PREAULT Céléstin

Research team

Engineering and Numerical Tools

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Educational activities

• Specialties : Object-oriented programming , Computer Science, Mechanical engineering
• Methods : Lectures, practical work, project-based teaching 
• Levels : Engineering cycle

Research interests

My research focuses on the development of teleoperation and supervision of real machines via the digital twin. It aims to optimize task execution by integrating simulated data from the digital twin with real machine data. This work contributes to the evolution of supervision and remote operation in Industry 5.0, by exploiting the advantages of immersive technologies. It promotes close collaboration between human and machine, with an enhanced interaction and safer operations.

Keywords: Human-Machine Interaction, VR/AR, XR, Digital Twin, Mechatronics, Haptics, Automation, Robotics, Teleoperation

Current research programs

My research aims to improve teleoperation and supervision of real machines using the digital twin, integrating simulated and real data to optimize tasks, thus contributing to the evolution of Industry 5.0 through close human-machine collaboration focused on optimizing interactions and operational safety.

Research supervision

PhD programs in progress

E. JABBOUR “Shared-autonomy control for improving Human-Robot collaboration in haptic”, 2022, Supervisors: V. PADOIS (INRIA), M. VULLIEZ (INRIA) & C PRÉAULT (CESI)

Research internships

Supervision of 5 Master / Engineer students

Publications

• ACL : 3
• C-ACTI : 4
• C-ACTN : 1
• C-COM : 2

Selected publications

ACL (Articles in refereed international journals)

• From Specialized Industrial Grippers to Flexible Grippers: Issues for Grasping and Dexterous Manipulation, Foundations and Trends in Robotics 11, no 1 (2023): 1 89, P. SEGUIN, C. PRÉAULT, P. BIDAUD, et J.-P. GAZEAU, https://doi.org/10.1561/2300000074.
• Approach for real in-hand dexterity evaluation: application to the RoBioSS hand, Journal of Mechanisms and Robotics 15 (6), 065001, P. SEGUIN, C. PREAULT, P. VULLIEZ, et J.-P. GAZEAU, https://doi.org/10.1115/1.4056404
• Optimal design and evaluation of a 4 DoFs haptic device based on delta architecture, Robotica 37(7):1-22, Septembre 2018, C. PRÉAULT, H. SAAFI, M.A. LARIBI, S. ZEGHLOUL, https://doi.org/10.1017/S0263574718000929

C-ACTI (Papers with proceedings in an international conference) 

• Real Time Redundancy-Based Approach to Robot-Patient Safe Enhancement, 4th IFToMM Symposium on Mechanism Design for Robotics, Septembre 2018, C. PREAULT, M.A. LARIBI, M. ARSICAULT, S. ZEGHLOUL, https://doi.org/10.1007/978-3-030-00365-4_21
• 4Haptic : A dexterous 4 d.o.fs haptic device based on the delta architecture, 7th IFToMM International Workshop on Computational Kinematics, Poitiers (France), Mai 2017,  C. PREAULT, H. SAAFI, M.A. LARIBI, S. ZEGHLOUL, https://doi.org/10.1007/978-3-319-60867-9_35
• A novel kinematic of a 4 d.o.fs haptic device based on the delta robot architecture, 26th Conference on Robotics in Alpe Adria-Danube Region, RAAD, Torino (Italy), Juin 2017, C. PREAULT, H. SAAFI, M.A. LARIBI, S. ZEGHLOUL, https://doi.org/10.1007/978-3-319-61276-8_74
• Doppler Sonography: A Tele-Operated Assistant to Prevent Musculoskeletal Disorder, 5th IFToMM International Symposium on Robotics & Mechatronics, Decembre 2017, C. PREAULT, M.A. LARIBI, S. ZEGHLOUL, J.M. GUILHEM