About me


Skills & Expertise
Interactive Physics-Based Simulation
Control of Soft Robots
Augmented / Mixed Reality
Geometric Modeling
Medical Applications
Software Engineering
Best Paper Award Advanced Robotics (2018)
Best Paper Award SIMPAR (2016)
Top Ranked AR/VR paper TVCG presented at SIGGRAPH (2015)
Recipient of the Young Researcher Funding (2015)
Dirk Bartz Prize for Visual Computing in Medicine Eurographics (2015)
Runner-up Best Paper Award ISMAR (2013)
Awards & Honors
Work Experiences
Polytech Logo
2023--now Head of International Relations
Polytech Logo
2017--2022 Head of Embedded Systems Department
Inria Logo
2015--now Member of Defrost Research Team
Inria Logo
2010--15 Member of Shacra Research Team
Polytech Logo
2023 -- now Full Professor in Computer Science
Polytech Logo
2008--2022 Associate Professor in Computer Science
Inria Logo
2007--08 Research Engineer for Project SIMPLE
Harvard Logo
2006--07 Research Fellow (CIMIT·Harvard Med. School)
University of Lille Logo
2005 Ph.D in Computer Science

Project Portfolio


Visual Servoing of Soft Robots

In order to increase the control accuracy of soft robots, we have worked on servoing where IR cameras track the deformation of a soft robot and this visual feedback is used by our digital model. Even on dynamic scenarios, precision and accuracy are increased even when visual feedback is temporarily lost.

Visual Servoing of Soft Robots
Augmented Reality of Deformable Objects
Augmented Reality of Soft Objects

We have proposed some methods for real-time augmented reality of internal liver structures during minimally invasive hepatic surgery. Vessels and tumors computed from pre-operative CT scans can be overlaid onto the laparoscopic view for surgery guidance.

Interventional Radiology Simulator

We have worked on the simulation of interventional radiology procedures. The simulation relies on an accurate reconstruction of the patient anatomy and a real-time model of the surgical devices (catheter, guide-wire, coil...) for which sliding and friction contacts are taken into account.

Interventional Radiology Simulator
Cataract Surgery Training Simulator
Cataract Surgery Training Simulator

We have developed a simulation framework in order to perform interactive cataract surgery simulations. Combination of a high-fidelity simulation (advanced bio-mechanical models and intensive use of modern graphics hardware) and replicas of actual surgical tools are able to improve surgeon immersion while training.

Geometrical and Implicit Modeling

Both the segmentation and reconstruction of the vasculature from 3D Rotational Angiography data have been addressed, and adapted to simulation with a tracking algorithm to segment the vessel tree then with an automatic procedure to reconstruct a skeleton-based implicit surface.

Geometrical and Implicit Modeling
Soft-Robot Design
Soft-Robot Design

We work on an unified software framework dedicated to modeling, simulation, and control of soft robots. The framework relies on continuum mechanics for modeling the robotic parts and boundary conditions like actuators and contacts using a unified representation based on Lagrange multipliers.