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The goal is to optimise the kinematic structure by fixing the geometric parameters; these have a significant role in robot configuration singularities, with respect to current medical gestures and mechanism compactness. After choosing a dedicated kinematic structure, several optimisations are presented. Then an optimal choice of geometrical parameters of a global function in relation with kinematic performance indices and compactness is proposed. This robot is soon to be used in the experimental medical phase of the Prosit project.<\/jats:p>","DOI":"10.1017\/s0263574711001305","type":"journal-article","created":{"date-parts":[[2012,1,12]],"date-time":"2012-01-12T10:52:37Z","timestamp":1326365557000},"page":"1131-1145","source":"Crossref","is-referenced-by-count":23,"title":["Process of optimisation for a 4 DOF tele-echography robot"],"prefix":"10.1017","volume":"30","author":[{"given":"L.","family":"Nouaille","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"P.","family":"Vieyres","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"G.","family":"Poisson","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2012,1,12]]},"reference":[{"key":"S0263574711001305_ref41","first-page":"3501","volume-title":"Proceedings of the International Conference on IROS","author":"Nouaille","year":"2010"},{"key":"S0263574711001305_ref4","doi-asserted-by":"publisher","DOI":"10.1007\/0-387-26559-7_35"},{"key":"S0263574711001305_ref20","first-page":"1","volume-title":"S\u00e9minaire ISIR","author":"Khan","year":"2008"},{"key":"S0263574711001305_ref6","first-page":"1112","volume-title":"Proceedings of the International Conference on IROS 2001","author":"Masuda","year":"2001"},{"key":"S0263574711001305_ref32","first-page":"112","volume-title":"Mod\u00e9lisation Identification et Commande des Robots","author":"Khalil","year":"1999"},{"key":"S0263574711001305_ref22","doi-asserted-by":"publisher","DOI":"10.1108\/01439910810876418"},{"key":"S0263574711001305_ref11","first-page":"195","volume-title":"Proceedings of the 9th International Symposium of Robotics Research, ISSR'99","author":"Salcudean","year":"1999"},{"key":"S0263574711001305_ref17","first-page":"244","volume-title":"Proceedings of the IEEE Conference on Robotics and Automation","author":"Assada","year":"1985"},{"key":"S0263574711001305_ref44","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.04.002"},{"key":"S0263574711001305_ref21","unstructured":"L. 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