Nathanael Jarrasse

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Publications

Article dans une revue (55)

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
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
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 Burdetet al. IEEE Robotics and Automation Letters, 2025, 10 (2), pp.860-867. ⟨10.1109/LRA.2024.3515734⟩ Article dans une revue hal-04870384v1
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
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
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 Micket al. Mechatronics, 2024, 99, ⟨10.1016/j.mechatronics.2024.103161⟩ Article dans une revue hal-04479519v1
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
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
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 Pinoet al. Machines, 2023, Special Issue Recent Advances in Medical Robotics, ⟨10.3390/machines11121085⟩ Article dans une revue hal-04339855v1
Phantom movement training without classifier performance feedback improves mobilization ability while maintaining EMG pattern classification Olivier Rossel,Manon Chateaux,Nathanaël Jarrassé,Fabien Vérité,Amélie Touilletet 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
Competition increases the effort put into a physical interaction task Atsushi Takagi,Carlo Bagnato,Alejandro Melendez-Calderon,Nathanaël Jarrassé,Gowrishankar Ganeshet al. IEEE Transactions on Haptics (ToH), 2023, 16 (4), pp.719-725. ⟨10.1109/TOH.2023.3306794⟩ Article dans une revue hal-04226679v1
Human Exteroception during Object Handling with an Upper Limb Exoskeleton Dorine Arcangeli,Océane Dubois,Agnès Roby-Brami,Sylvain Famié,Giovanni de Marcoet al. Sensors, 2023, 23 (11), pp.5158. ⟨10.3390/s23115158⟩ Article dans une revue hal-04109437v1
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
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 Martinetet al. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2022, ⟨10.1109/TNSRE.2022.3186266⟩ Article dans une revue hal-03846023v1
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 Martinetet al. IEEE Transactions on Neural Systems and Rehabilitation Engineering, In press Article dans une revue hal-03697470v1
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
Kinematic analysis of impairments and compensatory motor behavior during prosthetic grasping in below-elbow amputees Amélie Touillet,Adrienne Gouzien,Marina Badin,Pierrick Herbe,Noël Martinetet al. PLoS ONE, 2022, 17 (11), pp.e0277917. ⟨10.1371/journal.pone.0277917⟩ Article dans une revue hal-03863792v1
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
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
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
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
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
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-Catalanet al. IEEE Transactions on Medical Robotics and Bionics, 2020, pp.1-12. ⟨10.1109/TMRB.2020.2970065⟩ Article dans une revue hal-02463426v1
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 Paysantet al. IEEE Transactions on Neural Systems and Rehabilitation Engineering, inPress, pp.1-11. ⟨10.1109/TNSRE.2020.3003077⟩ Article dans une revue hal-02884543v1
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
Improving the control of prostheses in arm amputees with approaches based on motor coordination M. Merad,E. de Montalivet,Mathilde Legrand,A. Touillet,N. Martinetet 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
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 Jarrasseet al. Frontiers in Neurology, 2019, 10, pp.240. ⟨10.3389/fneur.2019.00240⟩ Article dans une revue hal-02086396v1
Phantom-mobility-based prosthesis control in transhumeral amputees without surgical reinnervation: a preliminary study. Nathanaël Jarrassé,Étienne de Montalivet,Florian Richer,Caroline Nicol,Amelie Touilletet al. Frontiers in Bioengineering and Biotechnology, 2018, 6, ⟨10.3389/fbioe.2018.00164⟩ Article dans une revue hal-02002425v1
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-Bramiet al. Frontiers in Neurorobotics, 2018, 12, pp.1. ⟨10.3389/fnbot.2018.00001⟩ Article dans une revue hal-01715171v1
Characteristics of phantom upper limb mobility encourage phantom-mobility-based prosthesis control Amélie Touillet,Laetitia Peultier-Celli,Caroline Nicol,Nathanaël Jarrassé,Isabelle Loiretet al. Scientific Reports, 2018, 8, pp.15459. ⟨10.1038/s41598-018-33643-0⟩ Article dans une revue hal-01913708v1
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
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
Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification Yanan Li,Gowrishankar Ganesh,Nathanaël Jarrassé,Sami Haddadin,Alin Albu-Schaefferet al. IEEE Transactions on Robotics, 2018, 34 (5), pp.1170-1182. ⟨10.1109/tro.2018.2830405⟩ Article dans une revue hal-02049408v1
Reachability and the sense of embodiment in amputees using prostheses Adrienne Gouzien,Frédérique de Vignemont,Amelie Touillet,Noel Martinet,Jozina B de Graafet al. Scientific Reports, 2017, 7 (1), pp.4999 - 4999. ⟨10.1038/s41598-017-05094-6⟩ Article dans une revue hal-01691154v1
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
Classification of Phantom Finger, Hand, Wrist and Elbow Voluntary Gestures in Transhumeral Amputees with sEMG Nathanaël Jarrassé,Caroline Nicol,A. Touillet,Florian Richer,Noël Martinetet 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
SITAR: a system for independent task-oriented assessment and rehabilitation Asif Hussain,Sivakumar Balasubramanian,Nick Roach,Julius Klein,Nathanael Jarrasseet al. Journal of Rehabilitation and Assistive Technologies Engineering, 2017, 4, pp.205566831772963. ⟨10.1177/2055668317729637⟩ Article dans une revue hal-02109768v1
Spectral parameters for finger tapping quantification Vladislava N Bobić,Milica Djurić-Jovičić,Nathanael Jarrasse,Milica Jecmenica-Lukic,Igor N Petrovićet al. Facta Universitatis, Series: Electronics and Energetics, 2017, 30 (4), pp.585-597. ⟨10.2298/FUEE1704585B⟩ Article dans une revue hal-02109743v1
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
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 Coyleet al. Neuroscience, 2016, 312, pp.48-57. ⟨10.1016/j.neuroscience.2015.11.007⟩ Article dans une revue hal-01457353v1
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
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
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
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
Robotic exoskeletons: a perspective for the rehabilitation of arm coordination in stroke patients Nathanaël Jarrassé,Tommaso Proietti,Vincent Crocher,Johanna Robertson,Anis Sahbaniet al. Frontiers in Human Neuroscience, 2014, 8, pp.947. ⟨10.3389/fnhum.2014.00947⟩ Article dans une revue hal-01320175v1
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
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
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
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
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
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
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 Crocheret 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

Communication dans un congrès (47)

Movement-based control approaches of upper-limb prostheses Nathanael Jarrasse NeuroControl 2026, CNRS, NeuroPSI, Centrale Supélec, Apr 2026, Saclay, France Communication dans un congrès hal-05583643v1
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
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
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
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
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 Veritéet 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
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
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
« 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
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
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
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
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
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
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
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
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
Controlling upper-limb prostheses with body compensations Mathilde Legrand,Nathanael Jarrasse,Charlotte Marchand,Florian Richer,Amélie Touilletet al. WeRob, Oct 2020, Valencia, Spain Communication dans un congrès hal-03038844v1
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
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
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
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
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. Martinetet 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
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
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 Meradet 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
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 Martinetet al. 2017 International Conference on Rehabilitation Robotics (ICORR), Jul 2017, London, France. pp.1239-1245 Communication dans un congrès hal-02109806v1
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
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
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
Quantitative Assessment of Motor Deficit with an Intelligent Key Object: A Pilot Study Asif Hussain,Wayne Dailey,Sivakumar Balasubramanian,Nathanael Jarrasse,Samuel Kamalesh Kumaret al. 2015 IEEE International Conference on Rehabilitation Robotics (ICORR), Aug 2015, Singapore, Singapore. pp.247-252 Communication dans un congrès hal-02110223v1
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
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 Schnellet al. European Journal of physical and rehabilitation medicine. Vol 50, Supl 1-3,, 2014, Marseille, France. pp.72 Communication dans un congrès hal-03161258v1
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
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
Analysis of grasping strategies and function in hemiparetic patients using an instrumented object Nathanael Jarrasse,Markus Kuhne,Nick Roach,Asif Hussain,Sivakumar Balasubramanianet al. 13th International Conference on Rehabilitation Robotics (ICORR), 2013, Seattle, United States. ⟨10.1109/ICORR.2013.6650379⟩ Communication dans un congrès hal-03161259v1
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
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
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
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
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
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
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
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
Design and acceptability assessment of a new reversible orthosis Nathanaël Jarrassé,J. Robertson,Philippe Garrec,Viviane Pasqui,Yann Perrotet 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

Poster de conférence (1)

Does a small perturbation created by an upper-limb exoskeleton impact our coordination in reaching tasks ? Océane Dubois,Agnès Roby-Brami,Ross Parry,Nathanael Jarrasse Progress in Motor Control, Sep 2023, Rome, Italy Poster de conférence hal-04228833v1

Ouvrages (1)

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

Chapitre d'ouvrage (9)

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
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
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
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
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

Brevet (2)

Device for controlling a robotic system for assisting the mobility of a user Nathanael Jarrasse,Mathilde Legrand-Lestoille,Guillaume Morel France, Patent n° : WO2020193571A1. 2020 Brevet hal-03980694v1
Dispositif de commande d'un système robotique d'assistance à la mobilité d'un utilisateur Nathanael Jarrasse,Mathilde Legrand-Lestoille,Guillaume Morel France, N° de brevet: FR1903103. 2019 Brevet hal-03980631v1

Pré-publication, Document de travail (2)

Virtually turning robotic manipulators into worn devices: opening new horizons for wearable assistive robotics Alexis Poignant,Nathanael Jarrasse,Guillaume Morel 2023 Pré-publication, Document de travail hal-04236124v1
Rehabilitation Robots: A Compliment to Virtual Reality Johanna V. G. Robertson,Nathanaël Jarrassé,Agnès Roby-Brami 2010 Pré-publication, Document de travail hal-05168121v1

Thèse (1)

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

HDR (1)

On the use of sensorimotor coordinations for intuitive and ecological robotic assistance to gesture Nathanaël Jarrassé Robotics [cs.RO]. Sorbonne Université, 2022 HDR tel-03705656v1