Nathanael Jarrasse
Présentation
Publications
Publications
Penser l’accessibilité des prothèses : entre technique(s), environnement(s) et formation(s)Séminaire Phiteco. Techniques et handicap : concevoir l’accessibilité, Université de Technologie de Compiègne, Jan 2026, Compiègne, France, France |
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Movement couplings for intuitive robotic assistance to gestureJournées thématiques communes des GDR Robotique (TS4 Humain et Robot), IHM (GT Interaction Physique) et TACT, TS4 GDR Robotique, Nov 2025, Paris, France |
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A Comparative Study Between a Virtual Wand and a One-to-One Approach for the Teleoperation of a Nearby Robotic Manipulator2025 IEEE International Conference on Robotics and Automation (ICRA 2025), May 2025, Atlanta, GA, United States. pp.5608-5614, ⟨10.1109/ICRA55743.2025.11127740⟩ |
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Teleoperating a 6 DoF Robotic Manipulator from Head Movements2025 IEEE International Conference on Robotics and Automation (ICRA), May 2025, Atlanta, United States. pp.1-8, ⟨10.1109/ICRA55743.2025.11127494⟩ |
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Hands-free teleoperation of a nearby manipulator through a virtual body-to-robot link2024 IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Sep 2024, Heidelberg (Germany), Germany. pp.619-626, ⟨10.1109/BioRob60516.2024.10719920⟩ |
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Comparing Teaching Strategies of a Machine Learning-based Prosthetic ArmIntelligent User Interfaces (IUI), ACM, Mar 2024, Greenville, South Carolina, United States. pp.715-730, ⟨10.1145/3640543.3645170⟩ |
Movement couplings for intuitive robotic assistance to gestureIEEE Biorob 2024 Workshop “A Multidisciplinary Overview of Upper Limb Prosthetics Development: Challenges and Opportunities", IEEE Biorob 2024, Sep 2024, Heidelberg, Germany |
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Assessment of Multi Vibrotactile-Skin Stretch (MuViSS) Haptic Device to restore sensory feedback in upper limb amputees using prostheticsIEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Sep 2024, Heidelberg, Germany. pp.217-222, ⟨10.1109/BioRob60516.2024.10719755⟩ |
Movement couplings for intuitive robotic assistance to gestureCourse "New technologies in Neurorehabilitation and Motor Learning", Technical University Munich (TUM) project week, Technical University Munich (TUM), Sep 2024, Munich (Allemagne), Germany |
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A Practical Control Approach for Safe Collaborative Supernumerary Robotic Arms2023 IEEE Conference on Advanced Robotics and its Social Impact (ARSO 2023), IEEE, Jun 2023, Berlin, Germany |
« Drôle d’objet » ou « drôle de comportement ? »Drôles d'objets 2023, May 2023, Nancy (France), France |
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Improved real-time gait phase detection using simple force sensors, sequencing conditions and smart fault management2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec 2022, Jinghong, China. pp.2328-2335, ⟨10.1109/ROBIO55434.2022.10011720⟩ |
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Using Arm Swing Movements to Maintain the Walking State in a Self-Balanced Lower-Limb Exoskeleton2022 IEEE International Conference on Robotics and Automation (ICRA), May 2022, Philadelphia, France. pp.6444-6450, ⟨10.1109/ICRA46639.2022.9811824⟩ |
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Computing the positioning error of an upper-arm robotic prosthesis from the observation of its wearer's posture2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561613⟩ |
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Intent-aware control in kinematically redundant systems: Towards collaborative wearable robots2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021, Xi'an, China |
Upper-limb joint coordination during and after exposure to a robotic exoskeleton: Influence of spontaneous movement vigour.Société de biomécanique 2021 Session Biomécanique de l’interaction homme – systèmes, ergonomie et robotique., Sep 2021, Saint-Etienne, France |
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Caractérisation de l'effondrement durant la marche des patients atteints de myosite à inclusions : analyse préliminaireActes du colloque « Jeunes Chercheuses, Jeunes Chercheurs" IFRATH 2021, IFRATH, Oct 2021, Créteil, France |
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Computing the positioning error of an upper-arm robotic prosthesis from the observation of its wearer's posture2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561613⟩ |
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A closed-loop and ergonomic control for prosthetic wrist rotationIEEE International Conference on Robotics and Automation, May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9197554⟩ |
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Controlling upper-limb prostheses with body compensationsWeRob, Oct 2020, Valencia, Spain |
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Reciprocal Kinematic Control: using human-robot dual adaptation to control upper limb assistive devicesHamlyn Symposium on Medical Robotics, Jun 2019, Londres, United Kingdom |
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Providing proprioceptive feedback by means of vibrotactile stimuli: A way to improve body integration of a prosthetic armWorld Haptics Conference (WHC) 2019, Dec 2019, Tokyo, Japan |
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Reciprocal Kinematic Control: using human-robot dual adaptation to control upper limb assistive devicesHamlyn Symposium on Medical Robotics, Jun 2019, London, United Kingdom |
A simple movement based control approach to ease the control of a myoelectric elbow prosthetics in transhumeral amputees12th World Congress of the International Society of Physical and Rehabilitation Medicine, Jul 2018, Paris, France. pp.e471 |
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Adaptation of upper limb movement using exoskeleton-based training and transfer of cinematic patterns to unconstrained movement: A preliminary study12th World Congress of the International Society of Physical and Rehabilitation Medicine., Jul 2018, Paris, France. pp.e488 |
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Using the body kinematics to assess the utilization of transhumeral prostheses12th World Congress of the International Society of Physical and Rehabilitation Medicine., Jul 2018, Paris, France. pp.e469-e470, ⟨10.1016/j.rehab.2018.05.1096⟩ |
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Adaptation to the absence of tactile and proprioceptive feedback in object handling12th World Congress of the International Society of Physical and Rehabilitation Medicine (ISPRM 2018), Jul 2018, Paris, France. pp.e422 |
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Comparison of different error signals driving the adaptation in assist-as-needed controllers for neurorehabilitation with an upper-limb robotic exoskeleton2017 IEEE International Conference on Robotics and Automation (ICRA), May 2017, Singapore, Singapore. pp.6645-6650 |
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Voluntary phantom hand and finger movements in transhumeral amputees could be used to naturally control polydigital prostheses2017 International Conference on Rehabilitation Robotics (ICORR), Jul 2017, London, France. pp.1239-1245 |
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Intuitive prosthetic control using upper limb inter-joint coordinations and IMU-based shoulder angles measurement: a pilot studyIEEE/RSJ International Conference on Intelligent Robots and Systems, 2016, Daejeon, South Korea |
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Towards the implementation of natural prosthetic elbow motion using upper limb joint coordination2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Jun 2016, Singapore, Singapore. pp.821-826 |
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Adaptive control of a robotic exoskeleton for neurorehabilitation2015 7th International IEEE/EMBS Conference on Neural Engineering (NER), Apr 2015, Montpellier, France. pp.803-806 |
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Quantitative Assessment of Motor Deficit with an Intelligent Key Object: A Pilot Study2015 IEEE International Conference on Rehabilitation Robotics (ICORR), Aug 2015, Singapore, Singapore. pp.247-252 |
Effect of visual, tactile and proprioceptive sensory perturbations on grasp to lift tasks in healthy subjects.Neural Control of Movement NCM, 2014, Amsterdam, Unknown Region |
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Toward the use of augmented auditory feedback for the rehabilitation of arm movements in stroke patients.European Journal of physical and rehabilitation medicine. Vol 50, Supl 1-3,, 2014, Marseille, France. pp.72 |
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Hyperstaticity for Ergonomic Design of a Wrist Exoskeleton2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR 2013), Jun 2013, Seattle, France. pp.1-6 |
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Analysis of grasping strategies and function in hemiparetic patients using an instrumented object13th International Conference on Rehabilitation Robotics (ICORR), 2013, Seattle, United States. ⟨10.1109/ICORR.2013.6650379⟩ |
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A versatile biomimetic controller for contact tooling and haptic exploration2012 IEEE International Conference on Robotics and Automation (ICRA), May 2012, St Paul, France. pp.3329-3334 |
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A Method for measuring the upper limb motion and computing a compatible exoskeleton trajectory2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Oct 2012, Vilamoura-Algarve, Portugal. pp.3461-3466 |
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Changing human upper-limb synergies with an exoskeleton using viscous fields2011 IEEE International Conference on Robotics and Automation (ICRA), May 2011, Shanghai, China. pp.4657-4663 |
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On the Kinematic Design of Exoskeletons and Their Fixations with a Human MemberRobotics: Science and Systems RSS, 2010, Zaragoza, Spain |
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A formal methodology for avoiding hyperstaticity when connecting an exoskeleton to a human member2010 IEEE International Conference on Robotics and Automation (ICRA 2010), May 2010, Anchorage, France. pp.1188-1195 |
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Experimental evaluation of several strategies for human motion based transparency controlInternational Symposium on Experimental Robotics (ISER), 2009, Athenes, Greece |
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A methodology to design kinematics of fixations between an orthosis and a human member2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2009, Singapore, Singapore. pp.1958-1963 |
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How can human motion prediction increase transparency?2008 IEEE International Conference on Robotics and Automation (ICRA), May 2008, Pasadena, United States. pp.2134-2139 |
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Design and acceptability assessment of a new reversible orthosisInternational Conference on Intelligent Robots and Systems, IEEE, Sep 2008, Nice, France. pp.1933-1939, ⟨10.1109/IROS.2008.4651014⟩ |
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Does a small perturbation created by an upper-limb exoskeleton impact our coordination in reaching tasks ?Progress in Motor Control, Sep 2023, Rome, Italy |
Corps et prothèsesPresses Universitaires de Grenoble, 2020, HANDICAP, VIEILLISSEMENT, SOCIÉTÉ, Alain Blanc, 978-2-7061-4756-2 |
Cyborg et corps artificielVers le cyber-monde: Humain et numérique en interaction, 2021 |
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L’ambivalence de l’enchantement prothétique contemporain.Valentine Gourinat; Paul-Fabien Groud; Nathanaël Jarrassé. Corps & Prothèses, Presses Universitaires de Grenoble, 2020 |
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Les exosquelettesTechniques de l'ingénieur, 2019 |
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Wearable robotic systems and their applications for neurorehabilitationRehabilitation Robotics, Elsevier, pp.241-252, 2018 |
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Intuitive control of a prosthetic elbowConverging Clinical and Engineering Research on Neurorehabilitation II, Springer, pp.483-487, 2017 |
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Neuroplasticité après amputation : Phénomènes fonctionnels et conséquences pour la réadaptationLa Plasticité cérébrale, Sauramps Medical, pp.109-121, 2017, Acquisitions en médecine physique et de réadaptation, ISBN 979-1-03030-110-6 |
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Learning motor coordination under resistive viscous force fields at the joint level with an upper-limb robotic exoskeletonConverging Clinical and Engineering Research on Neurorehabilitation II, pp.1175-1179, 2017 |
Versatile Interaction Control and Haptic Identification in Humans and RobotsGeometric and Numerical Foundations of Movements, pp.187-206, 2017 |
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La rééducation fonctionnelle : une question de techniques corporellesMarc Durand, Denis Hauw, Germain Poizat. L'apprentissage des techniques corporelles, Presses Universitaires de France, pp.P 143-156., 2015, collection “Apprendre” |
Device for controlling a robotic system for assisting the mobility of a userFrance, Patent n° : WO2020193571A1. 2020 |
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Dispositif de commande d'un système robotique d'assistance à la mobilité d'un utilisateurFrance, N° de brevet: FR1903103. 2019 |
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Virtually turning robotic manipulators into worn devices: opening new horizons for wearable assistive robotics2023 |
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Rehabilitation Robots: A Compliment to Virtual Reality2010 |
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Contributions à l'exploitation d'exosquelettes actifs pour la rééducation neuromotriceAutomatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2010. Français. ⟨NNT : ⟩ |
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On the use of sensorimotor coordinations for intuitive and ecological robotic assistance to gestureRobotics [cs.RO]. Sorbonne Université, 2022 |