Bernard Bayle
Présentation
B. Bayle est professeur à l’Université de Strasbourg et membre du laboratoire ICube, au sein du groupe de recherche « Robotique, Science des données et Technologies pour la santé » (plus de 80 membres), dont il a été responsable de 2018 à 2023. Il a fondé l’Institut interdisciplinaire HealthTech en 2021 et l’a coordonné jusqu’en 2025 (plus de 200 membres, 14 partenaires). Ses recherches portent sur la conception, la modélisation et la commande des systèmes robotiques, en particulier pour l’interaction physique homme-robot et les applications de la robotique en santé. Il a été porteur de six projets de recherche et a participé à onze autres, et il a encadré dix-huit doctorants. Il est auteur de plus de cent publications scientifiques en robotique, génie mécanique et génie biomédical. Il est également inventeur de quatre brevets délivrés, dont l’un a été exploité commercialement par Axilum Robotics, société qu’il a cofondée en 2011. En 2017, il a été professeur invité à Politecnico Milano et chercheur invité au NEARLab. Depuis janvier 2025, il est chercheur invité à l’IRI (CSIC-UPC) à Barcelone, où il étudie les liens entre problématiques d’apprentissage et de commande dans l’interaction physique homme-robot.
Publications
Publications
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Stiffness Perception Device Based on Skin-Stretch for Laparoscopic Surgery: Radial Palpation and Influence of the Fulcrum Effect2025 IEEE World Haptics Conference (WHC), Jul 2025, Suwon, South Korea. pp.243-254, ⟨10.1109/WHC64065.2025.11123259⟩ |
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Passivity Filters for Bilateral Teleoperation with Variable Impedance ControlICRA 2025 - IEEE International Conference on Robotics & Automation, May 2025, Atlanta, GA, United States. ⟨10.1109/ICRA55743.2025.11128576⟩ |
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Restauration mécanique par vissage et cimentoplastie d'un bassin métastasé26e Congrès Français de Mécanique, Laboratoire d'Etude des Microstructures et de Mécanique des Matériaux (LEM3 - UMR CNRS 7239), Aug 2025, Metz, France |
Performance of Skin Stretch Haptic Feedback Augmentation for Laparoscopic Surgery in a Realistic Palpation Task2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), Sep 2024, Heidelberg, Germany. pp.964-970, ⟨10.1109/BioRob60516.2024.10719837⟩ |
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Auto-Tuning of Model Predictive Control for Bilateral Teleoperation with Bayesian OptimizationCPHS 2024 - 5th IFAC Workshop on Cyber-Physical and Human Systems, Dec 2024, Antalya (TR), Turkey |
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Force Sensing along Continuum Robots using Compliance Matrix and Shape AcquisitionHamlyn Symposium on Medical Robotics, Londres, United Kingdom, juin 2024, Jun 2024, Londres, United Kingdom |
Patient-specific modeling of the mechanical restoration using cement and screw fixation in pelvic oncology29th Congress of the European Society of Biomechanics taking place in Edinburgh, Scotland from 30th June to 3rd July 2024, 2024, Edimbourg, United Kingdom |
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Parsimonious technologies for sensing upper limb muscles activationIEEE International conference on Metrology for eXtended Reality, Artificial Intelligence and Neural Engineering (IEEE MetroXRAINE 2023), Oct 2023, Milano, Italy. ⟨10.1109/MetroXRAINE58569.2023.10405812⟩ |
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Adaptive Robust Model Predictive Control for Bilateral TeleoperationIROS 2023 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2023, Detroit, United States. pp.7069-7074, ⟨10.1109/IROS55552.2023.10341847⟩ |
A Fading Memory Discontinuous EKF for the Online Model Identification of Cable-Driven Robots with BacklashACC 2023 - American Conference on Control, May 2023, San Diego, United States. pp.949-953, ⟨10.23919/ACC55779.2023.10156285⟩ |
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End-of-instrument Stiffness Perception Device Based on Sensory Augmentation for Laparoscopic SurgeryConference on New Technologies for Computer and Robot Assisted Surgery, Apr 2022, Naples, Italy. https://cras-eu.org/wp-content/uploads/2022/04/CRAS22_proceedings.pdf |
Towards autonomous robot assisted medical interventionsEurope-Korea Conference on Science and Technology (EKC), special session Intelligent robots and human models for health and medicine, 19-22 July 2022, Marseille, France, Jul 2022, Marseille, France |
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Design and control of advanced manipulation systems in medical roboticsWorkshop "Dexterous manipulation in the real-contact context: new progress and challenges", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, République Tchèque, septembre 2021, Sep 2021, Prague, Czech Republic |
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Shared control strategy for needle insertion into deformable tissue using inverse Finite Element simulationICRA 2021 - IEEE International Conference on Robotics and Automation, May 2021, Xi’an / Virtual, China |
Rate Mode Bilateral Teleoperation Based on Passivity Tanks and Variable Admittance Control2021 IEEE International Conference on Robotics and Automation (ICRA), Jun 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561813⟩ |
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Simultaneous haptic guidance and learning of task parameters during robotic teleoperationICRA 2021 - 38th IEEE International Conference on Robotics and Automation, May 2021, Xi’an, China. pp.3619-3625, ⟨10.1109/ICRA48506.2021.9560938⟩ |
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Passivity filter for variable impedance controlIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),, 2020, Las Vegas, United States. ⟨10.1109/IROS45743.2020.9340758⟩ |
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Robotic needle insertion in moving soft tissues using constraint-based inverse Finite Element simulationICRA 2020 - IEEE International Conference on Robotics and Automation, May 2020, Paris / Virtual, France. pp.2407-2413, ⟨10.1109/ICRA40945.2020.9197515⟩ |
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Model Predictive Impedance Control2020 International Conference on Robotics and Automation (ICRA), 31 Mai 2020 - 31 Août 2020, Paris, France, May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9196969⟩ |
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Linear Parameter-Varying Identification of the EMG–Force Relationship of the Human Arm28th IEEE International Conference on Robot and Human Interactive Communication, Oct 2019, New Delhi, India. ⟨10.1109/RO-MAN46459.2019.8956388⟩ |
Percutaneous OsteoplastySurgetica 2019, Jun 2019, Rennes, France |
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FEM-based confidence assessment of non-rigid registrationSurgetica 2019, 2019, Rennes, France |
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An Origami-Inspired Flexible Pneumatic Actuator2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, Oct 2018, Madrid, Spain. pp.436-441, ⟨10.1109/IROS.2018.8593423⟩ |
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Using Comanipulation with Active Force Feedback to Undistort Stiffness Perception in Laparoscopy2019 International Conference on Robotics and Automation (ICRA), May 2019, Montréal, Canada. ⟨10.1109/ICRA.2019.8793662⟩ |
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Hybrid Soft/Rigid Robots for medical applicationsContinuum and Soft Robotics for Medical Interventions Workshop - IROS 2018, Oct 2018, Madrid, Spain |
Force feedback compensation of the stiffness perception in collaborative robotic laparoscopic surgeryJournée Labex CAMI 2018, 8-9 novembre 2018, Nov 2018, brest, France |
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Robot-Assisted Bone Cement InjectionSurgetica 2017, Nov 2017, Strasbourg, France |
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Robotically assisted injection of orthopedic cement: System design, control and modeling2016 European Control Conference (ECC), Jun 2016, Aalborg, Denmark. pp.2127-2132, ⟨10.1109/ECC.2016.7810606⟩ |
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Caractérisation de l'injection de ciment orthopédique pou la vertébroplastie4ème journée scientifique de la FMTS, Apr 2016, Strasbourg, France |
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Design and control of a thermal device for bone cement injection2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Jun 2016, Singapore, Singapore. pp.508-513, ⟨10.1109/BIOROB.2016.7523677⟩ |
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Design and characterization of a novel needle insertion tool2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Jun 2016, Singapore, Singapore. pp.266-271, ⟨10.1109/BIOROB.2016.7523636⟩ |
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Robotic assistance for percutaneous proceduresFirst European Workshop of Medtech Alsace, Nov 2016, Strasbourg, France |
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Robotique d'assistance aux procédures percutanéesJournées France Life Imaging WP3 Imagerie Interventionnelle, Journées Françaises de la Radiologie, Dec 2016, Lyon, France |
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Phase space identification method for modeling the viscosity of bone cement2016 European Control Conference (ECC), Jun 2016, Aalborg, Denmark. pp.2404-2409, ⟨10.1109/ECC.2016.7810650⟩ |
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Caractérisation et identification de l'injection de ciment orthopédique pour la vertébroplastie télé-opérée en radiologie interventionnelleJournée des Jeunes Chercheurs en Robotique (JJCR), 2015, Amiens, France |
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Design, development and preliminary assessment of a force sensor for robotized medical applications2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2014, Besacon, France. pp.1368-1374, ⟨10.1109/AIM.2014.6878273⟩ |
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A novel actuation technology for safe physical human-robot interactionsIEEE International Conference on Robotics and Automation, 2014, Hong-Kong, China |
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A Custom Robot for Transcranial Magnetic Stimulation: First Assessment on Healthy Subjects35th International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2013, Osaka, Japan. pp.5352--5355 |
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Compliant grasping device for robotized medical applicationsCFM 2013 - 21ème Congrès Français de Mécanique, Aug 2013, Bordeaux, France |
Nouvel actionnement pour des interactions homme-robot plus sûres5èmes Journées Doctorales / Journées Nationales MACS, 2013, Strasbourg, France |
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Development of a MR-compatible cable-driven manipulator: Design and technological issues2012 IEEE International Conference on Robotics and Automation (ICRA), May 2012, St Paul, France. pp.1488-1494, ⟨10.1109/ICRA.2012.6225302⟩ |
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Robotic assistance in coil positioning improves reliability and comfort3rd Annual meeting of the German Society for Brain Stimulation - Modulating Emotions, Berlin, Germany, juin 2012, Jun 2012, Berlin, Germany |
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Design and Optimization of a Novel MRI Compatible Wire-Driven Robot for Prostate CryoablationASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2011, Washington, United States. pp.633-642, ⟨10.1115/DETC2011-48092⟩ |
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Dévelopement d'un système robotique pour la cryothérapie de la prostateCFM 2011 - 20ème Congrès Français de Mécanique, Aug 2011, Besançon, France |
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A robotized needle insertion device for percutaneous procedures2005 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference : September 24-28, 2005, Long Beach, California, USA, Sep 2005, Long Beach, France. pp.433-440, ⟨10.1115/DETC2005-84577⟩ |
Fully Automated Image-Guided Needle Insertion: Application to small animal biopsies29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Aug 2007, Lyon, France. pp.194-197, ⟨10.1109/IEMBS.2007.4352256⟩ |
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Online Robust Model Estimation and Haptic Clues Detection during In Vivo Needle InsertionsThe First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006., Feb 2006, Pise, Italy. pp.341-346, ⟨10.1109/BIOROB.2006.1639110⟩ |
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Needle tip positioning on the abdomen with a novel stereotaxic robotic assistantSURGETICA 2005: Computer-Aided Medical Interventions: tools and applications, 2005, inconnue, France |
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In Vivo Study of Forces During Needle InsertionsScientific Workshop On Medical Robotics, Navigation And Visualization : RheinAhrCampus Remagen, Germany, 11-12 March 2004, Mar 2004, Remagen, Germany. pp.415-422, ⟨10.1142/9789812702678_0056⟩ |
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HAPTIC INTERFACE FOR NEEDLE INSERTION TRAININGConference on New Technologies for Computer and Robot-Assisted Surgery (CRAS), Sep 2025, Lisbonne, Portugal. 2025 |
Enveloppe Soleau": Phantom pelvis for cementoplastyFrance, Patent n° : DSO2022003473. 2022 |
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Injection device of bone cement for percutaneous vertebroplastyFrance, Patent n° : EP15305974. 2015 |
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Method for controlling the viscosity of orthopedic bone cement during its curing in percutaneous vertebroplastyFrance, Patent n° : EP15305975. 2015 |
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Device for grasping an elongated body such a needle, and robotized device comprising the sameFrance, Patent n° : WO/2014/02403. 2013 |
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Robotized installation for the positionning and movement of a component or instrument and treatment device that comprises such an installationFrance, Patent n° : PCT/FR2007/051518 US Patent 8 303 478. 2012 |
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Robotic positioning and orientation device and needle holder comprising one such deviceFrance, Patent n° : PCT/FR2005/002357 US patent 7,881,823. 2006 |
End-of-instrument stiffness perception device based on sensory augmentation for laparoscopic surgeryEurohaptics 2022, San Diego, United States, janvier 2022, May 2022, Hambourg, Germany. , 2022 |
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Perception and restitution of tissues’ stiffness in minimally invasive medical and surgical proceduresJournée Labex CAMI 2016, Dec 2016, Paris, France. 2016 |
Variable stiffness mechanism in robotized interventional radiologyPhilippe Wenger, Christine Chevallereau, Doina Pisla, Hannes Bleuler, Aleksandar Rodić. New Trends in Medical and Service Robots, 39, Springer, pp.45-58, 2016, Mechanisms and Machine Science, 978-3-319-30674-2. ⟨10.1007/978-3-319-30674-2_4⟩ |
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Robot interaction control in medicine and surgery. Open problems and recent results.M. Garbey. Computational Surgery and Dual Training, Springer, pp.169--191, 2014 |
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Interaction Modeling and Force ControlJocelyne Troccaz. Medical Robotics, John Wiley, pp.233-267, 2012, 978-1-84821-334-0 |
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Modélisation et commande cinématiques des manipulateurs mobiles à rouesRobotique [cs.RO]. Université Toulouse III - Paul Sabatier, 2001. Français. ⟨NNT : 2001TOU30119⟩ |