{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T14:28:30Z","timestamp":1777645710044,"version":"3.51.4"},"reference-count":10,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2006,5,1]],"date-time":"2006-05-01T00:00:00Z","timestamp":1146441600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2006,5,1]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>Aims to describe how to make an industrial robot work as a telemanipulator with force feedback, in order to carry out various tasks for remote handling in nuclear fuel cycle plants.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>The robot Sta\u00fcbli RX170 (used as a slave arm) has been fitted with a force\u2010torque sensor and an electronic system for sensors' signals multiplexing. The overall system has been made tolerant to <jats:italic>\u03b3<\/jats:italic> radiation up to a 10\u2009kGy integrated dose. The industrial robot has been coupled to a master arm with force feedback capability and to the computer assisted teleoperation controller TAO2000 developed by CEA\u2010LIST.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The result of the maintenance operation reported in the paper, carried out with a Sta\u00fcbli RX170 robot at AREVA\/COGEMA La Hague plant, illustrates the validity of this approach and demonstrates how remote handling can benefit from this new technology.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>Introduces the teleoperation of industrial robots as a new solution for the maintenance of nuclear facilities. Wrist force\/torque sensing and advanced master\u2010slave controller provide the operators with a high performance teleoperation system. Only limited modification of the existing design of the industrial robot has been carried out in order to transform it into a nuclear telemanipulator.<\/jats:p><\/jats:sec>","DOI":"10.1108\/0143991061070300","type":"journal-article","created":{"date-parts":[[2006,7,3]],"date-time":"2006-07-03T23:31:19Z","timestamp":1151969479000},"page":"178-186","source":"Crossref","is-referenced-by-count":49,"title":["Force\u2010feedback teleoperation of an industrial robot in a nuclear spent fuel reprocessing plant"],"prefix":"10.1108","volume":"33","author":[{"given":"Philippe","family":"Desbats","sequence":"first","affiliation":[]},{"given":"Franck","family":"Geffard","sequence":"additional","affiliation":[]},{"given":"G\u00e9rard","family":"Piolain","sequence":"additional","affiliation":[]},{"given":"Alain","family":"Coudray","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022012719543802200_b4","unstructured":"Alexandre, J.M. et al. (2001), \u201cRad hard electronics developments for robotic applications\u201d, paper presented at ANS Ninth Topical Meeting on Robotics and Remote Systems, Seattle, WA."},{"key":"key2022012719543802200_b6","unstructured":"Desbats, P. (1999), \u201cUsing industrial robot in nuclear fuel reprocessing facilities force\u2010feed\u2010back teleoperation control\u201d, paper presented at ANS Eighth Topical Meeting on Robotics and Remote Systems, Pittsburgh, PA, 25\u201029 April."},{"key":"key2022012719543802200_b3","unstructured":"Desbats, P. and Piolain, G. (2005), \u201cOverview of remote handling technologies developed for inspection and maintenance of spent fuel management facilities in France\u201d, paper presented at European Nuclear Conference, Versailles, 11\u201014 December."},{"key":"key2022012719543802200_b7","unstructured":"Desbats, P. et al. (1998), \u201cForce\u2010feedback tele\u2010operation of industrial robots for tele\u2010robotic maintenance of nuclear plants\u201d, paper presented at 29th International Symposium on Robotics, Birmingham."},{"key":"key2022012719543802200_b1","unstructured":"Desbats, P., Toubon, H. and Piolain, G. (2004), \u201cStatus of development of remote technologies applied to COGEMA spent fuel management facilities in France\u201d, paper presented at ANS Tenth International Topical Meeting on Robotics and Remote Systems for Hazardous Environments, Gainesville, FL, 28 March\u20101 April."},{"key":"key2022012719543802200_b9","unstructured":"Garrec, P., Friconneau, J.P. and Louveau, F. (2004), \u201cVIRTUOSE 6D: a new industrial master arm using innovative ball\u2010screw actuators\u201d, paper presented at 35th International Symposium on Robotics, Paris\u2010Nord\u2010Villepinte, 23\u201026 March."},{"key":"key2022012719543802200_b8","unstructured":"Gicquel, P., Andriot, C., Coulon\u2010Lauture, F., Measson, Y. and Desbats, P. (2001), \u201cTAO 2000: a generic control architecture for advanced computer aided teleoperation systems\u201d, paper presented at ANS Ninth Topical Meeting on Robotics and Remote Systems, Seattle, WA."},{"key":"key2022012719543802200_b10","unstructured":"Joly, L.D. and Andriot, C. (1995), \u201cImposing motion constraints to a force reflecting tele\u2010robot through real time simulation of a virtual mechanism\u201d, Proceedings of the IEEE Int. Conf. on Robotics and Automation, Nagoya, pp. 357\u201062."},{"key":"key2022012719543802200_b2","unstructured":"Piolain, G., Geffard, F. and Coudray, A. (2005), \u201cUsing an industrial robot for maintenance telerobotic operations in active cells at Cogema recycling plant\u201d, paper presented at European Nuclear Conference, Versailles, 11\u201014 December."},{"key":"key2022012719543802200_b12","unstructured":"Vertut, J., Cl\u00e9ment, J., Fournier, R. and Mercey, G. (1984), \u201cMA23M contained maintenance servomanipulator aided control\u201d, Proceedings of 2nd ANS conference on Remote System Technology, November, Washington, USA."}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/0143991061070300","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/0143991061070300\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/0143991061070300\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:50:05Z","timestamp":1753401005000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/33\/3\/178-186\/433811"}},"subtitle":[],"editor":[{"given":"Geoff","family":"Pegman","sequence":"first","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2006,5,1]]},"references-count":10,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2006,5,1]]}},"alternative-id":["10.1108\/0143991061070300"],"URL":"https:\/\/doi.org\/10.1108\/0143991061070300","relation":{},"ISSN":["0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2006,5,1]]}}}