Guillaume Morel

About

Guillaume Morel is a prominent robotics researcher whose work spans medical robotics, human-robot interaction, and advanced control systems. His research has made transformative contributions across two primary domains: surgical robotics and robotic exoskeletons for rehabilitation. In surgical robotics, Morel pioneered vision-guided and force-controlled systems for minimally invasive surgery. His autonomous instrument positioning system using visual servoing (209 citations) and the mechatronic design of force-controlled surgical robots (162 citations) fundamentally advanced how robots can assist surgeons while preserving tactile feedback lost in laparoscopic procedures. His work on impedance-based combination of visual and force control (97 citations) provided elegant solutions to a longstanding challenge in robotic manipulation. In exoskeleton research, Morel addressed the critical mechanical challenge of human-robot physical coupling (265 citations), developing methodologies to quantify movement alterations during co-manipulation and applying exoskeletons to constrain upper-limb synergies in hemiparetic patients for neuro-rehabilitation. His earlier foundational contributions on friction compensation in hydraulic robots (196 citations) and inertial parameter estimation underpin much of his control expertise. With over 1,300 citations across his most recognized works, Morel's research uniquely bridges rigorous engineering with meaningful clinical applications, making him a leading figure in medical and rehabilitation robotics.

Research Focus

Key Achievements

Top Papers

1. 1
   Connecting a Human Limb to an Exoskeleton

   265 citations · 2011
2. 2
   Autonomous 3-d positioning of surgical instruments in robotized laparoscopic surgery using visual servoing

   209 citations · 2003
3. 3
   Friction compensation for an industrial hydraulic robot

   196 citations · 1999
4. 4
   Mechatronic Design of a New Robot for Force Control in Minimally Invasive Surgery

   162 citations · 2007
5. 5
   Impedance based combination of visual and force control

   97 citations · 2002
6. 6
   A Methodology to Quantify Alterations in Human Upper Limb Movement During Co-Manipulation With an Exoskeleton

   70 citations · 2010
7. 7
   A base force/torque sensor approach to robot manipulator inertial parameter estimation

   66 citations · 2002
8. 8
   Constraining Upper Limb Synergies of Hemiparetic Patients Using a Robotic Exoskeleton in the Perspective of Neuro-Rehabilitation

   61 citations · 2012
9. 9
   The precise control of manipulators with high joint-friction using base force/torque sensing

   54 citations · 2000
10. 10
    Achieving efficient and stable comanipulation through adaptation to changes in human arm impedance

    53 citations · 2009

Key Collaborators

Contact & Links