Gérard POISSON
- Université d'Orléans (UO)
- Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique (PRISME)
Domaines de recherche
Compétences
Publications
Publications
Forty years of Medical Robotics: Main developments and current challenges - A special look at robotized tele-echographIEEE International Conference on Advanced Systems and Emergent Technologies (IEEE IC_ASET'2025), LISI-Lab, National Institute of Applied Sciences and Technology, University of Carthage, Tunisia, May 2025, Hammamet, Tunisia |
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A Geometric Approach for the IK of 6R Robots with Non-spherical WristIFToMM ISRM-2024, Apr 2024, DJERBA, Tunisia. pp.329-342, ⟨10.1007/978-3-031-59888-3_30⟩ |
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Artificial Potential Field APF-based Obstacle Avoidance Technique for Robot Arm Teleoperation27th International Conference on Methods and Models in Automation and Robotics (MMAR), Aug 2023, Międzyzdroje, Poland |
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Robot-assisted tele-echography with obstacle avoidance for CT-PET-US diagnosticConferences of new technologies for Computer and Robot Assisted Surgery, Sorbonne Université, CNRS, Inserm, Sep 2023, Paris Auditorium du Grand Palais, France |
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PHRI Safety Control Using a Virtual Flexible Joint ApproachICINCO, Jul 2020, Paris, France |
Variable Stiffness Mechanism for Robotic RehabilitationIFToMM WC 2019, Jun 2019, Krakow, Poland |
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Robotic Manipulator for Positioning a Magnetic Actuator Dedicated to Drug Delivery in the CochleaJournées d'Etude sur la TéléSanté, Sorbonne Universités, May 2019, Paris, France |
Évolution des architectures mécaniques des robots médicauxCongrès Français de Mécanique 2019, Aug 2019, Brest, France |
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Permanent Magnets based Actuator for Microrobots Navigation2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2019, Macau, France. pp.7062-7067, ⟨10.1109/IROS40897.2019.8968558⟩ |
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Design Process of a New Lighting Robotic Arm for Operating RoomIFToMM Symposium on Mechanism Design for Robotics, Aug 2018, Udine, Italy. pp.310-317, ⟨10.1007/978-3-030-00365-4_37⟩ |
Safety performance of a variable stiffness actuator for collaborative robots27th International Conference on Robotics in Alpe Adria Danube Region (RAAD2018), Jun 2018, Patras, Greece. ⟨10.1007/978-3-030-00232-9_4⟩ |
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Introducing OpenPHRI: a software library for physical human-robot interactionICRA 2018 Late Breaking Posters, May 2018, Brisbane, Australia |
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A novel remote-center-of-motion serial manipulator for inner ear drug deliveryIEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM-2018), Jul 2018, Auckland, New Zealand. ⟨10.1109/AIM.2018.8452258⟩ |
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Physical human-robot interaction with the OpenPHRI libraryIEEE ICRA Workshop WORKMATE, May 2018, Brisbane, Australia |
Mécanisme de tenségrité pour la sécurité en robotiqueCongrès National de la Recherche des IUT 2018, Jun 2018, Aix en Provence, France |
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Robotisation d’un bras d’éclairage de bloc opératoireCongrès National de la Recherche des IUT 2017, May 2017, Auxerre, France |
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Design and simulation of spine affected by scoliosis and proposition of dynamic braceIEEE International Conference on Robotics and Biomimetics: ROBIO 2017, Dec 2017, Macau, China |
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Generalized Framework for Control of Redundant Manipulators in RA-MISJournées d'Etude sur la TéléSANté, 6ème edition, Pôle Capteurs, Université d'Orléans, May 2017, Bourges, France |
Kinematic Design of a Lighting Robotic Arm for Operating RoomInternational Symposium on Robotics and Mechatronics (IFToMM), May 2017, Poitiers, France |
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Singularity avoidance in a robotized ultrasound scan2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR), Aug 2017, Miedzyzdroje, Poland. pp.915-920, ⟨10.1109/MMAR.2017.8046951⟩ |
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Dynamic simulation of vertebral Column and control of the posture using a parallel mechanism14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017), May 2017, Madrid, Spain |
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Collaborative Impedance Control of a Redundant Robot for Tele-operated MIS7th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery, CRAS 2017, Sep 2017, Montpellier, France |
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A Framework for intuitive collaboration with a mobile manipulatorIROS: Intelligent Robots and Systems, Sep 2017, Vancouver, BC, Canada. pp.6293-6298, ⟨10.1109/IROS.2017.8206532⟩ |
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A new kinematic formulation of the RCM constraint for redundant torque-controlled robots2017 IEEE International Conference on Intelligent Robots and Systems (IROS), Sep 2017, Vancouver, Canada |
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An ISO10218-compliant adaptive damping controller for safe Physical Human-Robot InteractionICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.3043-3048, ⟨10.1109/ICRA.2016.7487468⟩ |
Improved Dynamic Formulation for Decoupled Cartesian Impedance Control and RCM Constraint2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden |
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Panorama des équipes de recherches implantées sur un site IUTCongrès National de la Recherche des IUT (CNR IUT 2016), Jun 2016, Nantes, France |
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Active calibration of tactile sensors mounted on a robotic handIROS: Intelligent RObots and Systems Workshop on Multimodal sensor-based robot control for HRI and soft manipulation, Sep 2015, Hambourg, Germany |
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Optimization of kinetostatic performances and compactness of an in vivo serial robot for minimally invasive surgery21ème Congres Français de Mécanique, Aug 2013, Bordeaux, France |
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Dimensional optimization of A TWO-ARM robot for single-site surgery operationsASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2013, Portland, United States |
Approche technique et sociale de l'utilisation de la robotique téléopérée pour le diagnostic échographiqueCongrès National de la Recherche en IUT, Jun 2012, Tours, France |
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Design and optimization of a master-slave system for tele-echography application11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012, Jul 2012, Nantes, France. pp.343- 352, ⟨10.1115/ESDA2012-82744⟩ |
An effective fuzzy-DVZ controller for an omnidirectional mobile robotSystems, Signals and Devices (SSD),, Mar 2012, Chemnitz, Germany. pp.1-6, ISBN: 978-1-4673-1590-6, ⟨10.1109/SSD.2012.6197996⟩ |
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Input-State Linearisation of an Omni-Directional mobile RobotIEEE-ISIE, the largest summer conference of the IEEE Industrial electronics, Jul 2010, Bari, Italy. pp.ISIE |
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Démarche de conception collaborative d'un robot pour la télé-échographieColloque National de Recherche en IUT (CNR IUT 2011), Jun 2011, Cherbourg, France |
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Distributed backstepping control for synchronization of networked class of underactuated systems: A passivity approach19th Mediterranean Conference on Control and Automation, MED 2011, Jun 2011, Greece. pp.7 - 12, ⟨10.1109/MED.2011.5983043⟩ |
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On the trajectory tracking and coordination of multi-robot systems with communication delayInternational Multi-Conference on Systems, Signals and Devices (SSD), 2011 8th, Mar 2011, Sousse, Tunisia. pp.1-6, ⟨10.1109/SSD.2011.5986782⟩ |
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Comparaison des performances de deux robots sphériques à architecture sérielle et parallèle selon des critères géométriques et cinématiques20ème Congres Français de Mécanique, Aug 2011, Besançon, France |
Optimal synthesis of new spherical parallel mechanism for application to tele-echography chainASME 2011, International Design Engineering Technical Conferences (IDETC), Aug 2011, Washington, United States. pp.DETC2011-47184 |
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DVZ-based Obstacle Avoidance Control of a Wheelchair Mobile RobotIEEE Intemational Conference on Mechatronics, Apr 2011, Istanbul, Turkey. pp 911-915 |
Contribution to the Design of a Robotized Tele-Ultrasound System2nd IFToMM International Symposium on Robotics and Mechatronics, ISRM 2011, Nov 2011, Shangai, China. pp.ISMR |
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Mutual and external synchronization control of multi-robot systemsInternational Multi-Conference on Systems Signals and Devices (SSD), Jun 2010, Amman, Jordan. pp.1 - 6, ⟨10.1109/SSD.2010.5585567⟩ |
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Optimisation dimensionnelle d'un robot de télé-échographie.(CNRIUT), 2010, Jun 2010, Angers, France. pp.1-8 |
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Adaptive Multi-Robots SynchronizationIEEE International Symposium on Industrial Electronics (ISIE), 2010, Jul 2010, Bari, Italy. pp.1797 - 1802, ⟨10.1109/ISIE.2010.5637712⟩ |
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Adaptive synchronization control of multi-robot teams: Cooperative and coordinated schemesMediterranean Conference on Control & Automation (MED), 2010, Jun 2010, Marrakech, Morocco. pp.586 - 591, ⟨10.1109/MED.2010.5547733⟩ |
Optimization of a 4 dof tele-echography robotInternational Conference on Intelligent Robots and Systems (IROS), Oct 2010, Taipei, Taiwan. pp.3501 - 3506, ⟨10.1109/IROS.2010.5649680⟩ |
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Et si les robots étaient beaux...Journées Nationales de Recherche en Robotique (JNRR'09), Nov 2009, Neuvy sur Barangeon, France |
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Ergonomic mouse based interface for 3D orientation control of a tele-sonography robotInternational Conference on Intelligent Robots and Systems, IROS 2009. IEEE/RSJ, Oct 2009, St Louis, United States. pp.61 - 66, ⟨10.1109/IROS.2009.5354366⟩ |
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Motion coordination control of multiple marine craftsInternational Workshop on Advanced Motion Control, 2008. AMC '08. 10th IEEE, Mar 2008, Trento, France. pp.44 - 49, ⟨10.1109/AMC.2008.4516039⟩ |
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Modeling and geometrical validation of a tele-echography robotInternational Conference on Intelligent Robots and Systems, IROS 2008 IEEE/RSJ, Sep 2008, Nice, France. pp.1447 - 1452, ⟨10.1109/IROS.2008.4650901⟩ |
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Formation control for a class of output-feedback systems3e National Conference on "Control Architectures of Robots" (CAR), May 2008, Bourges, France. pp.12 |
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DOF Analysis of the Ultrasonography Technique for Improving Ergonomy in Tele-Echography2008 IEEE International Conference on Robotics and Biomimetics - Robio 2008, Dec 2008, Bangkok, Thailand. 6 p |
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Guidance based path following control for an underactuated shipIEEE International Multi-Conference on Systems, Signals and Devices, Mar 2007, Hammamet, Tunisia |
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Matching between telemetric measures and images for mobile roboticsICIG 2007. Fourth International Conference on imagen and graphics, Aug 2007, Chengdu - Sichuan, China. pp. 747-752, ⟨10.1109/ICIG.2007.127⟩ |
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Observer design for euler lagrange systems: application to path following control of an underactuated surface vesseliros, Oct 2007, San Diego, United States. pp.2883-2888 |
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A modular architecture for autonomus and tele-operated medical robotsMICCAI' 2006 - Medical robotics Workshop, Oct 2006, Copenhagen, Denmark. pp.PP. 1-8 |
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A multi-level architecture controlling robots from autonomy to teleoperationFirst National Workshop on Control Architectures of Robots : sofware approaches and issues, Apr 2006, Montpellier, France. pp.Inconnu |
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Omni-directional robot with spherical orthogonal wheels: concepts and analysesRobotics and Automation, 2006. ICRA 2006. IEEE International Conference, May 2006, Orlando-Floride, United States. pp. 3374-3379, ⟨10.1109/ROBOT.2006.1642217⟩ |
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MARTE Project : Tele-echography between kyperounta and nicosia (Cyprus)9th IFAC Symposium on Automated Systems Based on Human Skill and Knowledge, 2006, May 2006, Nancy, France. pp.Part. 1, ⟨10.3182/20060522-3-FR-2904.00059⟩ |
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Session robotique médicale La conception de robots pour l'assistance aux gestes médicaux et chirurgicauxJNRR 2005 - 5e Journées Nationales de la Recherche en Robotique, Oct 2005, Guidel, France |
A local map building process for a reactive navigation of a mobile robotICRA, 2004, New Orleans, United States. pp.4839-4844, ⟨10.1109/ROBOT.2004.1302484⟩ |
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Experiments with the TER Tele-echography Robot.--, 2002, France. pp.138-146 |
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Quick primitives extraction using inertia matrix on measures issue from an ultrasonic networkICRA, 2001, Seoul, South Korea. pp.3999,4004, ⟨10.1109/ROBOT.2001.933242⟩ |
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TER : a system robotic tele-Echography--, 2001, France. p. 326 |
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Design of a flexible probe-holder arm for robot assisted echographyConférence en TéléSANté et Dispositifs Médicaux (JETSAN), Jun 2025, TROYES, France |
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Use of the CRX10iA cobot for microparticles delivery inside the cochleaConference on New Technologies for Computer and Robot Assisted Surger, Sep 2023, Paris, France |
Understanding Interactions in Complex Systems: toward a Science of InteractionsCambridge Scholar Publishing, pp.405, 2017, 978-1-4438-9496-8 |
Design of Robotic Braces for Patients with ScoliosisAdvances in Service and Industrial Robotics, 84, Springer International Publishing; Springer International Publishing, pp.30-37, 2020, Mechanisms and Machine Science, ⟨10.1007/978-3-030-48989-2_4⟩ |
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The social functions of gossip and the Leviathan modelUnderstanding Interactions in Complex Systems Toward a Science of Interaction, Cambridge Scholar Publishing, pp.139-175, 2017 |
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Optimisation dimensionnelle d'un robot de télé-échographieJournal National de la recherche en IUT, IUT Toulouse II Figeac, pp.58-74, 2011 |
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Robotized Tele-echographySajeesh Kumar, Elisabeth A. Krupinski (Eds). Teleradiology, Springer-Verlag Berlin Heidelberg, pp.139-153, 2008, ⟨10.1007/978-3-540-78871-3⟩ |
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A tele-operated robotic system for mobile tele-echography : the Otelo projectIstepanian Robert; Laxminarayan Swamy; Pattichis Constantinos S. M-Health - Chapitre V §35, V, Kluwer academic/plenum publishers, pp. 461-473, 2006, International Topics in biomedical Ingeneering, ⟨10.1007/0-387-26559-7_35⟩ |
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Interactions in Complex Systems2016 |
Virtual Adjustable Joint Stiffness Toward a Safer Human/Robot InteractionInternational Conference on Informatics in Control, Automation and Robotics, 793, Springer International Publishing, pp.291-315, 2022, Lecture Notes in Electrical Engineering, 978-3-030-92441-6. ⟨10.1007/978-3-030-92442-3_16⟩ |
Variable Stiffness Mechanism for Robotic RehabilitationAdvances in Mechanism and Machine Science., 73, pp.1761-1769, 2019 |
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Kinematic Design of a Lighting Robotic Arm for Operating RoomComputational Kinematics Proceedings of the 7th International Workshop on Computational Kinematics, 50, pp.44-52, 2018 |