotondrabe, M.; Andreff, N.
Source: Self-asserted source
Kanty Rabenorosoa via Scopus - Elsevier
Items per page:
Page 1 of 2

Peer review (2 reviews for 2 publications/grants)

Review activity for Mechanism and machine theory. (1)
Review activity for Nonlinear dynamics. (1)