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Zhou YM, Hohimer CJ, Young HT, McCann CM, Pont-Esteban D, Civici US, Jin Y, Murphy P, Wagner D, Cole T, Phipps N, Cho H, Bertacchi F, Pignataro I, Proietti T, Walsh CJ. A portable inflatable soft wearable robot to assist the shoulder during industrial work. Sci Robot 2024; 9:eadi2377. [PMID: 38865477 DOI: 10.1126/scirobotics.adi2377] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/12/2023] [Accepted: 05/17/2024] [Indexed: 06/14/2024]
Abstract
Repetitive overhead tasks during factory work can cause shoulder injuries resulting in impaired health and productivity loss. Soft wearable upper extremity robots have the potential to be effective injury prevention tools with minimal restrictions using soft materials and active controls. We present the design and evaluation of a portable inflatable shoulder wearable robot for assisting industrial workers during shoulder-elevated tasks. The robot is worn like a shirt with integrated textile pneumatic actuators, inertial measurement units, and a portable actuation unit. It can provide up to 6.6 newton-meters of torque to support the shoulder and cycle assistance on and off at six times per minute. From human participant evaluations during simulated industrial tasks, the robot reduced agonist muscle activities (anterior, middle, and posterior deltoids and biceps brachii) by up to 40% with slight changes in joint angles of less than 7% range of motion while not increasing antagonistic muscle activity (latissimus dorsi) in current sample size. Comparison of controller parameters further highlighted that higher assistance magnitude and earlier assistance timing resulted in statistically significant muscle activity reductions. During a task circuit with dynamic transitions among the tasks, the kinematics-based controller of the robot showed robustness to misinflations (96% true negative rate and 91% true positive rate), indicating minimal disturbances to the user when assistance was not required. A preliminary evaluation of a pressure modulation profile also highlighted a trade-off between user perception and hardware demands. Finally, five automotive factory workers used the robot in a pilot manufacturing area and provided feedback.
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Affiliation(s)
- Yu Meng Zhou
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Cameron J Hohimer
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Harrison T Young
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Connor M McCann
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - David Pont-Esteban
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Umut S Civici
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Yichu Jin
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Patrick Murphy
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Diana Wagner
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Tazzy Cole
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Nathan Phipps
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Haedo Cho
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Franchesco Bertacchi
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Isabella Pignataro
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Tommaso Proietti
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
| | - Conor J Walsh
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
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Ramella G, Grazi L, Giovacchini F, Trigili E, Vitiello N, Crea S. Evaluation of antigravitational support levels provided by a passive upper-limb occupational exoskeleton in repetitive arm movements. APPLIED ERGONOMICS 2024; 117:104226. [PMID: 38219374 DOI: 10.1016/j.apergo.2024.104226] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/07/2023] [Revised: 10/24/2023] [Accepted: 01/05/2024] [Indexed: 01/16/2024]
Abstract
Upper-limb occupational exoskeletons to support the workers' upper arms are typically designed to provide antigravitational support. Although typical work activities require workers to perform static and dynamic actions, the majority of the studies in literature investigated the effects of upper-limb occupational exoskeletons in static and quasi-static activities, while only a few works focused on dynamic tasks. This article presents a systematic evaluation of the effects of different levels of antigravitational support (from about 60% to 100% of the arm gravitational load) provided by a passive upper-limb occupational exoskeleton on muscles' activity during repetitive arm movements. The effect of the exoskeleton on muscle activity was evaluated by the comparison of muscle activations with and without the exoskeleton. The average muscle activation was computed considering shoulder full flexion-extension cycles, and sub-movements, namely the arm-lifting (i.e., flexion) and arm-lowering (i.e., extension) movements. Results showed a quasi-linear correlation between antigravitational support and muscle activity reductions, both when considering the full flexion-extension cycle and in the arm-lifting movement (reductions were up to 64 and 61% compared to not wearing the exoskeleton, respectively). When considering the arm-lowering movement, providing antigravitational support close to or higher than 100% of the arm gravitational load led to increased muscle activations of the extensors (up to 127%), suggesting that such an amount of antigravitational support may be not effective for a complete biomechanical load reduction on the shoulder district in dynamic tasks.
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Affiliation(s)
- Giulia Ramella
- Biorobotics Laboratory, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), 1015, Lausanne, Switzerland
| | - Lorenzo Grazi
- The BioRobotics Institute, Scuola Superiore Sant'Anna, 56025 Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, 56127 Pisa, Italy.
| | | | - Emilio Trigili
- The BioRobotics Institute, Scuola Superiore Sant'Anna, 56025 Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, 56127 Pisa, Italy
| | - Nicola Vitiello
- The BioRobotics Institute, Scuola Superiore Sant'Anna, 56025 Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, 56127 Pisa, Italy; IRCCS Fondazione Don Carlo Gnocchi, 50143 Florence, Italy
| | - Simona Crea
- The BioRobotics Institute, Scuola Superiore Sant'Anna, 56025 Pontedera, Pisa, Italy; Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, 56127 Pisa, Italy; IRCCS Fondazione Don Carlo Gnocchi, 50143 Florence, Italy
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Frasie A, Bertrand-Charette M, Compagnat M, Bouyer LJ, Roy JS. Validation of the Borg CR10 Scale for the evaluation of shoulder perceived fatigue during work-related tasks. APPLIED ERGONOMICS 2024; 116:104200. [PMID: 38091692 DOI: 10.1016/j.apergo.2023.104200] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/18/2023] [Revised: 07/25/2023] [Accepted: 12/04/2023] [Indexed: 01/16/2024]
Abstract
Work-related upper extremity disorders (WRUEDs) are highly prevalent and costly. Development of fatigue is thought to be one of the causes of WRUEDs. Perceived fatigue can be assessed with the Borg CR Scale® (Borg CR10). The objective was to validate the Borg CR10 for the evaluation of shoulder perceived fatigue during lifting tasks. Seventy adults in working age performed three rhythmic lifting tasks with two loads (15% and 30% of maximal voluntary contraction). Using generalized repeated-measures ANOVA (Generalized Estimating Equations), statistically significant Task and Load effects (p < 0.001), as well as Task × Load interaction effects (p < 0.0001) were observed on Borg CR10, without any influence of sex. The Borg CR10 is a valid tool to assess shoulder perceived fatigue as it can discriminate between tasks of different difficulty levels in term of complexity, height, and resistance, regardless of sex.
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Affiliation(s)
- Antoine Frasie
- Center for Interdisciplinary Research in Rehabilitation and Social Integration (Cirris). Québec, QC, Canada; Department of Rehabilitation, Faculty of Medicine, Université Laval. Québec, QC, Canada
| | - Michaël Bertrand-Charette
- Center for Interdisciplinary Research in Rehabilitation and Social Integration (Cirris). Québec, QC, Canada; Department of Rehabilitation, Faculty of Medicine, Université Laval. Québec, QC, Canada
| | - Maxence Compagnat
- Center for Interdisciplinary Research in Rehabilitation and Social Integration (Cirris). Québec, QC, Canada; HAVAE EA6310 (Handicap, Aging, Autonomy, Environment), IFRH, University of Limoges, Department of Physical Medicine and Rehabilitation in the University Hospital Center of Limoges: Limoges, France
| | - Laurent J Bouyer
- Center for Interdisciplinary Research in Rehabilitation and Social Integration (Cirris). Québec, QC, Canada; Department of Rehabilitation, Faculty of Medicine, Université Laval. Québec, QC, Canada
| | - Jean-Sébastien Roy
- Center for Interdisciplinary Research in Rehabilitation and Social Integration (Cirris). Québec, QC, Canada; Department of Rehabilitation, Faculty of Medicine, Université Laval. Québec, QC, Canada.
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Dooley S, Kim S, Nussbaum MA, Madigan ML. Occupational arm-support and back-support exoskeletons elicit changes in reactive balance after slip-like and trip-like perturbations on a treadmill. APPLIED ERGONOMICS 2024; 115:104178. [PMID: 37984085 DOI: 10.1016/j.apergo.2023.104178] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/12/2023] [Revised: 10/24/2023] [Accepted: 11/10/2023] [Indexed: 11/22/2023]
Abstract
The purpose of this study was to investigate the effects of arm- and back-support exoskeletons on reactive balance after slip-like and trip-like perturbations on a treadmill. Twenty-eight participants used two arm-support exoskeletons and two back-support exoskeletons with support (i.e., assistive joint torque) activated or deactivated. In each exoskeleton condition, as well in as a control without any exoskeleton, participants were exposed to 12 treadmill perturbations during upright standing. The exoskeletons did not significantly increase the probability of a failed recovery after the perturbations compared to wearing no exoskeleton, but did elicit effects on kinematic variables that suggested balance recovery was more challenging. Moreover, reactive balance differed when wearing back-support and arm-support exoskeletons, and when wearing an activated exoskeleton compared to a deactivated exoskeleton. Together, our results suggest these exoskeletons may increase the risk of slip- and trip-induced falls. The potential mechanisms of this increased risk are discussed and include the added mass and/or motion restrictions associated with wearing these exoskeletons. Our results do not support the assistive hip/back extension moment provided by back-support exoskeletons adversely affecting fall risk.
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Affiliation(s)
- Stephen Dooley
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, 24061, USA.
| | - Sunwook Kim
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, 24061, USA.
| | - Maury A Nussbaum
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, 24061, USA.
| | - Michael L Madigan
- Department of Industrial and Systems Engineering, Virginia Tech, Blacksburg, VA, 24061, USA.
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Brunner A, van Sluijs R, Luder T, Camichel C, Kos M, Bee D, Bartenbach V, Lambercy O. Effect of passive shoulder exoskeleton support during working with arms over shoulder level. WEARABLE TECHNOLOGIES 2023; 4:e26. [PMID: 38510589 PMCID: PMC10952051 DOI: 10.1017/wtc.2023.21] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/16/2023] [Revised: 08/03/2023] [Accepted: 08/31/2023] [Indexed: 03/22/2024]
Abstract
Musculoskeletal disorders have the highest prevalence of work-related health problems. Due to the aging population, the prevalence of shoulder pain in workers in physically demanding occupations is increasing, thereby causing rising costs to society and underlining the need for preventive technologies. Wearable support structures are designed to reduce the physical work load during physically demanding tasks. Here, we evaluate the physiological benefit of the DeltaSuit, a novel passive shoulder exoskeleton, using an assessment framework that conforms to the approach proposed in the literature. In this study, 32 healthy volunteers performed isometric, quasi-isometric, and dynamic tasks that represent typical overhead work to evaluate the DeltaSuit performance. Muscle activity of the arm, neck, shoulder, and back muscles, as well as cardiac cost, perceived exertion, and task-related discomfort during task execution with and without the exoskeleton were compared. When working with the DeltaSuit, muscle activity was reduced up to 56% (p < 0.001) in the Trapezius Descendens and up to 64% (p < 0.001) in the Deltoideusmedius. Furthermore, we observed no additional loading on the abdomen and back muscles. The use of the exoskeleton resulted in statistically significant reductions in cardiac cost (15%, p < 0.05), perceived exertion (21.5%, p < 0.001), and task-related discomfort in the shoulder (57%, p < 0.001). These results suggest that passive exoskeletons, such as the DeltaSuit, have the potential to meaningfully support users when performing tasks in overhead postures and offer a valuable solution to relieve the critical body parts of biomechanical strains for workers at high risk of musculoskeletal disorders.
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Affiliation(s)
- Annina Brunner
- Department of Health Sciences and Technology, ETH, Zurich, Switzerland
| | | | - Tobias Luder
- Department of Health Sciences and Technology, ETH, Zurich, Switzerland
| | - Cherilyn Camichel
- Department of Health Sciences and Technology, ETH, Zurich, Switzerland
| | - Melanie Kos
- Research and Development, Auxivo AG, Schwerzenbach, Switzerland
| | - Dario Bee
- Research and Development, Auxivo AG, Schwerzenbach, Switzerland
| | | | - Olivier Lambercy
- Department of Health Sciences and Technology, ETH, Zurich, Switzerland
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Schrøder Jakobsen L, de Zee M, Samani A, Desbrosses K, Madeleine P. Biomechanical changes, acceptance, and usability of a passive shoulder exoskeleton in manual material handling. A field study. APPLIED ERGONOMICS 2023; 113:104104. [PMID: 37531933 DOI: 10.1016/j.apergo.2023.104104] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/05/2023] [Revised: 07/25/2023] [Accepted: 07/26/2023] [Indexed: 08/04/2023]
Abstract
Occupational exoskeletons contribute to diminish the biomechanical load during manual work. However, familiarization to the use of exoskeletons is rarely considered, which may lead to failure of acceptance and implementation. In this study, ten logistic workers underwent a 5-week progressive familiarization to a passive shoulder exoskeleton, while ten workers acted as controls. Tests pre and post the familiarization applied measurements of muscle activity and kinematics of back, neck, and shoulder, perceived effort, and usability-ratings of the exoskeleton. Exoskeleton use resulted in lower muscle activity of anterior deltoid (13-39%) and upper trapezius (16-60%) and reduced perceived effort. Additionally, it induced an offset in shoulder flexion and abduction during resting position (8-10°). No conclusions on familiarization could be drawn due to low adherence to the protocol. However, the emotions of the workers towards using the exoskeleton decreased making it questionable whether the shoulder exoskeleton is suitable for use in the logistics sector.
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Affiliation(s)
- Lasse Schrøder Jakobsen
- Sport Sciences - Performance and Technology, Department of Health Science and Technology, Aalborg University, Denmark.
| | - Mark de Zee
- Sport Sciences - Performance and Technology, Department of Health Science and Technology, Aalborg University, Denmark
| | - Afshin Samani
- Sport Sciences - Performance and Technology, Department of Health Science and Technology, Aalborg University, Denmark
| | - Kévin Desbrosses
- INRS, French National Research and Safety Institute for the Prevention of Occupational Accidents and Diseases, Nancy, France
| | - Pascal Madeleine
- Sport Sciences - Performance and Technology, Department of Health Science and Technology, Aalborg University, Denmark
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Brambilla C, Lavit Nicora M, Storm F, Reni G, Malosio M, Scano A. Biomechanical Assessments of the Upper Limb for Determining Fatigue, Strain and Effort from the Laboratory to the Industrial Working Place: A Systematic Review. Bioengineering (Basel) 2023; 10:bioengineering10040445. [PMID: 37106632 PMCID: PMC10135542 DOI: 10.3390/bioengineering10040445] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/02/2023] [Revised: 03/24/2023] [Accepted: 04/03/2023] [Indexed: 04/08/2023] Open
Abstract
Recent human-centered developments in the industrial field (Industry 5.0) lead companies and stakeholders to ensure the wellbeing of their workers with assessments of upper limb performance in the workplace, with the aim of reducing work-related diseases and improving awareness of the physical status of workers, by assessing motor performance, fatigue, strain and effort. Such approaches are usually developed in laboratories and only at times they are translated to on-field applications; few studies summarized common practices for the assessments. Therefore, our aim is to review the current state-of-the-art approaches used for the assessment of fatigue, strain and effort in working scenarios and to analyze in detail the differences between studies that take place in the laboratory and in the workplace, in order to give insights on future trends and directions. A systematic review of the studies aimed at evaluating the motor performance, fatigue, strain and effort of the upper limb targeting working scenarios is presented. A total of 1375 articles were found in scientific databases and 288 were analyzed. About half of the scientific articles are focused on laboratory pilot studies investigating effort and fatigue in laboratories, while the other half are set in working places. Our results showed that assessing upper limb biomechanics is quite common in the field, but it is mostly performed with instrumental assessments in laboratory studies, while questionnaires and scales are preferred in working places. Future directions may be oriented towards multi-domain approaches able to exploit the potential of combined analyses, exploitation of instrumental approaches in workplace, targeting a wider range of people and implementing more structured trials to translate pilot studies to real practice.
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Affiliation(s)
- Cristina Brambilla
- Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato (STIIMA), Consiglio Nazionale delle Ricerche (CNR), Via Previati 1/E, 23900 Lecco, Italy
| | - Matteo Lavit Nicora
- Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato (STIIMA), Consiglio Nazionale delle Ricerche (CNR), Via Previati 1/E, 23900 Lecco, Italy
- Industrial Engineering Department, University of Bologna, 40126 Bologna, Italy
| | - Fabio Storm
- Bioengineering Laboratory, Scientific Institute, IRCCS “Eugenio Medea”, 23842 Bosisio Parini, Italy
| | - Gianluigi Reni
- Informatics Department, Autonomous Province of Bolzano, 39100 Bolzano, Italy
| | - Matteo Malosio
- Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato (STIIMA), Consiglio Nazionale delle Ricerche (CNR), Via Previati 1/E, 23900 Lecco, Italy
| | - Alessandro Scano
- Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato (STIIMA), Consiglio Nazionale delle Ricerche (CNR), Via Previati 1/E, 23900 Lecco, Italy
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Arnoux B, Farr A, Boccara V, Vignais N. Evaluation of a Passive Upper Limb Exoskeleton in Healthcare Workers during a Surgical Instrument Cleaning Task. INTERNATIONAL JOURNAL OF ENVIRONMENTAL RESEARCH AND PUBLIC HEALTH 2023; 20:3153. [PMID: 36833846 PMCID: PMC9962376 DOI: 10.3390/ijerph20043153] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 12/29/2022] [Revised: 02/06/2023] [Accepted: 02/07/2023] [Indexed: 06/18/2023]
Abstract
(1) Background: Healthcare workers are highly affected by work-related musculoskeletal disorders, particularly in the lower back, neck and shoulders, as their occupational tasks expose them to biomechanical constraints. One solution to prevent these musculoskeletal disorders may be the use of a passive exoskeleton as it aims to reduce muscle solicitation. However, few studies have been carried out directly in this field to assess the impact of the use of a passive upper limb exoskeleton on this population. (2) Methods: Seven healthcare workers, equipped with electromyographic sensors, performed a tool cleaning task with and without a passive upper limb exoskeleton (Hapo MS, Ergosanté Technologie, France). Six muscles of the upper limbs were analysed, i.e., anterior deltoid, biceps brachii, pectoralis major, latissimus dorsi, triceps brachii and longissimus thoracis. A subjective analysis of the usability of the equipment, the perception of effort and discomfort, was also carried out using the System Usability Scale and the Borg scale. (3) Results: The longissimus thoracis was the most used muscle during this task. We observed a significant decrease in the muscular solicitation of the anterior deltoid and latissimus dorsi when wearing the exoskeleton. Other muscles were not significantly impacted by the device. (4) Conclusions: the passive exoskeleton used in this study allowed the reduction in muscular load on the anterior deltoid and latissimus dorsi without negative effects on other muscles. Other field studies with exoskeletons are now necessary, particularly in hospitals, to increase our knowledge and improve the acceptability of this system for the prevention of musculoskeletal disorders.
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Affiliation(s)
- Bastien Arnoux
- CIAMS, Université Paris-Saclay, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45067 Orléans, France
| | - Anaïs Farr
- CIAMS, Université Paris-Saclay, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45067 Orléans, France
| | - Vincent Boccara
- LIMSI CNRS, Université Paris Sud XI, CEDEX, 91403 Orsay, France
| | - Nicolas Vignais
- CIAMS, Université Paris-Saclay, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45067 Orléans, France
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