Nathanael Jarrasse

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Publications

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Assessing the 6-DoF Accuracy and Robustness of the HTC VIVE Ultimate ® Stand-Alone Inside-Out Motion Tracker: A Robot-Driven Evaluation

Julian Kulozik , Nathanaël Jarrassé

IEEE Sensors Journal, In press, ⟨10.1109/JSEN.2026.3657180⟩

Article dans une revue hal-05496408v1
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Comparison of Solo and Collaborative Trimanual Operation of a Supernumerary Limb in Tasks With Varying Physical Coupling

Jonathan Eden , Mahdi Khoramshahi , Yanpei Huang , Alexis Poignant , Etienne Burdet et al.

IEEE Robotics and Automation Letters, 2025, 10 (2), pp.860-867. ⟨10.1109/LRA.2024.3515734⟩

Article dans une revue hal-04870384v1
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JcvPCA and JsvCRP : a set of metrics to evaluate changes in joint coordination strategies

Océane Dubois , Agnès Roby-Brami , Ross Parry , Nathanaël Jarrassé

PLoS ONE, 2025

Article dans une revue hal-05137498v1
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Design and Experimental Validation of a Controller for Bowden-Cable Actuators Subject to Friction Variation

Yaodong LU , Yannick Aoustin , Pablo Nocito , Sébastien Mick , Nathanael Jarrasse

IEEE Robotics and Automation Letters, 2025, ⟨10.1109/LRA.2025.3592077⟩

Article dans une revue hal-05175570v1
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Review of upper-limb occupational exoskeletons: From technology to assessment

Giovanni Brunelli , Océane Dubois , Monica Tiboni , Nathanaël Jarrassé

International Journal of Industrial Ergonomics, 2025, 110, pp.103815. ⟨10.1016/j.ergon.2025.103815⟩

Article dans une revue hal-05304655v1
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Innovative Multi Vibrotactile-Skin Stretch (MuViSS) haptic device for sensory motor feedback from a robotic prosthetic hand

Andrea Campanelli , Monica Tiboni , Fabien Verité , Charlélie Saudrais , Sébastien Mick et al. Article dans une revue hal-04479519v1
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Human Exteroception during Object Handling with an Upper Limb Exoskeleton

Dorine Arcangeli , Océane Dubois , Agnès Roby-Brami , Sylvain Famié , Giovanni de Marco et al.

Sensors, 2023, 23 (11), pp.5158. ⟨10.3390/s23115158⟩

Article dans une revue hal-04109437v1
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Le mythe du cyborg : techno-enchantement, récits héroïques et promesses de réparation technologique du corps

Valentine Gourinat , Nathanael Jarrasse

¿ Interrogations ? Revue pluridisciplinaire de sciences humaines et sociales, 2023, 36, pp.1-14

Article dans une revue hal-04133072v1
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A guide to inter-joint coordination characterization for discrete movements: a comparative study

Océane Dubois , Agnès Roby-Brami , Ross Parry , Mahdi Khoramshahi , Nathanaël Jarrassé

Journal of NeuroEngineering and Rehabilitation, 2023, 20 (1), pp.132. ⟨10.1186/s12984-023-01252-2⟩

Article dans une revue hal-04225857v1
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Effect of Vibrotactile Feedback on the Control of the Interaction Force of a Supernumerary Robotic Arm

Silvia Buratti , Deiana Davide , Alessia Noccaro , Mattia Pinardi , Giovanni Di Pino et al.

Machines, 2023, Special Issue Recent Advances in Medical Robotics, ⟨10.3390/machines11121085⟩

Article dans une revue hal-04339855v1
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Phantom movement training without classifier performance feedback improves mobilization ability while maintaining EMG pattern classification

Olivier Rossel , Manon Chateaux , Nathanaël Jarrassé , Fabien Vérité , Amélie Touillet et al.

IEEE Transactions on Medical Robotics and Bionics, 2023, 5 (1), pp.133-142. ⟨10.1109/TMRB.2023.3237918⟩

Article dans une revue hal-04137971v1
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Competition increases the effort put into a physical interaction task

Atsushi Takagi , Carlo Bagnato , Alejandro Melendez-Calderon , Nathanaël Jarrassé , Gowrishankar Ganesh et al.

IEEE Transactions on Haptics (ToH), 2023, 16 (4), pp.719-725. ⟨10.1109/TOH.2023.3306794⟩

Article dans une revue hal-04226679v1

Identification of inverse kinematic parameters in redundant systems: Towards quantification of inter-joint coordination in the human upper extremity

Mahdi Khoramshahi , Agnes Roby-Brami , Ross Parry , Nathanaël Jarrassé

PLoS ONE, 2022, 17 (12), pp.e0278228. ⟨10.1371/journal.pone.0278228⟩

Article dans une revue hal-03918219v1
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Kinematic analysis of impairments and compensatory motor behavior during prosthetic grasping in below-elbow amputees

Amélie Touillet , Adrienne Gouzien , Marina Badin , Pierrick Herbe , Noël Martinet et al.

PLoS ONE, 2022, 17 (11), pp.e0277917. ⟨10.1371/journal.pone.0277917⟩

Article dans une revue hal-03863792v1
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Simultaneous control of 2DOF upper-limb prosthesis with body compensations-based control: a multiple cases study

Mathilde Legrand , Charlotte Marchand , Florian Richer , Amélie Touillet , Noël Martinet et al.

IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2022, ⟨10.1109/TNSRE.2022.3186266⟩

Article dans une revue hal-03846023v1
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The Ethics of Supernumerary Robotic Limbs. An Enactivist Approach

Nicola Di Stefano , Nathanaël Jarrassé , Luca Valera

Science and Engineering Ethics, 2022, 28, ⟨10.1007/s11948-022-00405-1⟩

Article dans une revue hal-03852522v1
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Simultaneous control of 2DOF upper-limb prosthesis with body compensations-based control: a multiple cases study

Mathilde Legrand-Lestoille , Charlotte Marchand , Florian Richer , Amélie Touillet , Noël Martinet et al.

IEEE Transactions on Neural Systems and Rehabilitation Engineering, In press

Article dans une revue hal-03697470v1
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Impairment and Compensation in Dexterous Upper-Limb Function After Stroke. From the Direct Consequences of Pyramidal Tract Lesions to Behavioral Involvement of Both Upper-Limbs in Daily Activities

Agnès Roby-Brami , Nathanael Jarrasse , Ross Parry

Frontiers in Human Neuroscience, 2021, 15, ⟨10.3389/fnhum.2021.662006⟩

Article dans une revue hal-03284161v1
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Anticipation and compensation for somatosensory deficits in object handling: evidence from a patient with large fibre sensory neuropathy

Ross Parry , Fabrice Sarlegna , Nathanael Jarrasse , Agnès Roby-Brami

Journal of Neurophysiology, 2021, ⟨10.1152/jn.00517.2020⟩

Article dans une revue hal-03289253v1
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Closing the loop between body compensations and upper-limb prosthetic movements: a feasibility study

Mathilde Legrand , Nathanael Jarrasse , Etienne de Montalivet , Florian Richer , Guillaume Morel

IEEE Transactions on Medical Robotics and Bionics, 2021, pp.1-1. ⟨10.1109/TMRB.2020.3048251⟩

Article dans une revue hal-03099461v1
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Measuring mental workload in assistive wearable devices: a review

Charlotte Marchand , Jozina B de Graaf , Nathanaël Jarrassé

Journal of NeuroEngineering and Rehabilitation, 2021, 18 (1), ⟨10.1186/s12984-021-00953-w⟩

Article dans une revue hal-03418729v1
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Assessment of an automatic prosthetic elbow control strategy using residual limb motion for transhumeral amputated individuals with socket or osseointegrated prostheses

Manelle Merad , Étienne de Montalivet , Mathilde Legrand , E. Mastinu , M. Ortiz-Catalan et al.

IEEE Transactions on Medical Robotics and Bionics, 2020, pp.1-12. ⟨10.1109/TMRB.2020.2970065⟩

Article dans une revue hal-02463426v1
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Using Generic Upper-Body Movement Strategies in a Free Walking Setting to Detect Gait Initiation Intention in a Lower-Limb Exoskeleton

Omar Mounir Alaoui , Fabien Expert , Guillaume Morel , Nathanael Jarrasse

IEEE Transactions on Medical Robotics and Bionics, 2020, 2 (2), pp.236-247. ⟨10.1109/TMRB.2020.2982004⟩

Article dans une revue hal-02541938v1
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Guiding the training of users with a pattern similarity biofeedback to improve the performance of myoelectric pattern recognition.

Étienne de Montalivet , Kevin Bailly , Amélie Touillet , Noël Martinet , Jean Paysant et al.

IEEE Transactions on Neural Systems and Rehabilitation Engineering, inPress, pp.1-11. ⟨10.1109/TNSRE.2020.3003077⟩

Article dans une revue hal-02884543v1
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Experimental and theoretical study of velocity fluctuations during slow movements in humans

Emmanuel Guigon , Oussama Chafik , Nathanael Jarrasse , Agnès Roby-Brami

Journal of Neurophysiology, 2019, 121 (2), pp.715-727. ⟨10.1152/jn.00576.2018⟩

Article dans une revue hal-02109365v1
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Effects of Hand Configuration on the Grasping, Holding, and Placement of an Instrumented Object in Patients With Hemiparesis

Ross Parry , Sandra Macias Soria , Pascale Pradat-Diehl , Veronique Marchand-Pauvert , Nathanael Jarrasse et al.

Frontiers in Neurology, 2019, 10, pp.240. ⟨10.3389/fneur.2019.00240⟩

Article dans une revue hal-02086396v1
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Improving the control of prostheses in arm amputees with approaches based on motor coordination

M. Merad , E. de Montalivet , Mathilde Legrand , A. Touillet , N. Martinet et al.

Computer Methods in Biomechanics and Biomedical Engineering, 2019, 22 (sup1), pp.S445-S447. ⟨10.1080/10255842.2020.1714976⟩

Article dans une revue hal-03064851v1
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Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification

Yanan Li , Gowrishankar Ganesh , Nathanaël Jarrassé , Sami Haddadin , Alin Albu-Schaeffer et al.

IEEE Transactions on Robotics, 2018, 34 (5), pp.1170-1182. ⟨10.1109/tro.2018.2830405⟩

Article dans une revue hal-02049408v1
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Characteristics of phantom upper limb mobility encourage phantom-mobility-based prosthesis control

Amélie Touillet , Laetitia Peultier-Celli , Caroline Nicol , Nathanaël Jarrassé , Isabelle Loiret et al.

Scientific Reports, 2018, 8, pp.15459. ⟨10.1038/s41598-018-33643-0⟩

Article dans une revue hal-01913708v1
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Phantom-Mobility-Based Prosthesis Control in Transhumeral Amputees Without Surgical Reinnervation: A Preliminary Study

Nathanael Jarrasse , Étienne de Montalivet , Florian Richer , Caroline Nicol , Amelie Touillet et al.

Frontiers in Bioengineering and Biotechnology, 2018, 6, ⟨10.3389/fbioe.2018.00164⟩

Article dans une revue hal-02405906v1
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Phantom-mobility-based prosthesis control in transhumeral amputees without surgical reinnervation: a preliminary study.

Nathanaël Jarrassé , Étienne de Montalivet , Florian Richer , Caroline Nicol , Amelie Touillet et al.

Frontiers in Bioengineering and Biotechnology, 2018, 6, ⟨10.3389/fbioe.2018.00164⟩

Article dans une revue hal-02002425v1
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Can We Achieve Intuitive Prosthetic Elbow Control Based on Healthy Upper Limb Motor Strategies?

Manelle Merad , Étienne de Montalivet , Amélie Touillet , Noël Martinet , Agnès Roby-Brami et al.

Frontiers in Neurorobotics, 2018, 12, pp.1. ⟨10.3389/fnbot.2018.00001⟩

Article dans une revue hal-01715171v1

Adaptation of upper limb movement using exoskeleton-based training and transfer of cinematic patterns to unconstrained movement: A preliminary study

Tommaso Proietti , Ross Parry , F. Lejeune , Agnes Roby-Brami , Nathanaël Jarrassé

Annals of Physical and Rehabilitation Medicine, 2018, 61, pp.e488. ⟨10.1016/j.rehab.2018.05.1138⟩

Article dans une revue hal-02324539v1
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Movement-Based Control for Upper-Limb Prosthetics: Is the Regression Technique the Key to a Robust and Accurate Control?

Mathilde Legrand , Manelle Merad , Étienne de Montalivet , Agnès Roby-Brami , Nathanaël Jarrassé

Frontiers in Neurorobotics, 2018, 12, ⟨10.3389/fnbot.2018.00041⟩

Article dans une revue hal-02049404v1
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Taxonomy based analysis of force exchanges during object grasping and manipulation

Sandra Martin-Brevet , Nathanael Jarrasse , Etienne Burdet , Agnès Roby-Brami

PLoS ONE, 2017, 12 (5), pp.e0178185. ⟨10.1371/journal.pone.0178185⟩

Article dans une revue hal-01534586v1
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Reachability and the sense of embodiment in amputees using prostheses

Adrienne Gouzien , Frédérique de Vignemont , Amelie Touillet , Noel Martinet , Jozina B de Graaf et al.

Scientific Reports, 2017, 7 (1), pp.4999 - 4999. ⟨10.1038/s41598-017-05094-6⟩

Article dans une revue hal-01691154v1
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Modifying upper-limb inter-joint coordination in healthy subjects by training with a robotic exoskeleton

Tommaso Proietti , Emmanuel Guigon , Agnès Roby-Brami , Nathanael Jarrasse

Journal of NeuroEngineering and Rehabilitation, 2017, 14, pp.55. ⟨10.1186/s12984-017-0254-x⟩

Article dans une revue hal-01556759v1
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Classification of Phantom Finger, Hand, Wrist and Elbow Voluntary Gestures in Transhumeral Amputees with sEMG

Nathanaël Jarrassé , Caroline Nicol , A. Touillet , Florian Richer , Noël Martinet et al.

IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2017, 25 (1), pp.68-77. ⟨10.1109/TNSRE.2016.2563222⟩

Article dans une revue hal-01455035v1
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SITAR: a system for independent task-oriented assessment and rehabilitation

Asif Hussain , Sivakumar Balasubramanian , Nick Roach , Julius Klein , Nathanael Jarrasse et al.

Journal of Rehabilitation and Assistive Technologies Engineering, 2017, 4, pp.205566831772963. ⟨10.1177/2055668317729637⟩

Article dans une revue hal-02109768v1
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Spectral parameters for finger tapping quantification

Vladislava N Bobić , Milica Djurić-Jovičić , Nathanael Jarrasse , Milica Jecmenica-Lukic , Igor N Petrović et al.

Facta Universitatis, Series: Electronics and Energetics, 2017, 30 (4), pp.585-597. ⟨10.2298/FUEE1704585B⟩

Article dans une revue hal-02109743v1
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Upper-limb robotic exoskeletons for neurorehabilitation: a review on control strategies

Tommaso Proietti , Vincent Crocher , Agnes Roby-Brami , Nathanael Jarrasse

IEEE Reviews in Biomedical Engineering, 2016, PP (99), pp.1. ⟨10.1109/RBME.2016.2552201⟩

Article dans une revue hal-01302398v1
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Phantom hand and wrist movements in upper limb amputees are slow but naturally controlled movements

Jozina B. de Graaf , Nathanaël Jarrassé , Caroline Nicol , A. Touillet , Thelma Coyle et al.

Neuroscience, 2016, 312, pp.48-57. ⟨10.1016/j.neuroscience.2015.11.007⟩

Article dans une revue hal-01457353v1
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Robotic prosthetics: beyond the technical performance

Nathanael Jarrasse , Marina Maestrutti , Guillaume Morel , Agnès Roby-Brami

IEEE Technology and Society Magazine, 2015, 34 (2), pp.69-77. ⟨10.1109/MTS.2015.2425813⟩

Article dans une revue hal-03161262v1
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Robotic Prosthetics : Moving Beyond Technical Performance

N. Jarrasse , M. Maestrutti , Guillaume Morel , Agnès Roby-Brami

IEEE Technology and Society Magazine, 2015, 34 (2), pp.71-79. ⟨10.1109/MTS.2015.2425813⟩

Article dans une revue hal-02110254v1

Les exosquelettes robotisés : réalités et perspectives

N Jarrassé , Agnès Roby-Brami , Ludovic Saint-Bauzel , Guillaume Morel

Académie de Chirurgie Magazine, 2014, 13, pp.6 - 9

Article dans une revue hal-01170514v1
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Analysis of hand synergies in healthy subjects during bimanual manipulation of various objects

Nathanaël Jarrassé , Adriano Tacilo Ribeiro , Anis Sahbani , Wael Bachta , Agnes Roby-Brami

Journal of NeuroEngineering and Rehabilitation, 2014, 11, pp.113. ⟨10.1186/1743-0003-11-113⟩

Article dans une revue hal-01329383v1
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Robotic exoskeletons: a perspective for the rehabilitation of arm coordination in stroke patients

Nathanaël Jarrassé , Tommaso Proietti , Vincent Crocher , Johanna Robertson , Anis Sahbani et al.

Frontiers in Human Neuroscience, 2014, 8, pp.947. ⟨10.3389/fnhum.2014.00947⟩

Article dans une revue hal-01320175v1

Ergonomic design of a wrist robot

Mohammad Esmaeili , Nathanael Jarrasse , Wayne Dailey , Etienne Burdet , Domenico Campolo

International Journal of Intelligent Computing and Cybernetics, 2014, 7 (3), pp.289-306. ⟨10.1108/IJICC-10-2013-0047⟩

Article dans une revue hal-02110318v1

Instrumented objects for the study and quantitative evaluation of grasping and manipulation strategies

Nathanaël Jarrassé , S. Martin , Agnès Roby-Brami

Annals of Physical and Rehabilitation Medicine, 2014, 57, pp.e179-e180. ⟨10.1016/j.rehab.2014.03.651⟩

Article dans une revue hal-02110324v1

Neuromuscular reorganization after arm amputation revealed by stump EMG evoked by different phantom movements

J. de Graaf , Nathanaël Jarrassé , C. Nicol , A. Touillet , J. Paysant

Annals of Physical and Rehabilitation Medicine, 2014, 57, pp.e4. ⟨10.1016/j.rehab.2014.03.014⟩

Article dans une revue hal-02110307v1
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Slaves no longer: review on role assignment for human–robot joint motor action

Nathanael Jarrasse , Vittorio Sanguineti , Etienne Burdet

Adaptive Behavior, 2013, 22 (1), pp.70-82. ⟨10.1177/1059712313481044⟩

Article dans une revue hal-02110786v1
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Analysis of hand synergies in healthy subjects during bimanual manipulation of various objects.

Nathanaël Jarrassé , Adriano Tacilo Ribeiro , Anis Sahbani , Wael Bachta , Agnes Roby-Brami

Journal of NeuroEngineering and Rehabilitation, 2013, pp.113

Article dans une revue inserm-01086061v1
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A Framework to Describe, Analyze and Generate Interactive Motor Behaviors

Nathanael Jarrasse , Themistoklis Charalambous , Etienne Burdet

PLoS ONE, 2012, 7 (11), pp.e49945. ⟨10.1371/journal.pone.0049945⟩

Article dans une revue hal-02110740v1
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Connecting a Human Limb to an Exoskeleton

Nathanael Jarrasse , Guillaume Morel

IEEE Transactions on Robotics, 2012, 28 (3), pp.697-709. ⟨10.1109/TRO.2011.2178151⟩

Article dans une revue hal-02109366v1
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A methodology to quantify alterations in human upper limb movement during co-manipulation with an exoskeleton

Nathanaël Jarrassé , M. Tagliabue , J. Robertson , A Maiza , Vincent Crocher et al.

IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2010, 18 (4), pp.389-397. ⟨10.1109/TNSRE.2010.2056388⟩

Article dans une revue hal-02110660v1

De l’utilisation des robots pour la rééducation: intérêt et perspectives

J. Robertson , N. Jarrasse , Viviane Pasqui , Agnès Roby-Brami

Lettre de Médecine Physique et de Réadaptation, 2007, 23 (3), pp.139-147. ⟨10.1007/s11659-007-0070-y⟩

Article dans une revue hal-02110669v1

Penser l’accessibilité des prothèses : entre technique(s), environnement(s) et formation(s)

Nathanael Jarrasse

Séminaire Phiteco. Techniques et handicap : concevoir l’accessibilité, Université de Technologie de Compiègne, Jan 2026, Compiègne, France, France

Communication dans un congrès hal-05544042v1

Movement couplings for intuitive robotic assistance to gesture

Nathanael Jarrasse

Journées thématiques communes des GDR Robotique (TS4 Humain et Robot), IHM (GT Interaction Physique) et TACT, TS4 GDR Robotique, Nov 2025, Paris, France

Communication dans un congrès hal-05544049v1
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A Comparative Study Between a Virtual Wand and a One-to-One Approach for the Teleoperation of a Nearby Robotic Manipulator

Alexis Poignant , Guillaume Morel , Nathanaël Jarrassé

2025 IEEE International Conference on Robotics and Automation (ICRA 2025), May 2025, Atlanta, GA, United States. pp.5608-5614, ⟨10.1109/ICRA55743.2025.11127740⟩

Communication dans un congrès hal-05367775v1
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Teleoperating a 6 DoF Robotic Manipulator from Head Movements

Alexis Poignant , Nathanaël Jarrassé , Guillaume Morel

2025 IEEE International Conference on Robotics and Automation (ICRA), May 2025, Atlanta, United States. pp.1-8, ⟨10.1109/ICRA55743.2025.11127494⟩

Communication dans un congrès hal-05367777v1
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Hands-free teleoperation of a nearby manipulator through a virtual body-to-robot link

Alexis Poignant , Nathanaël Jarrassé , Guillaume Morel

2024 IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Sep 2024, Heidelberg (Germany), Germany. pp.619-626, ⟨10.1109/BioRob60516.2024.10719920⟩

Communication dans un congrès hal-04695427v1
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Comparing Teaching Strategies of a Machine Learning-based Prosthetic Arm

Vaynee Sungeelee , Nathanaël Jarrassé , Téo Sanchez , Baptiste Caramiaux

Intelligent User Interfaces (IUI), ACM, Mar 2024, Greenville, South Carolina, United States. pp.715-730, ⟨10.1145/3640543.3645170⟩

Communication dans un congrès hal-04527854v1

Movement couplings for intuitive robotic assistance to gesture

Nathanael Jarrasse

IEEE Biorob 2024 Workshop “A Multidisciplinary Overview of Upper Limb Prosthetics Development: Challenges and Opportunities", IEEE Biorob 2024, Sep 2024, Heidelberg, Germany

Communication dans un congrès hal-05544059v1
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Assessment of Multi Vibrotactile-Skin Stretch (MuViSS) Haptic Device to restore sensory feedback in upper limb amputees using prosthetics

Andrea Campanelli , Charlélie Saudrais , Sébastien Mick , Monica Tiboni , Fabien Verité et al.

IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Sep 2024, Heidelberg, Germany. pp.217-222, ⟨10.1109/BioRob60516.2024.10719755⟩

Communication dans un congrès hal-04695479v1

Movement couplings for intuitive robotic assistance to gesture

Nathanael Jarrasse

Course "New technologies in Neurorehabilitation and Motor Learning", Technical University Munich (TUM) project week, Technical University Munich (TUM), Sep 2024, Munich (Allemagne), Germany

Communication dans un congrès hal-05544055v1
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A Practical Control Approach for Safe Collaborative Supernumerary Robotic Arms

Mahdi Khoramshahi , Alexis Poignant , Guillaume Morel , Nathanael Jarrassé

2023 IEEE Conference on Advanced Robotics and its Social Impact (ARSO 2023), IEEE, Jun 2023, Berlin, Germany

Communication dans un congrès hal-04067845v1

« Drôle d’objet » ou « drôle de comportement ? »

Guillaume Morel , Nathanael Jarassé , Alexis Poignant , Lionel Obadia

Drôles d'objets 2023, May 2023, Nancy (France), France

Communication dans un congrès hal-04713931v1
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Improved real-time gait phase detection using simple force sensors, sequencing conditions and smart fault management

Clemence Drouot , Nathanael Jarrasse

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec 2022, Jinghong, China. pp.2328-2335, ⟨10.1109/ROBIO55434.2022.10011720⟩

Communication dans un congrès hal-04019149v1
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Using Arm Swing Movements to Maintain the Walking State in a Self-Balanced Lower-Limb Exoskeleton

Omar Mounir Alaoui , Fabien Expert , Guillaume Morel , Nathanael Jarrasse

2022 IEEE International Conference on Robotics and Automation (ICRA), May 2022, Philadelphia, France. pp.6444-6450, ⟨10.1109/ICRA46639.2022.9811824⟩

Communication dans un congrès hal-03870400v1
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Computing the positioning error of an upper-arm robotic prosthesis from the observation of its wearer's posture

Alexis Poignant , Mathilde Legrand , Nathanaël Jarrassé , Guillaume Morel

2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561613⟩

Communication dans un congrès hal-03846009v1
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Intent-aware control in kinematically redundant systems: Towards collaborative wearable robots

Mahdi Khoramshahi , Guillaume Morel , Nathanael Jarrasse

2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021, Xi'an, China

Communication dans un congrès hal-03181212v1

Upper-limb joint coordination during and after exposure to a robotic exoskeleton: Influence of spontaneous movement vigour.

Ross Parry , Agnès Roby-Brami , Nathanael Jarrasse

Société de biomécanique 2021 Session Biomécanique de l’interaction homme – systèmes, ergonomie et robotique., Sep 2021, Saint-Etienne, France

Communication dans un congrès hal-03869447v1
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Caractérisation de l'effondrement durant la marche des patients atteints de myosite à inclusions : analyse préliminaire

Clémence Drouot , Nathanaël Jarrassé

Actes du colloque « Jeunes Chercheuses, Jeunes Chercheurs" IFRATH 2021, IFRATH, Oct 2021, Créteil, France

Communication dans un congrès hal-04019174v1
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Computing the positioning error of an upper-arm robotic prosthesis from the observation of its wearer's posture

Alexis Poignant , Mathilde Legrand , Nathanael Jarrassé , Guillaume Morel

2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561613⟩

Communication dans un congrès hal-03248786v1
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A closed-loop and ergonomic control for prosthetic wrist rotation

Mathilde Legrand , Nathanaël Jarrassé , Florian Richer , Guillaume Morel

IEEE International Conference on Robotics and Automation, May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9197554⟩

Communication dans un congrès hal-02884219v1
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Controlling upper-limb prostheses with body compensations

Mathilde Legrand , Nathanael Jarrasse , Charlotte Marchand , Florian Richer , Amélie Touillet et al.

WeRob, Oct 2020, Valencia, Spain

Communication dans un congrès hal-03038844v1
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Reciprocal Kinematic Control: using human-robot dual adaptation to control upper limb assistive devices

Mathilde Legrand , Étienne de Montalivet , Florian Richer , Nathanaël Jarrassé , Guillaume Morel

Hamlyn Symposium on Medical Robotics, Jun 2019, Londres, United Kingdom

Communication dans un congrès hal-02324425v1
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Providing proprioceptive feedback by means of vibrotactile stimuli: A way to improve body integration of a prosthetic arm

Malika Auvray , Yann Kechabia , Gabriel Arnold , Nathanael Jarrasse

World Haptics Conference (WHC) 2019, Dec 2019, Tokyo, Japan

Communication dans un congrès hal-04322443v1
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Reciprocal Kinematic Control: using human-robot dual adaptation to control upper limb assistive devices

Mathilde Legrand , E de Montalivet , F Richer , N Jarrassé , G Morel

Hamlyn Symposium on Medical Robotics, Jun 2019, London, United Kingdom

Communication dans un congrès hal-03040570v1

A simple movement based control approach to ease the control of a myoelectric elbow prosthetics in transhumeral amputees

Nathanaël Jarrassé , D. Muller , Étienne de Montalivet , Florian Richer , M Merad et al.

12th World Congress of the International Society of Physical and Rehabilitation Medicine, Jul 2018, Paris, France. pp.e471

Communication dans un congrès hal-02049395v1

Adaptation of upper limb movement using exoskeleton-based training and transfer of cinematic patterns to unconstrained movement: A preliminary study

Tommaso Proietti , Ross Parry , F. Lejeune , Agnès Roby-Brami , Nathanaël Jarrassé

12th World Congress of the International Society of Physical and Rehabilitation Medicine., Jul 2018, Paris, France. pp.e488

Communication dans un congrès hal-02049428v1

Using the body kinematics to assess the utilization of transhumeral prostheses

Manelle Merad , Étienne de Montalivet , M. Lestoille , A. Touillet , N. Martinet et al.

12th 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⟩

Communication dans un congrès hal-02049411v1
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Adaptation to the absence of tactile and proprioceptive feedback in object handling

Ross Parry , Nathanaël Jarrassé , F R Sarlegna , Agnès Roby-Brami

12th World Congress of the International Society of Physical and Rehabilitation Medicine (ISPRM 2018), Jul 2018, Paris, France. pp.e422

Communication dans un congrès hal-02101380v1
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Comparison of different error signals driving the adaptation in assist-as-needed controllers for neurorehabilitation with an upper-limb robotic exoskeleton

Tommaso Proietti , Guillaume Morel , Agnès Roby-Brami , Nathanael Jarrasse

2017 IEEE International Conference on Robotics and Automation (ICRA), May 2017, Singapore, Singapore. pp.6645-6650

Communication dans un congrès hal-02110132v1
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Voluntary phantom hand and finger movements in transhumeral amputees could be used to naturally control polydigital prostheses

Nathanael Jarrasse , Caroline Nicol , Florian Richer , Amelie Touillet , Noël Martinet et al.

2017 International Conference on Rehabilitation Robotics (ICORR), Jul 2017, London, France. pp.1239-1245

Communication dans un congrès hal-02109806v1
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Intuitive prosthetic control using upper limb inter-joint coordinations and IMU-based shoulder angles measurement: a pilot study

Manelle Merad , Étienne de Montalivet , Agnès Roby-Brami , Nathanael Jarrasse

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016, Daejeon, South Korea

Communication dans un congrès hal-02110154v1
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Towards the implementation of natural prosthetic elbow motion using upper limb joint coordination

Manelle Merad , Agnès Roby-Brami , Nathanael Jarrasse

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Jun 2016, Singapore, Singapore. pp.821-826

Communication dans un congrès hal-02110193v1
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Adaptive control of a robotic exoskeleton for neurorehabilitation

Tommaso Proietti , Nathanael Jarrasse , Agnès Roby-Brami , Guillaume Morel

2015 7th International IEEE/EMBS Conference on Neural Engineering (NER), Apr 2015, Montpellier, France. pp.803-806

Communication dans un congrès hal-02110265v1
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Quantitative Assessment of Motor Deficit with an Intelligent Key Object: A Pilot Study

Asif Hussain , Wayne Dailey , Sivakumar Balasubramanian , Nathanael Jarrasse , Samuel Kamalesh Kumar et al.

2015 IEEE International Conference on Rehabilitation Robotics (ICORR), Aug 2015, Singapore, Singapore. pp.247-252

Communication dans un congrès hal-02110223v1

Effect of visual, tactile and proprioceptive sensory perturbations on grasp to lift tasks in healthy subjects.

Sandra Martin-Brevet , Nathanael Jarrasse , Sivakumar Balasubramanian , Agnès Roby-Brami

Neural Control of Movement NCM, 2014, Amsterdam, Unknown Region

Communication dans un congrès hal-03161257v1

Toward the use of augmented auditory feedback for the rehabilitation of arm movements in stroke patients.

Agnès Roby-Brami , Alejandro van Zandt-Escobar , Nathanael Jarrasse , Johanna V.G. Robertson , Norbert Schnell et al.

European Journal of physical and rehabilitation medicine. Vol 50, Supl 1-3,, 2014, Marseille, France. pp.72

Communication dans un congrès hal-03161258v1
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Hyperstaticity for Ergonomic Design of a Wrist Exoskeleton

Mohammad Esmaeili , Nathanael Jarrasse , Wayne Dailey , Etienne Burdet , Domenico Campolo

2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR 2013), Jun 2013, Seattle, France. pp.1-6

Communication dans un congrès hal-02110775v1
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Analysis of grasping strategies and function in hemiparetic patients using an instrumented object

Nathanael Jarrasse , Markus Kuhne , Nick Roach , Asif Hussain , Sivakumar Balasubramanian et al.

13th International Conference on Rehabilitation Robotics (ICORR), 2013, Seattle, United States. ⟨10.1109/ICORR.2013.6650379⟩

Communication dans un congrès hal-03161259v1
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A versatile biomimetic controller for contact tooling and haptic exploration

Gowrishankar Ganesh , Nathanael Jarrasse , Sami Haddadin , Alin Albu-Schaeffer , Etienne Burdet

2012 IEEE International Conference on Robotics and Automation (ICRA), May 2012, St Paul, France. pp.3329-3334

Communication dans un congrès hal-02110723v1
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A Method for measuring the upper limb motion and computing a compatible exoskeleton trajectory

Nathanaël Jarrassé , Vincent Crocher , Guillaume Morel

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Oct 2012, Vilamoura-Algarve, Portugal. pp.3461-3466

Communication dans un congrès hal-02110619v1
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Changing human upper-limb synergies with an exoskeleton using viscous fields

Vincent Crocher , Nathanael Jarrasse , Anis Sahbani , Agnès Roby-Brami , Guillaume Morel

2011 IEEE International Conference on Robotics and Automation (ICRA), May 2011, Shanghai, China. pp.4657-4663

Communication dans un congrès hal-02110627v1
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On the Kinematic Design of Exoskeletons and Their Fixations with a Human Member

Nathanael Jarrasse , Guillaume Morel

Robotics: Science and Systems RSS, 2010, Zaragoza, Spain

Communication dans un congrès hal-02110653v1
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A formal methodology for avoiding hyperstaticity when connecting an exoskeleton to a human member

Nathanael Jarrasse , Guillaume Morel

2010 IEEE International Conference on Robotics and Automation (ICRA 2010), May 2010, Anchorage, France. pp.1188-1195

Communication dans un congrès hal-02110635v1
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Experimental evaluation of several strategies for human motion based transparency control

Nathanael Jarrasse , Jamie Paik , Viviane Pasqui , Guillaume Morel

International Symposium on Experimental Robotics (ISER), 2009, Athenes, Greece

Communication dans un congrès hal-02110709v1
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A methodology to design kinematics of fixations between an orthosis and a human member

Nathanael Jarrasse , Guillaume Morel

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2009, Singapore, Singapore. pp.1958-1963

Communication dans un congrès hal-02110715v1
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How can human motion prediction increase transparency?

Nathanael Jarrasse , Jamie Paik , Viviane Pasqui , Guillaume Morel

2008 IEEE International Conference on Robotics and Automation (ICRA), May 2008, Pasadena, United States. pp.2134-2139

Communication dans un congrès hal-02110692v1
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Design and acceptability assessment of a new reversible orthosis

Nathanaël Jarrassé , J. Robertson , Philippe Garrec , Viviane Pasqui , Yann Perrot et al.

International Conference on Intelligent Robots and Systems, IEEE, Sep 2008, Nice, France. pp.1933-1939, ⟨10.1109/IROS.2008.4651014⟩

Communication dans un congrès cea-01175507v1

Corps et prothèses

Valentine Gourinat , Paul-Fabien Groud , Nathanael Jarrasse

Presses Universitaires de Grenoble, 2020, HANDICAP, VIEILLISSEMENT, SOCIÉTÉ, Alain Blanc, 978-2-7061-4756-2

Ouvrages hal-02909323v1

Cyborg et corps artificiel

Nathanael Jarrasse

Vers le cyber-monde: Humain et numérique en interaction, 2021

Chapitre d'ouvrage hal-03409401v1

L’ambivalence de l’enchantement prothétique contemporain.

Valentine Gourinat , Paul-Fabien Groud , Nathanael Jarrasse

Valentine Gourinat; Paul-Fabien Groud; Nathanaël Jarrassé. Corps & Prothèses, Presses Universitaires de Grenoble, 2020

Chapitre d'ouvrage hal-03055069v1

Les exosquelettes

Nathanael Jarrasse

Techniques de l'ingénieur, 2019

Chapitre d'ouvrage hal-02323673v1

Wearable robotic systems and their applications for neurorehabilitation

Agnès Roby-Brami , Nathanaël Jarrassé

Rehabilitation Robotics, Elsevier, pp.241-252, 2018

Chapitre d'ouvrage hal-02049431v1
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Intuitive control of a prosthetic elbow

Manelle Merad , Étienne de Montalivet , Agnès Roby-Brami , Nathanael Jarrasse

Converging Clinical and Engineering Research on Neurorehabilitation II, Springer, pp.483-487, 2017

Chapitre d'ouvrage hal-02110190v1
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Neuroplasticité après amputation : Phénomènes fonctionnels et conséquences pour la réadaptation

Jozina B de Graaf , Nathanaël Jarrassé , Caroline Nicol , Amélie Touillet

La Plasticité cérébrale, Sauramps Medical, pp.109-121, 2017, Acquisitions en médecine physique et de réadaptation, ISBN 979-1-03030-110-6

Chapitre d'ouvrage hal-01644846v1
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Learning motor coordination under resistive viscous force fields at the joint level with an upper-limb robotic exoskeleton

Tommaso Proietti , Agnès Roby-Brami , Nathanael Jarrasse

Converging Clinical and Engineering Research on Neurorehabilitation II, pp.1175-1179, 2017

Chapitre d'ouvrage hal-02110208v1

Versatile Interaction Control and Haptic Identification in Humans and Robots

Yanan Li , Nathanael Jarrasse , Etienne Burdet

Geometric and Numerical Foundations of Movements, pp.187-206, 2017

Chapitre d'ouvrage hal-02109818v1
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La rééducation fonctionnelle : une question de techniques corporelles

Agnès Roby-Brami , Sandra Martin , Nathanael Jarrasse

Marc Durand, Denis Hauw, Germain Poizat. L'apprentissage des techniques corporelles, Presses Universitaires de France, pp.P 143-156., 2015, collection “Apprendre”

Chapitre d'ouvrage hal-03167100v1
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Contributions à l'exploitation d'exosquelettes actifs pour la rééducation neuromotrice

Nathanaël Jarrassé

Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2010. Français. ⟨NNT : ⟩

Thèse tel-00641079v1