Publications

2022

Journal Articles

Gravity-Compensation Design Approaches for Flexure-Pivot Time Bases

E. Thalmann; Q. Gubler; S. Henein 

Machines 2022. 2022-07-18. Vol. 10, num. 7, p. 580. DOI : 10.3390/machines10070580.

Analytical modeling and experimental validation of rotationally actuated pinned–pinned and fixed–pinned buckled beam bistable mechanisms

L. Tissot-Daguette; H. Schneegans; E. Thalmann; S. Henein 

Mechanism and Machine Theory. 2022. Vol. 174, p. 104874. DOI : 10.1016/j.mechmachtheory.2022.104874.

A load cell with adjustable stiffness and zero offset tuning dedicated to electrical micro- and nanoprobing

M. S. Smreczak; L. B. Tissot-Daguette; E. Thalmann; C. Baur; S. Henein 

Precision Engineering. 2022-03-31. Vol. 76, p. 208-225. DOI : 10.1016/j.precisioneng.2022.03.009.

The Dimension of the Body in Higher Education: Matrix of Meanings in Students’ Diaries

R. Tau; L. Kloetzer; S. Henein 

Human Arenas. 2022. Vol. 5, p. 441–468. DOI : 10.1007/s42087-021-00206-1.

Triple Crossed Flexure Pivot Based on a Zero Parasitic Center Shift Kinematic Design

E. Thalmann; S. Henein 

Journal of Mechanisms and Robotics. 2022-02-18. Vol. 14, num. 4, p. 045001 (10 pages). DOI : 10.1115/1.4053471.

Conference Papers

Improgineering : former à la conception collective par l’improvisation

L. Kloetzer; S. Henein; R. Tau 

2022-07-07. 56ème Congrès SELF, Genève, Suisse, Juillet 6-8, 2022.

Active load cell with positive, negative and zero stiffness operating modes for micronewton range contact force monitoring in electrical probing

M. S. Smreczak; H. P-M. B. Schneegans; C. Baur; S. Henein 

2022-06-03. 22nd International Conference of the European Society for Precision Engineering and Nanotechnology (Euspen 2022), Geneva, Switzerland, May 30-Jun 3, 2022.

Rectilinear translation four-bar flexure mechanism based on four Remote Center Compliance pivots

L. B. Tissot-Daguette; H. P-M. B. Schneegans; Q. Gubler; C. Baur; S. Henein 

2022. 22nd euspen International Conference & Exhibition, Geneva, Suisse, May 30 – June 3, 2022.

Theses

Load cell with positive, negative and zero stiffness operating modes for milli- to nanonewton contact force monitoring in electrical probing

M. S. Smreczak / S. N. Henein; C. Baur (Dir.)  

Lausanne, EPFL, 2022. 

Patents

Flexure pivot based system

L. B. Tissot-Daguette; S. Henein; M. S. Smreczak; B. Dagon 

WO2022122629; EP4012367.

2022.

2021

Journal Articles

Teaching Through Performing Arts in Higher Education: Examples in Engineering and Psychology

L. Kloetzer; S. Henein; R. Tau; S. Martin; J. Valterio 

Scenario. 2021-06-02. Vol. Volume XIV, num. 2 (2020), p. 1-25. DOI : 10.33178/scenario.14.2.1.

Performing arts as a tool for university education during a pandemic: Moving from an in vivo to an in vitro modality

L. Kloetzer; R. Tau; J. Valterio; S. Henein 

Qwerty. 2021-01-01. Vol. 16, num. 2, p. 47-68. DOI : 10.30557/QW000043.

Shaking force balancing of a 2-DOF isotropic horological oscillator

H. P-M. B. Schneegans; E. Thalmann; S. Henein 

Precision Engineering. 2021-06-08. Vol. 72, p. 502-520. DOI : 10.1016/j.precisioneng.2021.06.003.

Design of a Flexure Rotational Time Base with Varying Inertia

E. Thalmann; S. Henein 

Journal of Mechanical Design. 2021-05-14. Vol. 143, num. 11, p. 115001. DOI : 10.1115/1.4050558.

Conference Papers

Design of a Triple Crossed Flexure Pivot With Minimized Parasitic Shift

E. Thalmann; S. Henein 

2021-11-17. ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Virtual, Online, August 17–19, 2021. DOI : 10.1115/DETC2021-67948.

Design and modelling of a compliant constant-force surgical tool for objective assessment of ossicular chain mobility

L. B. Tissot-Daguette; C. Baur; A. Bertholds; P. Llosas; S. Henein 

2021. 21st International Conference on Solid-State Sensors, Actuators and Microsystems (Transducers 2021), Virtual Conference, June 20-25, 2021. p. 1299-1302. DOI : 10.1109/Transducers50396.2021.9495605.

Rocker oscillator time bases

V. Bourquin; I. Vardi; S. Henein 

2021-06-10. euspen’s 21st International Conference & Exhibition, Copenhagen, Denmark, June 7-10, 2021.

Load cell with adjustable stiffness based on a preloaded T-shaped flexure pivot

L. B. Tissot-Daguette; M. S. Smreczak; C. Baur; S. Henein 

2021. 21st euspen International Conference & Exhibition, Copenhagen, Denmark, June 7 – 10, 2021.

Optical rotating torque sensor with nano newton-meter resolution based on a hanging torsion wire

E. Thalmann; B. Nussbaumer; S. Henein 

2021-06-10. 21st International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2021, Virtual, Online, June 7-10, 2021. p. 519 – 522.

Optical measurement method for mechanical time base characterization

E. Thalmann; S. Henein 

2021-06-10. 21st International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2021, Virtual, Online, June 7-10, 2021. p. 469-472.

2020

Journal Articles

Foucault pendulum properties of spherical oscillators

P. R. Flückiger; I. Vardi; S. Henein 

Review of Scientific Instruments. 2020-09-23. Vol. 91, p. 1-8, 095115. DOI : 10.1063/5.0010759.

Reconfigurable Logic Gates Based on Programable Multistable Mechanisms

M. Zanaty; H. Schneegans; I. Vardi; S. Henein 

Journal Of Mechanisms And Robotics-Transactions Of The Asme. 2020-04-01. Vol. 12, num. 2, p. 021111. DOI : 10.1115/1.4045970.

Flexure Pivot Oscillator With Intrinsically Tuned Isochronism

E. Thalmann; M. H. Kahrobaiyan; I. Vardi; S. Henein 

Journal of Mechanical Design. 2020. Vol. 142, num. 7, p. 075001 (13 pages). DOI : 10.1115/1.4045388.

Conference Papers

Design of a Flexure Based Low Frequency Foucault Pendulum

P. R. Flückiger; I. Vardi; S. Henein 

2020-08-16. ASME 2020 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2020, St. Louis, MO, USA, August 16-19, 2020. DOI : 10.1115/DETC2020-22075.

Statically and dynamically balanced oscillator based on Watt’s linkage

H. P-M. B. Schneegans; I. Vardi; S. Henein 

2020-06-12. 20th International conference of the European Society for Precision Engineering and Nanotechnology (euspen), Geneva, Suisse, June 8-12, 2020.

Tuning stiffness nonlinearty: theory and applications

M. Zanaty; I. Vardi; S. Henein 

2020-08-16. ASME 2020 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2020), [Online event], August 17-19, 2020. p. 16667. DOI : 10.1115/DETC2020-22227.

Foucault pendulum properties of spherical oscillators

P. R. Flückiger; I. Vardi; S. Henein 

2020-06-12. 20th International conference of the European Society for Precision Engineering and Nanotechnology (euspen)., Geneva, CH, June 8-12, 2020.

Programmable Logic Gates Based On Tunable Multistable Mechanisms

M. Zanaty; H. Schneegans; I. Vardi; S. Henein 

2020-01-01. ASME International Design Engineering Technical Conferences / Computers and Information in Engineering Conference, Anaheim, CA, Aug 18-21, 2019. p. V05AT07A007. DOI : 10.1115/DETC2019-97647.

Theses

Flexure-based mecano-optical multi-degree-of-freedom transducers dedicated to medical force sensing instruments

S. K. Fifanski / S. N. Henein; C. Baur (Dir.)  

Lausanne, EPFL, 2020. 

Flexure Pivot Oscillators for Mechanical Watches

E. F. G. Thalmann / S. N. Henein; I. Vardi (Dir.)  

Lausanne, EPFL, 2020. 

Patents

Crank arrangement for driving a mechanical oscillator

R. Gillet; S. Henein; B. Nussbaumer 

EP3739394.

2020.

Two degree of freedom oscillator system

M. H. Kahrobaiyan; B. Nussbaumer; S. Henein; A. Maurel 

EP3719584.

2020.

Mechanical oscillator with tunable isochronism defect

M. H. Kahrobaiyan; M. Zanaty; S. Henein 

EP3722888.

2020.

Device for measuring a force exerted on an object

M. H. Kahrobaiyan; C. Baur; S. Henein; M. Zanaty 

JP2022528431; US2022170804; EP3953673; CN113874694; WO2020207911; EP3722767.

2020.

Sensor system

S. Henein; C. Baur; T. Fussinger; H. Schneegans; L. Bonnefoy 

US11497445; EP3701866; EP3701866; US2020268320.

2020.

Flexure Pivot Oscillator Insensitive to Gravity

M. H. Kahrobaiyan; E. Thalmann; S. Henein 

EP3824353; WO2020016131.

2020-01-23.

2019

Journal Articles

Programmable Multistable Mechanisms for Safe Surgical Puncturing

M. Zanaty; T. Fussinger; A. Rogg; A. Lovera; D. Lambelet et al. 

Journal Of Medical Devices-Transactions Of The Asme. 2019-06-01. Vol. 13, num. 2, p. 021002. DOI : 10.1115/1.4043016.

Conceptual design of a rotational mechanical time base with varying inertia

E. Thalmann; S. Henein 

Preprint version. 2019-06-04. DOI : 10.31224/osf.io/kjhbx.

Conference Papers

A la recherche du temps précis : la découverte de l’oscillateur

I. Vardi; S. Henein 

2019-09-16. Congrès International de Chronométrie 2019, Montreux, CH, September 9-16, 2019. p. 1-8.

Patents

Automatically Starting and Secured Detent Escapement for a Timepiece

I. Vardi; S. Henein; O. Mathez 

2019361397.

2019-11-28.

Two degree of freedom mechanical oscillator

Mohammad Hussein Kahrobaiyan; I. Vardi; S. Henein 

HK1257559.

2019.

Horological oscillator

M. Kahrobaiyan; I. Vardi; S. Henein; B. Nussbaumer; E. Thalmann 

EP3740820; EP3740820; WO2019141789.

2019.

General 2 degree of freedom isotropic harmonic oscillator and associated time base without escapement or with simplified escapement

S. Henein; L. Rubbert; I. Vardi 

US2019227493.

2019.

2018

Journal Articles

Experimental Characterization of a T-Shaped Programmable Multistable Mechanism

M. Zanaty; S. Henein 

Journal Of Mechanical Design. 2018-09-01. Vol. 140, num. 9, p. 092301. DOI : 10.1115/1.4040173.

Gravity-Insensitive Flexure Pivot Oscillators

M. H. Kahrobaiyan; E. Thalmann; L. Rubbert; I. Vardi; S. Henein 

Journal of Mechanical Design. 2018. Vol. 140, num. 7, p. 1-9, 075002. DOI : 10.1115/1.4039887.

Horloge neuchâteloise du XXIe siècle équipée de l’oscillateur IsoSpring

S. Henein; I. Vardi 

Chronométrophilia. 2018. Vol. 82, p. 107-113.

Echappements à impulsion virtuelle

I. Vardi; R. A. Bitterli; L. Convert; E. Thalmann; S. Henein 

Bulletin de la Société Suisse de Chronométrie. 2018. Vol. 85, p. 25-32.

Conference Papers

Programmable Constant-Force Multistable Mechanisms

M. Zanaty; S. Henein 

2018-01-01. ASME International Design Engineering Technical Conferences (IDETC) / Computers and Information in Engineering Conference (CIE), Quebec City, CANADA, Aug 26-29, 2018. p. V05AT07A002. DOI : 10.1115/DETC2018-85248.

Flexure-Pivot Oscillator Restoring Torque Nonlinearity and Isochronism Defect

E. Thalmann; M. H. Kahrobaiyan; S. Henein 

2018. ASME International Design Engineering Technical Conferences (IDETC) / Computers and Information in Engineering Conference (CIE), Quebec City, Quebec, Canada, August 26–29, 2018. p. V05AT07A013. DOI : 10.1115/DETC2018-85863.

Books

Improgineering : création collective, arts improvisés et ingénierie : actes du cours 2017-2018

S. Henein; J. Valterio 

Lausanne: EPFL, 2018-05-01.

Theses

Programmable Multistable Mechanisms: Design, modeling, characterization and applications

M. G. A. A. Zanaty / S. N. Henein; I. Vardi (Dir.)  

Lausanne, EPFL, 2018. 

Patents

Two degree of freedom mechanical oscillator

M. H. Kahrobaiyan; I. Vardi; S. Henein 

US2018231937; EP3361325.

2018.

Device for controlled puncturing of an object

M. Zanaty; C. Baur; S. Henein 

US11058460; US2020222080; EP3487460; WO2018015488.

2018.

Mechanical oscillator

M. H. Kahrobaiyan; I. Vardi; S. Henein 

EP3559756; US2019324398; WO2018115101; EP3339969.

2018.

Système multistable programmable

M. G. A. A. Zanaty; S. Henein 

EP3266737; EP3266737.

2018-01-10.

2017

Journal Articles

Une horloge mécanique sans tic-tac

S. Henein; I. Vardi 

Pour la science. 2017-03-29. Vol. 474, p. 48-54.

Higher-order continuation method for the rigid-body kinematic design of compliant mechanisms

L. Rubbert; I. Charpentier; S. Henein; P. Renaud 

Precision Engineering-Journal Of The International Societies For Precision Engineering And Nanotechnology. 2017. Vol. 50, p. 455-466. DOI : 10.1016/j.precisioneng.2017.06.021.

Une horlogerie mécanique sans tic-tac

S. Henein; I. Vardi 

Pour la Science. 2017. num. 474, p. 48-54.

La R&D commune entreprises-université dans l’industrie horlogère de 1900 à nos jours

P-Y. Donzé; I. Vardi; S. Henein 

Bulletin de la Société Suisse de Chronométrie. 2017. Vol. 83, p. 21-28.

Conference Papers

An Analytical Model for Beam Flexure Modules Based on Timoshenko Beam Theory

M. H. Kahrobaiyan; M. Zanaty; S. Henein 

2017-08-06. ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Cleveland, Ohio, USA, August 6-9, 2017. DOI : 10.1115/DETC2017-67512.

The isostatic 3-body problem: a complete solution

J. Kruis; F. Cosandier; F. Barrot; I. Vardi; S. Henein 

2017-05-30. Euspen’s 17th International Conference & Exhibition, Hannover, Germany, May 29-2 June, 2017.

VivoForce instrument for retinal microsurgery

S. K. Fifanski; J. Rivera; M. Clogenson; C. Baur; A. Bertholds et al. 

2017. Surgetical 2017, Strasbourg, France, November 20-22, 2017. p. 155-157.

Books

The Art of Flexure Mechanism Design

F. Cosandier; S. Henein; M. Richard; L. Rubbert 

Lausanne: EPFL Press, 2017.

Reports

Safe Puncture Tool for Retinal Vein Cannulation

M. Zanaty; A. Rogg; T. J. J. Fussinger; A. Lovera; C. Baur et al. 

2017-11-15

2016

Journal Articles

Surgical Anatomy of the Human Round Window Region: Implication for Cochlear Endoscopy Through the External Auditory Canal

T. Fujita; J. E. Shin; M. Cunnane; K. Fujita; S. Henein et al. 

Otology & Neurotology. 2016. Vol. 37, num. 8, p. 1189-1194. DOI : 10.1097/Mao.0000000000001074.

Conference Papers

Flexure-based multi-degrees-of-freedom in-vivo force sensors for medical instruments

S. K. Fifanski; J. L. Rivera Gutiérrez; M. Clogenson; C. Baur; A. Bertholds et al. 

2016. Euspen’s 16th International Conference, Nottingham, Great Britain, May 30-Jun 03, 2016. p. 333-334.

Theses

Design, analysis, testing and applications of two-body and three-body kinematic mounts

J. R. C. G. Kruis / S. N. Henein; F. Cosandier (Dir.)  

Lausanne, EPFL, 2016. 

Patents

Needle for invasive medical use and needle assembly

A. Bertholds; P. Llosas; S. Henein; C. Baur 

US10299826; EP3094362; JP2017500127; EP3094362; US2016310164; WO2015091521.

2016.

Dard bi-fonctionnel, dispositif de verrouillage et de sécurisation pour pièce d’horlogerie et échappement horloger

I. Vardi; S. Henein; O. Mathez; T. Philippine 

CH712288; CH712288.

2016-03-22.

2015

Journal Articles

Guidages flexibles

S. Henein 

Revue Polytechnique. 2015. num. 1805, p. 22-23.

Isotropic springs based on parallel flexure stages

L. Rubbert; R. A. Bitterli; N. Ferrier; S. K. Fifanski; I. Vardi et al. 

Precision Engineering-Journal Of The International Societies For Precision Engineering And Nanotechnology. 2015. Vol. 43, p. 132-145. DOI : 10.1016/j.precisioneng.2015.07.003.

Harvesting Energy From a Rotating Gear Using an AFM-Like MEMS Piezoelectric Frequency Up-Converting Energy Harvester

P. Janphuang; R. A. Lockhart; D. Isarakorn; S. Henein; D. Briand et al. 

Journal of Microelectromechanical Systems. 2015. Vol. 24, num. 3, p. 742-754. DOI : 10.1109/JMEMS.2014.2349794.

A statistical shape model of the human second cervical vertebra

M. Clogenson; J. M. Duff; M. Luethi; M. Levivier; R. Meuli et al. 

International Journal Of Computer Assisted Radiology And Surgery. 2015. Vol. 10, num. 7, p. 1097-1107. DOI : 10.1007/s11548-014-1121-x.

Conference Papers

6 DOF repeatability measurement setup for measuring position of assembled silicon parts with nanometric resolution

J. Kruis; P. Gentsch; P. Theiler; F. Barrot; F. Cosandier et al. 

2015-06-06. Euspen’s 15th International Conference & Exhibition, Leuven, Belgium, June 1-5, 2015. p. 141-142.

The Geometry of Eye Movement Dynamics

S. Henein; I. Vardi 

2015. The 18th European Conference on Eye Movements 2015, Vienna, Austria, August 16-21, 2015. p. 65.

Talks

Analyse, synthèse et création d’échappements horlogers par la théorie des engrenages

O. Laesser; S. Henein 

Journée d’études de la Société Suisse de Chronométrie SSC, Lausanne. Switzerland, September 16, 2015.

Patents

Isotropic harmonic oscillator and associated time base without escapement or simplified escapement

S. Henein; I. Vardi; L. Rubbert 

CN107250925; JP6661543; US10585398; JP6559703; US10365609; CN106462105; RU2686869; RU2686446; RU2016130167; RU2016130168; RU2016130168; RU2016130167; HK1231571; HK1231572; CN107250925; CN106462105; JP2017502318; JP2017502317; EP3095011; EP3095010; US2016327909; US2016327910; WO2015104692; WO2015104693; WO2015104693; WO2015104692; EP2894521.

2015.

Xy isotropic harmonic oscillator and associated time base without escapement or with simplified escapement

S. Henein; I. Vardi; L. Rubbert 

CN107250925; JP6661543; US10585398; JP6559703; US10365609; CN106462105; RU2686869; RU2686446; RU2016130167; RU2016130168; RU2016130168; RU2016130167; HK1231571; HK1231572; CN107250925; CN106462105; JP2017502317; JP2017502318; EP3095010; EP3095011; US2016327910; US2016327909; WO2015104692; WO2015104693; WO2015104692; WO2015104693; EP2894521.

2015.

General 2 degree of freedom isotropic harmonic oscillator and associated time base without escapement or with simplified escapement

S. Henein; I. Vardi; L. Rubbert 

CN107250925; JP6661543; US10585398; JP6559703; US10365609; CN106462105; RU2686869; RU2686446; RU2016130167; RU2016130168; RU2016130168; RU2016130167; HK1231571; HK1231572; CN107250925; CN106462105; JP2017502318; JP2017502317; EP3095011; EP3095010; US2016327909; US2016327910; WO2015104692; WO2015104693; WO2015104693; WO2015104692; EP2894521.

2015.

TIMEPIECE OSCILLATOR

S. Henein; I. Kjelberg 

EP2911012; US9207641; CH709291; EP2911012; US2015234354.

2015.

XY ISOTROPIC HARMONIC OSCILLATOR AND ASSOCIATED TIME BASE WITHOUT ESCAPEMENT OR WITH SIMPLIFIED ESCAPEMENT

S. Henein; I. Vardi; L. Rubbert 

CN107250925; JP6661543; US10585398; JP6559703; US10365609; CN106462105; RU2686869; RU2686446; RU2016130167; RU2016130168; RU2016130168; RU2016130167; HK1231571; HK1231572; CN107250925; CN106462105; JP2017502317; JP2017502318; EP3095010; EP3095011; US2016327910; US2016327909; WO2015104692; WO2015104693; WO2015104692; WO2015104693; EP2894521.

2015.

2014

Theses

Analyse, synthèse et création d’échappements horlogers par la théorie des engrenages

O. Laesser / S. Henein; I. Vardi (Dir.)  

Lausanne, EPFL, 2014. 

Talks

IsoSpring : vers la montre sans échappement

S. Henein; I. Vardi; L. Rubbert; R. Bitterli; N. Ferrier et al. 

Journée d’étude de la Société Suisse de Chronométrie, Lausanne, Suisse, September 17, 2014.

Patents

Optical measuring element having a single-piece structure

A. Bertholds; P. Llosas; S. Henein 

US8659762; JP5397965; EP2255170; JP2011514531; US2010328675; EP2255170; WO2009114955.

2014.

2013

Book Chapters

Flexures for High-Precision Manipulation Robots

R. Clavel; S. Henein; M. Richard 

Flexible Robotics: Applications to Multiscale Manipulations; Wiley-ISTE, 2013-07-01. p. 416.

Library of compliant mechanisms

S. Henein 

Handbook of Compliant Mechanisms; Wiley-Blackwell, 2013-04-01. p. 344.

Guidages flexibles pour les robots manipulateurs à très haute précision

R. Clavel; S. Henein; M. Richard 

Structures flexibles – Applications à la manipulation robotique multi-échelle; Paris: Hermes Science, 2013. p. 253-286.

Patents

Optical force sensing element and microsurgical instrument

A. Bertholds; P. Llosas; S. Henein 

US9816885; ES2556810; EP2626680; JP2013160756; EP2626680; US2013204142.

2013.

Méthode de libération d’une pièce micromécanique et pièce micromécanique comprenant des attaches sacrificielles

F. Barrot; R. Fournier; L. Giriens; S. Henein; S. Jeanneret et al. 

US9770771; EP2794463; US2014363217; EP2794463; WO2013093108.

2013.

2011

Conference Papers

Silicon Flexures for the Sugar-Cube Delta Robot

S. Henein; F. Barrot; S. Jeanneret; F. Fournier; L. Giriens et al. 

2011-05-26. Euspen’s 11st International Conference & Exhibition, Como, Italy, May 23-26, 2011.

2008

Conference Papers

Configurable slit-mask unit of the Multi-Object Spectrometer for Infra-Red Exploration for the Keck telescope : Integration and Tests

P. Spanoudakis; L. Giriens; S. Henein; L. Lisowski; A. O’Hare et al. 

2008-07-18. SPIE Astronomical Telescopes + Instrumentation 2008, Marseille, France, June 23-25, 2008. p. 701801. DOI : 10.1117/12.789017.

2001

Journal Articles

Contribution aux concepts de « micro et nanofactory »

R. Clavel; P. Helmer; S. Bottinelli; S. Henein; C. Schmitt et al. 

Nano et Micro Technologies. 2001. Vol. 1, num. 3-4, p. 457-495.

2000

Theses

Conception des structures articulées à guidages flexibles de haute précision

S. Henein / R. Clavel (Dir.)  

Lausanne, EPFL, 2000. 

1998

Conference Papers

Compact, light weight mechanisms for high precision micro-manipulators

J. Breguet; Y. Bellouard; S. Henein; C. Aymon; S. Bottinelli et al. 

1998. 8th European Space Mechanisms and Tribology Symposium, Toulouse, France, September 29- October 01, 1999. p. 175-179.

1997

Journal Articles

Design of parallelrobots in microrobotics

E. Pernette; S. Henein; I. Magnani; R. Clavel 

Robotica. 1997-07-01. Vol. 15, num. 4, p. 417-420. DOI : 10.1017/S0263574797000519.