PP

Philippe Poignet

265
Documents
Affiliation actuelle
  • Robotique médicale et mécanismes parallèles (LIRMM | DEXTER)

Présentation

Philippe Poignet est professeur à l’Université de Montpellier (composante d’enseignement : IUT ; laboratoire de recherche : LIRMM). Il occupe, depuis juillet 2015, les fonctions de directeur du Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier LIRMM. Il est membre du comité de direction du Labex CAMI depuis 2012 et responsable d’un projet d’IRP avec l’Université de Stanford. Membre de l’équipe DEXTER, il est spécialiste de Robotique Chirurgicale. Il est co-fondateur de la startup ACUSURGICAL (concours scientifique), spécialisée dans la conception et le développement d’un robot d’assistance pour la chirurgie de la rétine. Il est également en concours scientifique avec la société STERLAB pour le développement d’un robot conçu pour l’urétéroscopie flexible du haut appareil urinaire. Depuis 20 ans, il co-organise l’école d’été en robotique chirurgicale (SSSR) qui a lieu tous les deux ans.

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Publications

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Helical and Planar Continuum Robot Shapes by Structural Tube Modifications and Backbone Length Control

Camille Benoist , Cédric Girerd , Carlo Saija , Nabil Zemiti , Philippe Poignet et al.

IEEE Robotics and Automation Letters, In press

Article dans une revue hal-05531210v1
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Design and manufacturing method for the production of soft tensegrity structures and mechanisms

Jérémy Sand , François Geiskopf , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

Mechanism and Machine Theory, 2026, 223, pp.106405. ⟨10.1016/j.mechmachtheory.2026.106405⟩

Article dans une revue hal-05536004v1
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Non-rigid motion compensation with skin deformation prediction for in situ bioprinting

Lénaïc Cuau , Philippe Poignet , Nabil Zemiti

IEEE Robotics and Automation Letters, 2025, 10 (7), pp.7262-7269. ⟨10.1109/LRA.2025.3575234⟩

Article dans une revue hal-05072918v1
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sEMG-Based Motion Recognition for Robotic Surgery Training Using Machine Learning and Variable-Length Sliding Windows – A Preliminary Study

Chenji Li , Chao Liu , Arnaud Huaulmé , Nabil Zemiti , Pierre Jannin et al.

IEEE Transactions on Medical Robotics and Bionics, 2025, 7 (2), pp.572-582. ⟨10.1109/tmrb.2025.3560389⟩

Article dans une revue lirmm-05036499v1
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Impact of the bars behavior on the design of soft tensegrities

Jérémy Sand , François Geiskopf , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

Journal of Mechanisms and Robotics, 2024, 16 (10), pp.104501. ⟨10.1115/1.4064572⟩

Article dans une revue hal-04475894v1
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Robot-guided osteotomy in fibula free flap mandibular reconstruction: a preclinical study

Marie de Boutray , Lénaïc Cuau , Michael Ohayon , Renaud Garrel , Philippe Poignet et al.

International Journal of Oral and Maxillofacial Surgery, 2024, 53 (4), pp.343-346. ⟨10.1016/j.ijom.2023.07.010⟩

Article dans une revue lirmm-04188126v1
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Miniaturized endoscopic 2D US transducer for volumetric ultrasound imaging of the auditory system

Lucas Lavenir , João Cavalcanti Santos , Nabil Zemiti , Akil Kaderbay , Frederic Venail et al.

IEEE Transactions on Biomedical Engineering, 2023, 70 (9), pp.2624-2635. ⟨10.1109/TBME.2023.3260683⟩

Article dans une revue lirmm-04025813v2
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Contactless Surface Registration of Featureless Anatomy using Structured Light Camera: Application to Fibula Navigation in Mandible Reconstruction

Lénaïc Cuau , Marie de Boutray , João Cavalcanti Santos , Nabil Zemiti , Philippe Poignet

International Journal of Computer Assisted Radiology and Surgery, 2023, 18, pp.2073-2082. ⟨10.1007/s11548-023-02966-3⟩

Article dans une revue lirmm-04099053v2
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Decoupled Model Predictive Control for Path Following on Complex Surfaces

João Cavalcanti Santos , Lénaïc Cuau , Philippe Poignet , Nabil Zemiti

IEEE Robotics and Automation Letters, 2023, 8 (4), pp.2046-2053. ⟨10.1109/LRA.2023.3246393⟩

Article dans une revue lirmm-04000588v1
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Fibular registration using surface matching in navigation-guided osteotomies: a proof of concept study on 3D-printed models

Marie de Boutray , João Cavalcanti Santos , Adrien Bourgeade , Michael Ohayon , Pierre-Emmanuel Chammas et al.

International Journal of Computer Assisted Radiology and Surgery, 2022, 17, pp.1321-1331. ⟨10.1007/s11548-022-02608-0⟩

Article dans une revue lirmm-03639410v1
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Enabling 4-DoF hand guidance using a portable haptic device exerting tangential force on the user’s finger pads

Gustavo D. Gil , Nabil Zemiti , Julie M. Walker , Félix Péchereau , Philippe Poignet

Mechatronics, 2022, 86 (102868), ⟨10.1016/j.mechatronics.2022.102868⟩

Article dans une revue lirmm-03713608v1
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CT/MR-Compatible Physical Human-Robotized Needle Interactions: from Modeling to Percutaneous Steering

Ederson Antônio Gomes Dorileô , Nabil Zemiti , Sébastien Krut , Philippe Poignet

Mechatronics, 2022, 85, pp.102840. ⟨10.1016/j.mechatronics.2022.102840⟩

Article dans une revue lirmm-03680857v1
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Feasibility of Cochlea High-frequency Ultrasound and Microcomputed Tomography Registration for Cochlear Computer-assisted Surgery: A Testbed

Mohamed Akkari , Gérard Subsol , Nabil Zemiti , Lucas Lavenir , Charlotte Farah et al.

Otology and Neurotology, 2021, 42 (6), pp.e779-e787. ⟨10.1097/mao.0000000000003091⟩

Article dans une revue lirmm-03250536v1
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Towards 3D ultrasound guided needle steering robust to uncertainties, noise and tissue heterogeneity

Guillaume Lapouge , Philippe Poignet , Jocelyne Troccaz

IEEE Transactions on Biomedical Engineering, 2021, 68 (4), pp.1166-1177. ⟨10.1109/TBME.2020.3022619⟩

Article dans une revue hal-02936822v1
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HFUS Imaging of the Cochlea: A Feasibility Study for Anatomical Identification by Registration with MicroCT

Lucas Lavenir , Nabil Zemiti , Mohamed Akkari , Gérard Subsol , Frederic Venail et al.

Annals of Biomedical Engineering, 2021, 49 (5), pp.1308-1317. ⟨10.1007/s10439-020-02671-1⟩

Article dans une revue lirmm-02960692v1
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Sparse-view CBCT reconstruction via weighted Schatten p-norm minimization

Congcong Xu , Bo Yang , Fupei Guo , Wenfeng Zheng , Philippe Poignet

Optics Express, 2020, 28 (24), pp.35469-35482. ⟨10.1364/OE.404471⟩

Article dans une revue lirmm-02997654v1
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Transrectal Ultrasound Image-based Real-time Augmented Reality Guidance in Robot-assisted Laparoscopic Rectal Surgery: A Proof of Concept Study

Jun Shen , Nabil Zemiti , Christophe Taoum , Guillaume Aiche , Jean-Louis Dillenseger et al.

International Journal of Computer Assisted Radiology and Surgery, 2020, 15 (3), pp.531-543. ⟨10.1007/s11548-019-02100-2⟩

Article dans une revue lirmm-02381958v1
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A Scaled Bilateral Teleoperation System for Robotic-Assisted Surgery with Time Delay

Jing Guo , Chao Liu , Philippe Poignet

Journal of Intelligent and Robotic Systems, 2019, 95, pp.165-192. ⟨10.1007/s10846-018-0918-1⟩

Article dans une revue lirmm-01866495v1
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Multi-rate unscented Kalman filtering for pose and curvature estimation in 3D ultrasound-guided needle steering

Guillaume Lapouge , Jocelyne Troccaz , Philippe Poignet

Control Engineering Practice, 2018, 80, pp.116-124. ⟨10.1016/j.conengprac.2018.08.014⟩

Article dans une revue lirmm-01866088v1
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Automatic robotic steering of flexible needles from 3D ultrasound images in phantoms and ex vivo biological tissue

Paul Mignon , Philippe Poignet , Jocelyne Troccaz

Annals of Biomedical Engineering, 2018, 46 (9), pp.1385-1396. ⟨10.1007/s10439-018-2061-3⟩

Article dans une revue lirmm-01803648v1
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Synthesis Method for the Design of Variable Stiffness Components Using Prestressed Singular Elastic Systems

Quentin Boehler , Marc Vedrines , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

Mechanism and Machine Theory, 2018, 121, pp.598-612. ⟨10.1016/j.mechmachtheory.2017.11.013⟩

Article dans une revue lirmm-01643079v1
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Evaluation of Contactless Human-Machine Interface for Robotic Surgical Training

Fabien Despinoy , Nabil Zemiti , Germain Forestier , Luis Alonso Sanchez Secades , Pierre Jannin et al.

International Journal of Computer Assisted Radiology and Surgery, 2018, 13 (1), pp.13-24. ⟨10.1007/s11548-017-1666-6⟩

Article dans une revue lirmm-01577226v1
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From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanism

Quentin Boehler , Salih Abdelaziz , Marc Vedrines , Philippe Poignet , Pierre Renaud

Mechanism and Machine Theory, 2017, 107, pp.1-12. ⟨10.1016/j.mechmachtheory.2016.09.015⟩

Article dans une revue lirmm-01370419v1

Design and evaluation of an actuated knee implant for postoperative ligament imbalance correction

Andrea Collo , Shaban Almouahed , Philippe Poignet , Chafiaa Hamitouche-Djabou , Eric Stindel

Medical Engineering & Physics, 2016, 38 (4), pp.326-332. ⟨10.1016/j.medengphy.2016.01.002⟩

Article dans une revue istex lirmm-01348647v1

Hunt-Crossley Model Based Force Control For Minimally Invasive Robotic Surgery

Antonio Pappalardo , Abdulrahman Albakri , Chao Liu , Luca Bascetta , Elena de Momi et al.

Biomedical Signal Processing and Control, 2016, 29, pp.31-43. ⟨10.1016/j.bspc.2016.05.003⟩

Article dans une revue lirmm-01313221v1
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Unsupervised Trajectory Segmentation for Surgical Gesture Recognition in Robotic Training

Fabien Despinoy , David Bouget , Germain Forestier , Cédric Penet , Nabil Zemiti et al.

IEEE Transactions on Biomedical Engineering, 2016, 63 (6), pp.1280-1291. ⟨10.1109/TBME.2015.2493100⟩

Article dans une revue lirmm-01217023v1

Conception, modélisation et commande des robots à tubes concentriques : vers des applications médicales

Mohamed Nassim Boushaki , Mohamed Taha Chikhaoui , Kanty Rabenorosoa , Chao Liu , Nicolas Andreff et al.

Techniques de l'Ingénieur, 2016, Robotique, TIP661WEB, pp.S7767. ⟨10.51257/a-v1-s7767⟩

Article dans une revue lirmm-01624753v1
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Synthesis of Optimal Electrical Stimulation Patterns for Functional Motion Restoration Applied to Spinal Cord Injured Patients

Mourad Benoussaad , Philippe Poignet , Mitsuhiro Hayashibe , Christine Azevedo Coste , Charles Fattal et al.

Medical and Biological Engineering and Computing, 2015, 53 (3), pp.227-240. ⟨10.1007/s11517-014-1227-x⟩

Article dans une revue lirmm-01235810v1

A design framework for safe surgical robots: example of the ARAKNES robot controller

Luis Alonso Sanchez Secades , Philippe Poignet , Etienne Dombre , Arianna Menciassi , Paolo Dario

Robotics and Autonomous Systems, 2014, 62 (9), pp.1342-1352. ⟨10.1016/j.robot.2014.03.020⟩

Article dans une revue istex lirmm-00873838v1

3D soft-tissue tracking using spatial-color joint probability distribution and thin-plate spline model

Bo Yang , Wai-Keung Wong , Chao Liu , Philippe Poignet

Pattern Recognition, 2014, 47 (9), pp.2962-2973. ⟨10.1016/j.patcog.2014.03.020⟩

Article dans une revue istex lirmm-01008788v1
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On the Use of Fixed-Intensity Functional Electrical Stimulation for Attenuating Essential Tremor

Antonio Padilha Lanari Bo , Christine Azevedo Coste , Christian Geny , Philippe Poignet , Charles Fattal

Artificial Organs, 2014, 38 (11), pp.984-991. ⟨10.1111/aor.12261⟩

Article dans une revue lirmm-00951194v1
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Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation

Pedro Moreira , Nabil Zemiti , Chao Liu , Philippe Poignet

Computer Methods and Programs in Biomedicine, 2014, 116 (2), pp.52-67. ⟨10.1016/j.cmpb.2014.01.017⟩

Article dans une revue lirmm-00940940v1
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Theme F "medical robotics for training and guidance": Results and future work

Florence Zara , Tanneguy Redarce , Philippe Poignet

Innovation and Research in BioMedical engineering, 2013, 34 (1), pp.16-17. ⟨10.1016/j.irbm.2012.12.016⟩

Article dans une revue hal-00799991v1
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In-vivo Identification of Skeletal Muscle Dynamics with Nonlinear Kalman Filter -Comparison between EKF and SPKF

Mitsuhiro Hayashibe , David Guiraud , Philippe Poignet

ISRN Rehabilitation, 2013, 2013, pp.ID 610709. ⟨10.1155/2013/610709⟩

Article dans une revue lirmm-00835852v1

Innovative Endoscopic Sino-Nasal and Anterior Skull Base Robotics

Vincent Trévillot , Rafael Sobral , Etienne Dombre , Philippe Poignet , Benoît Herman et al.

International Journal of Computer Assisted Radiology and Surgery, 2013, 8 (6), pp.977-987. ⟨10.1007/s11548-013-0839-1⟩

Article dans une revue istex lirmm-00811856v1

Experimental parameter identification of a multi-scale musculoskeletal model controlled by electrical stimulation: application to patients with spinal cord injury.

Mourad Benoussaad , Philippe Poignet , Mitsuhiro Hayashibe , Christine Azevedo Coste , Charles Fattal et al.

Medical and Biological Engineering and Computing, 2013, 51 (6), pp.617-631. ⟨10.1007/s11517-013-1032-y⟩

Article dans une revue istex hal-00908533v1

A Quasi-Spherical Triangle-Based Approach for Efficient 3-D Soft-Tissue Motion Tracking

Calvin Wong , Bo Yang , Chao Liu , Philippe Poignet

IEEE/ASME Transactions on Mechatronics, 2013, 18 (5), pp.1472-1484. ⟨10.1109/TMECH.2012.2203919⟩

Article dans une revue lirmm-00976065v1

Robot-assisted automatic insertion of steerable needles with closed-loop imaging feedback and intraoperative trajectory replanning

Mariana Bernardes , Bruno Vilhena Adorno , Philippe Poignet , Geovany Borges

Mechatronics, 2013, 23 (6), pp.630-645. ⟨10.1016/j.mechatronics.2013.06.004⟩

Article dans une revue istex lirmm-00873832v1

A combined GPC-Hinf cascadde control for pneumatic actuators: a comparative study

Lotfi Chikh , Philippe Poignet , François Pierrot , Cédric Baradat , Micaël Michelin

Journal Européen des Systèmes Automatisés, 2012, 46 (2-3), pp.137-165

Article dans une revue lirmm-00812336v1

Toward Lower Limbs Movement Restoration With Input-Output Feedback Linearization and Model Predictive Control

Samer S. Mohammed , Philippe Poignet , Philippe Fraisse , David Guiraud

Control Engineering Practice, 2012, 20 (2), pp.182-195. ⟨10.1016/j.conengprac.2011.10.010⟩

Article dans une revue istex hal-00917505v1

Toward Lower Limbs Movement Restoration with Input-Output Feedback Linearization and Model Predictive Control Through Functional Electrical Stimulation

Samer Mohammed , Philippe Poignet , Philippe Fraisse , David Guiraud

Control Engineering Practice, 2012, 20 (2), pp.182-195. ⟨10.1016/j.conengprac.2011.10.010⟩

Article dans une revue istex lirmm-00655894v1

Pathological Tremor and Voluntary Motion Modeling and Online Estimation for Active Compensation

Antonio Bo , Philippe Poignet , Christian Geny

IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2011, 19 (2), pp.177-185. ⟨10.1109/TNSRE.2010.2091283⟩

Article dans une revue lirmm-00522952v1

Neural Oscillator Based Control for Pathological Tremor Suppression via Functional Electrical Stimulation

Dingguo Zhang , Philippe Poignet , Ferdinan Widjaja , Wei Tech Ang

Control Engineering Practice, 2011, 19 (1), pp.74-88. ⟨10.1016/j.conengprac.2010.08.009⟩

Article dans une revue istex lirmm-00521422v1

Towards Robust 3D Visual Tracking for Motion Compensation in Beating Heart Surgery

Rogerio Richa , Antonio Bo , Philippe Poignet

Medical Image Analysis, 2011, 15 (3), pp.302-315. ⟨10.1016/j.media.2010.12.002⟩

Article dans une revue istex lirmm-00546098v1

Multiscale modeling of skeletal muscle properties and experimental validations in isometric conditions

Hassan El Makssoud , David Guiraud , Philippe Poignet , Mitsuhiro Hayashibe , Pierre-Brice Wieber et al.

Biological Cybernetics (Modeling), 2011, 105, pp.121-138. ⟨10.1007/s00422-011-0445-7⟩

Article dans une revue istex lirmm-00631528v1

AIR2, un robot parallèle à actionnement pneumatique à deux degrés de liberté pour les applications de prise et dépose d'objets

Lotfi Chikh , Cédric Baradat , Philippe Poignet , François Pierrot , Micaël Michelin

Mechanics & Industry, 2011, 12, pp.239-243. ⟨10.1051/meca/2011106⟩

Article dans une revue lirmm-00616516v1
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Integration of new features for telerobotic surgery into the MiroSurge system

Rainer Konietschke , Davide Zerbato , Rogerio Richa , Andreas Tobergte , Philippe Poignet et al.

Applied Bionics and Biomechanics, 2011, 8 (2), pp.253-265. ⟨10.3233/ABB-2011-0037⟩

Article dans une revue lirmm-00628307v1

3D motion tracking for beating heart surgery

Rogerio Richa , Philippe Poignet , Chao Liu

The International Journal of Robotics Research, 2010, 29 (2-3), pp.218-230. ⟨10.1177/0278364909356600⟩

Article dans une revue lirmm-00431793v1

Exploring peripheral mechanism of tremor on neuromusculoskeletal model: ageneral simulation study

Dingguo Zhang , Antonio Bo , Philippe Poignet , Wei Tech Ang

IEEE Transactions on Biomedical Engineering, 2009, 56 (10), pp.2359-2369. ⟨10.1109/TBME.2009.2023979⟩

Article dans une revue lirmm-00380136v1

Optimal Design of a 4-DOF Parallel Manipulator: From Academia to Industry

François Pierrot , Vincent Nabat , Olivier Company , Sébastien Krut , Philippe Poignet

IEEE Transactions on Robotics, 2009, 25 (2), pp.212-224. ⟨10.1109/TRO.2008.2011412⟩

Article dans une revue lirmm-00385724v1
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Ultrasound image-based visual servoing of a surgical instrument through nonlinear model predictive control

Mickaël Sauvée , Philippe Poignet , Etienne Dombre

The International Journal of Robotics Research, 2008, 27 (1), pp.25-40. ⟨10.1177/0278364907082269⟩

Article dans une revue lirmm-00189902v1

Intégration Robot-Capteur

Jacques Gangloff , Philippe Poignet

Techniques de l'Ingénieur, 2007, pp.S7780. ⟨10.51257/a-v1-s7780⟩

Article dans une revue lirmm-00189915v1
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Robotique médicale et commande en effort

Etienne Dombre , Philippe Poignet

Journal Européen des Systèmes Automatisés, 2007, 41 (9-10), pp.999-1019. ⟨10.3166/JESA.41.999-1019⟩

Article dans une revue lirmm-00189911v1

Three-dimensional heart motion estimation using endoscopic monocular vision system: From artificial landmarks to texture analysis

Mickaël Sauvée , Aurélien Noce , Philippe Poignet , Jean Triboulet , Etienne Dombre

Biomedical Signal Processing and Control, 2007, IFAC Symposia on Biomedical Systems Modelling & Control, 2 (3), pp.199-207. ⟨10.1016/j.bspc.2007.07.006⟩

Article dans une revue istex lirmm-00189906v1

Kinematic and Dynamic Identification of Parallel Mechanisms

Pierre Renaud , Oscar Andrès Vivas , Nicolas Andreff , Philippe Poignet , Philippe Martinet et al.

Control Engineering Practice, 2006, 14 (9), pp.1099-1109. ⟨10.1016/j.conengprac.2005.06.011⟩

Article dans une revue istex lirmm-00102629v1

A Hybrid Position/Force Control Approach for Identification of Deformation Models of Skin and Underlying Tissues

Gilles Duchemin , Pierre Maillet , Philippe Poignet , Etienne Dombre , François Pierrot

IEEE Transactions on Biomedical Engineering, 2005, 52 (2), pp.160-170. ⟨10.1109/TBME.2004.840505⟩

Article dans une revue lirmm-00105330v1
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Predictive Functional Control of a Parallel Robot

Oscar Andrès Vivas , Philippe Poignet

Control Engineering Practice, 2005, Control Applications of Optimisation, 13 (7), pp.863-874. ⟨10.1016/j.conengprac.2004.10.001⟩

Article dans une revue lirmm-00105300v1

Robust Dynamic Experimental Identification of Robots with Set Membership Uncertainty

Nacim Ramdani , Philippe Poignet

IEEE/ASME Transactions on Mechatronics, 2005, 10 (2), pp.253-256. ⟨10.1109/TMECH.2005.844703⟩

Article dans une revue lirmm-00105331v1

Medically safe and sound [human-friendly robot dependability]

Gilles Duchemin , Philippe Poignet , Etienne Dombre , François Pierrot

IEEE Robotics and Automation Magazine, 2004, 11 (2), pp.46-55. ⟨10.1109/MRA.2004.1310941⟩

Article dans une revue lirmm-00108556v1

Artificial Locomotion Control: from Human to Robots

Christine Azevedo Coste , Philippe Poignet , Bernard Espiau

Robotics and Autonomous Systems, 2004, 47 (4), pp.203-223. ⟨10.1016/j.robot.2004.03.013⟩

Article dans une revue istex inria-00078465v1

Design and Control Issues for Intrinsically Safe Medical Robots

Philippe Poignet , Etienne Dombre , François Pierrot , Olivier Merigeaux , Gilles Duchemin

Industrial Robot: An International Journal, 2003, 30 (1), pp.83-88. ⟨10.1108/01439910310457751⟩

Article dans une revue istex lirmm-00269512v1
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Quelques Problèmes de Conception et Commande de Robots Médicaux

Etienne Dombre , Philippe Poignet , Gilles Duchemin , François Pierrot

Mechanics & Industry, 2003, 4 (5), pp.559-563. ⟨10.1016/j.mecind.2003.07.002⟩

Article dans une revue lirmm-00269631v2
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DERMAROB: a safe robot for reconstructive surgery

Etienne Dombre , Gilles Duchemin , Philippe Poignet , François Pierrot

IEEE Transactions on Robotics and Automation, 2003, 19 (5), pp.876-884. ⟨10.1109/TRA.2003.817067⟩

Article dans une revue hal-00004515v1

Estimation des Paramètres Physiques du Modèle Dynamique d'un Robot Parallèle dans un Contexte à Erreurs Bornées : Une Approche Ellipsoïdale

Philippe Poignet , Nacim Ramdani , Oscar Andrès Vivas

Journal Européen des Systèmes Automatisés, 2003, 37 (9), pp.1111-1128

Article dans une revue lirmm-00269819v1

Identification en Boucle Fermée par Modèle Inverse des Paramètres Physiques de Systèmes Mécatroniques

M. Gautier , Philippe Poignet

Journal Européen des Systèmes Automatisés, 2002, 36 (3), pp.465-480

Article dans une revue lirmm-00268642v1

Modeling, Simulation and Control of High Speed Machine Tools using Robotics Formalism

Philippe Poignet , Matthieu Gautier , Wisama Khalil , Minh Tu Pham

Mechatronics, 2002, 12/3, pp.461-487. ⟨10.1016/S0957-4158(01)00003-4⟩

Article dans une revue istex lirmm-00268641v1
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Étude d’une tenségrité souple pour la conception d’un effecteur à raideur variable d’endoscope chirurgical robotisé

Jérémy Sand , François Geiskopf , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

CFM 2025 - 26e Congrès Français de Mécanique, Laboratoire d'Etude des Microstructures et de Mécanique des Matériaux (LEM3 - UMR CNRS 7239), Aug 2025, Metz, France

Communication dans un congrès hal-05374513v1
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Direct TPS-based 3D non-rigid motion estimation on 3D colored point cloud in eye-in-hand configuration

Lénaïc Cuau , João Cavalcanti Santos , Philippe Poignet , Nabil Zemiti

IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2024, Abu Dhabi, United Arab Emirates. pp.11581-11586, ⟨10.1109/IROS58592.2024.10802824⟩

Communication dans un congrès hal-04659853v2
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Using a soft tensegrity to build an endoscope tip: numerical assessment of orientation and stiffness capabilities

Jérémy Sand , François Geiskopf , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

CRAS 2024 - Conference on New Technologies for Computer and Robot Assisted Surgery, Sep 2024, Odense, Denmark

Communication dans un congrès hal-05374449v1
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Optimal Bending Stiffness Design of a Soft Micro-Robot for Cochlear Implantation

Alexandre Thuillier , Sébastien Krut , Nabil Zemiti , Philippe Poignet

ROBOSOFT 2024 - 7th IEEE-RAS International Conference on Soft Robotics, Apr 2024, San Diego, CA, United States. pp.492-497, ⟨10.1109/RoboSoft60065.2024.10521998⟩

Communication dans un congrès lirmm-04660122v1
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Tendon-Driven vs Rod-Driven Continuum Robots: A Bench Test Evaluation

Camille Benoist , Cédric Girerd , Nabil Zemiti , Philippe Poignet , Pierre Berthet-Rayne

CRAS 2024 - Conference on New Technologies for Computer and Robot Assisted Surgery, Sep 2024, Odense, Denmark

Communication dans un congrès hal-04690807v2
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sEMG-based Motion Recognition for Robotic Surgery Training - A Preliminary Study

Chenji Li , Chao Liu , Arnaud Huaulmé , Nabil Zemiti , Pierre Jannin et al.

EMBC 2023 - 45th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Jul 2023, Sydney, Australia. ⟨10.1109/EMBC40787.2023.10340047⟩

Communication dans un congrès lirmm-04192619v1
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Design optimization of a soft micro-robot for medical intervention

Alexandre Thuillier , Sébastien Krut , Nabil Zemiti , Philippe Poignet

ICAR 2023 - 21st IEEE International Conference on Advanced Robotics, Dec 2023, Abu Dhabi, United Arab Emirates. pp.291-296, ⟨10.1109/ICAR58858.2023.10406498⟩

Communication dans un congrès hal-04310368v1
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Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous Interventions

Hamza El Jjouaoui , Giorgio Mackenzie Cruz-Martinez , Juan Carlos Avila Vilchis , Adriana Herlinda Vilchis-Gonzalez , Salih Abdelaziz et al.

ARK 2022 - 18th International Symposium on Advances in Robot Kinematics, Jun 2022, Bilbao, Spain. pp.332-339, ⟨10.1007/978-3-031-08140-8_36⟩

Communication dans un congrès hal-04565727v1
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Super twisting control for tensegrity systems

José Angel Alvarez Duarte , Juan Manuel Jacinto-Villegas , Adriana Herlinda Vilchis-Gonzalez , Salih Abdelaziz , Juan Carlos Avila Vilchis et al.

SYROCO 2022 - 13th IFAC Symposium on Robot Control, Oct 2022, Matsumoto, Japan

Communication dans un congrès hal-04565814v1
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Fast and Automatic Optical 3D Cameras Calibration for Contactless Surface Registration in Computer Assisted Surgery

Lénaïc Cuau , Marie de Boutray , João Cavalcanti Santos , Philippe Poignet , Nabil Zemiti

CRAS 2022 - 11th Conference on New Technologies for Computer and Robot Assisted Surgery, Apr 2022, Napoli, Italy

Communication dans un congrès lirmm-03713605v1
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Geometric Calibration of a New Miniaturized Endoscopic Ultrasound Probe

João Cavalcanti Santos , Lucas Lavenir , Nabil Zemiti , Philippe Poignet , Frederic Venail

ICAR 2021 - 20th IEEE International Conference on Advanced Robotics, Dec 2021, Ljubljana, Slovenia. pp.228-233, ⟨10.1109/ICAR53236.2021.9659367⟩

Communication dans un congrès hal-03519968v1
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Efficient target tracking for 3D ultrasound-guided needle steering

Guillaume Lapouge , Gaelle Fiard , Philippe Poignet , Jocelyne Troccaz

SPIE Medical Imaging, Feb 2020, Houston, United States. pp.#113150I, ⟨10.1117/12.2548321⟩

Communication dans un congrès hal-02498231v1
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Model Predictive Controller for a Planar Tensegrity Mechanism with decoupled position and stiffness control

Jurado Realpe , Salih Abdelaziz , Philippe Poignet

ARK 2020 - 17th International Symposium on Advances in Robot Kinematics, Jun 2020, Ljubljana, Slovenia. pp.349-358, ⟨10.1007/978-3-030-50975-0_43⟩

Communication dans un congrès lirmm-03140520v1
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Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity Mechanism

Giorgio Mackenzie Cruz-Martinez , Juan Carlos Avila Vilchis , Adriana Herlinda Vilchis-Gonzalez , Salih Abdelaziz , Philippe Poignet

ARK 2020 - 17th International Symposium on Advances in Robot Kinematics, Dec 2020, Ljubljana, Slovenia. pp.15-24, ⟨10.1007/978-3-030-50975-0_3⟩

Communication dans un congrès lirmm-03141529v1
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Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulation

Jurado Realpe , Guillaume Aiche , Salih Abdelaziz , Philippe Poignet

ICRA 2020 - 37th IEEE International Conference on Robotics and Automation, May 2020, Paris (Virtual), France. pp.3882-3888, ⟨10.1109/ICRA40945.2020.9197507⟩

Communication dans un congrès lirmm-03140522v1
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Holdable Haptic Device for 4-DOF Motion Guidance

Julie M. Walker , Nabil Zemiti , Philippe Poignet , Allison Okamura

WHC 2019 - 1st IEEE World Haptics Conference, Jul 2019, Tokyo, Japan. pp.109-114, ⟨10.1109/WHC.2019.8816171⟩

Communication dans un congrès lirmm-02093717v1
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Towards a novel man-machine interface to speed up training on robot-assisted surgery

Gustavo D. Gil , Julie M. Walker , Nabil Zemiti , Allison M Okamura , Philippe Poignet

SURGETICA, Jun 2019, Rennes, France

Communication dans un congrès lirmm-02105125v1
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Intraoperative Ultrasound-based Augmented Reality Guidance

Jun Shen , Nabil Zemiti , Christophe Taoum , Jean-Louis Dillenseger , Philippe Rouanet et al.

SURGETICA, Jun 2019, Rennes, France

Communication dans un congrès lirmm-02105828v1
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How to enhance learning of robotic surgery gestures? A tactile cue saliency investigation for 3D hand guidance. ("Best Poster Award")

Gustavo D. Gil , Julie M. Walker , Nabil Zemiti , Allison M. Okamura , Philippe Poignet

HSMR 2019 - 12th Hamlyn Symposium on Medical Robotics, Jun 2019, London, United Kingdom

Communication dans un congrès lirmm-02093730v1
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Needle Segmentation in 3D Ultrasound Volumes Based on Machine Learning for Needle Steering

Guillaume Lapouge , Hatem Younes , Philippe Poignet , Sandrine Voros , Jocelyne Troccaz

HSMR 2019 - 12th Hamlyn Symposium on Medical Robotics, Jun 2019, Londres, United Kingdom

Communication dans un congrès hal-02276986v1
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Intraoperative Ultrasonography-based Augmented Reality For Application In Image Guided Robotic Surgery

Jun Shen , Nabil Zemiti , Agnès Viquesnel , Oscar Caravaca Mora , Auguste Courtin et al.

CARS 2018 - 32nd International Congress and Exhibition on Computer Assisted Radiology and Surgery, Jun 2018, Berlin, Germany. pp.S45-S46, ⟨10.1007/s11548-018-1766-y⟩

Communication dans un congrès lirmm-01828409v1
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Fast And Simple Automatic 3D Ultrasound Probe Calibration Based On 3D Printed Phantom And An Untracked Marker

Jun Shen , Nabil Zemiti , Jean-Louis Dillenseger , Philippe Poignet

EMBC 2018 - 40th International Conference of the IEEE Engineering in Medicine and Biology Society, Jul 2018, Honolulu, Hawaii, United States. pp.878-882, ⟨10.1109/EMBC.2018.8512406⟩

Communication dans un congrès lirmm-01828628v1
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Nonlinear Model-Mediated Teleoperation for Surgical Applications under Time Variant Communication Delay

Chao Liu , Jing Guo , Philippe Poignet

SYROCO 2018 - 12th IFAC Symposium on Robot Control, Aug 2018, Budapest, Hungary. pp.493-499, ⟨10.1016/j.ifacol.2018.11.585⟩

Communication dans un congrès hal-01868281v1
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Beveled-Tip Needle-Steering Using 3D Ultrasound, Mechanical-Based Kalman Filter and Curvilinear ROI Prediction

Paul Mignon , Philippe Poignet , Jocelyne Troccaz

ICCARV: International Conference on Control, Automation, Robotics and Vision, Nov 2016, Phuket, Thailand. ⟨10.1109/ICARCV.2016.7838840⟩

Communication dans un congrès hal-01455325v1
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Can Multi-Sensory Feedbacks Improve Laparoscopic Surgery Training?

Ninon Candalh-Touta , Philippe Poignet , Jérome Szewczyk

SURGETICA, Nov 2017, Strasbourg, France

Communication dans un congrès hal-02147088v1
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Augmented Reality Visualization Based On 3D Ultrasonography

Jun Shen , Nabil Zemiti , Oscar Caravaca Mora , Simon Antoine , Jean-Louis Dillenseger et al.

SURGETICA, Nov 2017, Strasbourg, France

Communication dans un congrès lirmm-02105826v1

Battery-free force sensor for instrumented knee implant

Shaban Almouahed , Chafiaa Hamitouche-Djabou , Philippe Poignet , Eric Stindel

HI-POCT: Healthcare Innovations and Point-of-Care Technologies, Nov 2017, Bethesda, United States. ⟨10.1109/HIC.2017.8227570⟩

Communication dans un congrès hal-01653607v1
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Optimization of concentric-tube robot design for deep anterior brain tumor surgery

Mohamed Nassim Boushaki , Chao Liu , Benoît Herman , Vincent Trévillot , Mohamed Akkari et al.

ICCARV: International Conference on Control, Automation, Robotics and Vision, Nov 2016, Phuket, Thailand. ⟨10.1109/ICARCV.2016.7838563⟩

Communication dans un congrès lirmm-01489241v1
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Towards the control of tensegrity mechanisms for variable stiffness applications: a case study

Quentin Boehler , Salih Abdelaziz , Marc Vedrines , Philippe Poignet , Pierre Renaud

EUCOMES: European Conference on Mechanism Science, Sep 2016, Nantes, France. pp.163-171, ⟨10.1007/978-3-319-44156-6_17⟩

Communication dans un congrès lirmm-01643092v1
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Design and evaluation of a novel variable stiffness spherical joint with application to MR-compatible robot design

Quentin Boehler , Marc Vedrines , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

ICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.661-667, ⟨10.1109/ICRA.2016.7487192⟩

Communication dans un congrès lirmm-01276757v1

Motion Prediction Using Dual Kalman Filter for Robust Beating Heart Tracking

Bo Yang , Chao Liu , Philippe Poignet , Wenfeng Zheng , Shan Liu

EMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milan, Italy. pp.4875-4878, ⟨10.1109/EMBC.2015.7319485⟩

Communication dans un congrès lirmm-01275441v1
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Needle Deflection Prediction Using Adaptive Slope Model

Ederson Antônio Gomes Dorileô , Nabil Zemiti , Philippe Poignet

ICAR 2015 - 17th International Conference on Advanced Robotics, Jul 2015, Istanbul, Turkey. pp.60-65, ⟨10.1109/ICAR.2015.7251434⟩

Communication dans un congrès lirmm-01275351v1
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Simplified adaptive path planning for percutaneous needle insertions

Ederson Antônio Gomes Dorileô , Abdulrahman Albakri , Nabil Zemiti , Philippe Poignet

ICRA 2015 - 32nd IEEE International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1782-1788, ⟨10.1109/ICRA.2015.7139429⟩

Communication dans un congrès lirmm-01275360v1

Stable and Enhanced Position-Force Tracking for Bilateral Teleoperation with Time Delay

Jing Guo , Chao Liu , Philippe Poignet

ECC: European Control Conference, Jul 2015, Linz, Austria. pp.1980-1985, ⟨10.1109/ECC.2015.7330829⟩

Communication dans un congrès lirmm-01275452v1

Enhanced Position-Force Tracking of Time-Delayed Teleoperation for Robotic-Assisted Surgery

Jing Guo , Chao Liu , Philippe Poignet

EMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milan, Italy. pp.4894-4897, ⟨10.1109/EMBC.2015.7319489⟩

Communication dans un congrès lirmm-01275446v1
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Experiments on a variable stiffness tensegrity mechanism for an MR-compatible needle holder

Quentin Boehler , Anastasios Zompas , Salih Abdelaziz , Marc Vedrines , Philippe Poignet et al.

CRAS: Computer/Robot Assisted Surgery, Sep 2015, Bruxelles, Belgium

Communication dans un congrès lirmm-01275607v1

Parallel Singularities for the Design of Softening Springs Using Compliant Mechanisms

Quentin Boehler , Marc Vedrines , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

IDETC/CIE: International Design Engineering Technical Conferences and Computers and Information in Engineering, Aug 2015, Boston, MA, United States. pp.V05AT08A019, ⟨10.1115/DETC2015-47240⟩

Communication dans un congrès lirmm-01276756v1
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Using Rotation for Steerable Needle Detection in 3D Color-Doppler Ultrasound Images

Paul Mignon , Philippe Poignet , Jocelyne Troccaz

EMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milano, Italy. pp.1544-1547, ⟨10.1109/EMBC.2015.7318666⟩

Communication dans un congrès hal-01218787v1

Task-Space Position Control of Concentric-Tube Robot with Inaccurate Kinematics Using Approximate Jacobian

Mohamed Nassim Boushaki , Chao Liu , Philippe Poignet

ICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. pp.5877-5882, ⟨10.1109/ICRA.2014.6907724⟩

Communication dans un congrès lirmm-01275481v1

Scaled Position-Force Tracking for Wireless Teleoperation of Miniaturized Surgical Robotic System

Jing Guo , Chao Liu , Philippe Poignet

EMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, United States. pp.361-365, ⟨10.1109/EMBC.2014.6943604⟩

Communication dans un congrès lirmm-01275470v1

Environment Modeling with Physiological Motion Disturbance for Surgical Teleoperation

Abdulrahman Albakri , Chao Liu , Philippe Poignet

ICCARV: International Conference on Control, Automation, Robotics and Vision, Dec 2014, Singapore, Singapore. pp.1298-1303, ⟨10.1109/ICARCV.2014.7064503⟩

Communication dans un congrès lirmm-01275458v1
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Comparative Assessment of a Novel Optical Human-Machine Interface for Laparoscopic Telesurgery

Fabien Despinoy , Luis Alonso Sanchez Secades , Nabil Zemiti , Pierre Jannin , Philippe Poignet

IPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. pp.21-30, ⟨10.1007/978-3-319-07521-1_3⟩

Communication dans un congrès lirmm-01086444v1

A modular CT/MRI-guided Teleoperation Platform for Robot Assisted Punctures Planning

Ederson Antônio Gomes Dorileô , Nikolai Hungr , Nabil Zemiti , Ivan Bricault , Céline Fouard et al.

CARS 2014 - 28th International Congress and Exhibition on Computer Assisted Radiology and Surgery, Jun 2014, Fukuoka, Japan

Communication dans un congrès lirmm-01275609v1

Modelling and Control of an ERF-based Needle Insertion Training Platform

Adrian Graña Sanchez , Luis Alonso Sanchez Secades , Nabil Zemiti , Philippe Poignet

IPCAI: Information Processing in Computer-Assisted Interventions, Jun 2014, Fukuoka, Japan. pp.31-40, ⟨10.1007/978-3-319-07521-1_4⟩

Communication dans un congrès lirmm-00941009v1

A Miniaturised Actuation System Embedded in an Instrumented Knee Implant for Postoperative Ligament Imbalance Correction

Andrea Collo , Philippe Poignet , Chafiaa Hamitouche-Djabou , Shaban Almouahed , Eric Stindel

EMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, Il, United States. pp.6211-6214, ⟨10.1109/EMBC.2014.6945048⟩

Communication dans un congrès hal-01208441v1
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A novel contactless human-machine interface for laparoscopic telesurgery

Fabien Despinoy , Luis Alonso Sanchez Secades , Nabil Zemiti , Pierre Jannin , Philippe Poignet

SURGETICA, Dec 2014, Chambéry, France

Communication dans un congrès hal-01275501v1

Contribution Of Different Drawing Tasks In The Assessment Of Essential Tremor

Christian Geny , Christine Azevedo Coste , Audrey Gabelle-Deloustal , Charles Fattal , Philippe Poignet et al.

MDS: Movement Disorder Society, Jun 2014, Stockholm, Sweden. pp.1133

Communication dans un congrès lirmm-01006392v1

Haptic Teleoperation and Concentric Tube Robot - Some New Control Developments for New Surgical Robot Applications

Chao Liu , Philippe Poignet

EMBC 2014 - 36th International Conference of the IEEE Engineering in Medicine and Biology Society, Aug 2014, Chicago, United States

Communication dans un congrès lirmm-01275469v1

An active tibial component for potoperative fine tuning adjustment of knee ligament imbalance

Andrea Collo , Philippe Poignet , Chafiaa Hamitouche-Djabou , Shaban Almouahed , Eric Stindel

BioRob: Biomedical Robotics and Biomechatronics, Aug 2014, Sao Paulo, Brazil. pp.126-131, ⟨10.1109/BIOROB.2014.6913764⟩

Communication dans un congrès hal-01208443v1

Design and Evaluation of a 1DoF ERF-Based Needle Insertion Haptic Platform

Adrian Graña Sanchez , Luis Alonso Sanchez Secades , Nabil Zemiti , Philippe Poignet

IROS: Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. pp.1216-1221, ⟨10.1109/IROS.2014.6942712⟩

Communication dans un congrès lirmm-01078465v1
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Control of meso-robots for endoluminal Surgery

Luis Alonso Sanchez Secades , Chao Liu , Nabil Zemiti , Philippe Poignet , Etienne Dombre

CRAS: New Technologies for Computer/Robot Assisted Surgery, Sep 2013, Verone, Italy

Communication dans un congrès lirmm-00958690v1

A Case Study of Safety in the Design of Surgical Robots: The ARAKNES Platform

Luis Alonso Sanchez Secades , Minh-Quyen Le , Kanty Rabenorosoa , Chao Liu , Nabil Zemiti et al.

IAS: Intelligent Autonomous Systems, Jun 2012, Jeju Island, South Korea. pp.121-130, ⟨10.1007/978-3-642-33932-5_12⟩

Communication dans un congrès istex lirmm-00808392v1

Towards a Dynamic Tibial Component for Postoperative Fine-tuning Adjustment of Knee Ligament Imbalance

Andrea Collo , Shaban Almouahed , Chafiaa Hamitouche-Djabou , Philippe Poignet , Eric Stindel

BIODEVICES: Biomedical Electronics and Devices, Feb 2013, Barcelona, Spain. pp.95-102

Communication dans un congrès hal-01208446v1

Stability and Performance Analysis of Three-Channel Teleoperation Control Architectures for Medical Applications

Abdulrahman Albakri , Chao Liu , Philippe Poignet

IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.456-462, ⟨10.1109/IROS.2013.6696391⟩

Communication dans un congrès lirmm-00963642v1

The impact of interaction model on stability and transparency in bilateral teleoperation for medical applications

Luis Alonso Sanchez Secades , Minh-Quyen Le , Chao Liu , Nabil Zemiti , Philippe Poignet

ICRA: International Conference on Robotics and Automation, May 2012, St. Paul, MN, United States. pp.1607-1613, ⟨10.1109/ICRA.2012.6225314⟩

Communication dans un congrès lirmm-00808388v1
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Active stabilization of ultrasound image for robotically-assisted medical procedures

Caroline Nadeau , Alexandre Krupa , Pedro Moreira , Nabil Zemiti , Philippe Poignet et al.

Hamlyn Symposium on Medical robotics, Jul 2012, London, United Kingdom

Communication dans un congrès hal-00751760v1

Soft tissue force control using active observers and viscoelastic interaction model

Pedro Moreira , Chao Liu , Nabil Zemiti , Philippe Poignet

ICRA: International Conference on Robotics and Automation, May 2012, Saint Paul, MN, United States. pp.4660-4666, ⟨10.1109/ICRA.2012.6224958⟩

Communication dans un congrès lirmm-00779205v1

Viscoelastic Model Based Force Tracking Control for Robotic-Assisted Surgery

Chao Liu , Pedro Moreira , Philippe Poignet

BioRob: Biomedical Robotics and Biomechatronics, Jun 2012, Roma, Italy. pp.1199-1204

Communication dans un congrès lirmm-00757181v1

Beating Heart Motion Compensation Using Active Observers and Disturbance Estimation

Pedro Moreira , Chao Liu , Nabil Zemiti , Philippe Poignet

SYROCO: Symposium on Robot Control, Sep 2012, Dubrovnik, Croatia. pp.741-746, ⟨10.3182/20120905-3-HR-2030.00164⟩

Communication dans un congrès lirmm-00779219v1

Semi-automatic needle steering system with robotic manipulator

Mariana Bernardes , Bruno Vilhena Adorno , Philippe Poignet , Geovany Borges

ICRA: International Conference on Robotics and Automation, May 2012, St Paul, United States. pp.1595-1600, ⟨10.1109/ICRA.2012.6225185⟩

Communication dans un congrès lirmm-00813394v1

Path planning for steerable needles using duty-cycling

Mariana C. Bernardes , Bruno Vilhena Adorno , Nabil Zemiti , Philippe Poignet , Geovany A. Borges

CARS: Computer-Assisted Radiology and Surgery, 2011, Berlin, Germany. pp.293-294

Communication dans un congrès lirmm-00958702v1

Real-time control and evaluation of a teleoperated miniature arm for Single Port Laparoscopy

Luis Alonso Sanchez Secades , Gianluigi Petroni , Marco Piccigallo , Umberto Scarfogliero , Marta Niccolini et al.

EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.7049-7053, ⟨10.1109/IEMBS.2011.6091782⟩

Communication dans un congrès lirmm-00808384v1
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Towards a Cooperative Framework for Interactive Manipulation Involving a Human and a Humanoid

Bruno Vilhena Adorno , Antonio Bo , Philippe Fraisse , Philippe Poignet

ICRA: International Conference on Robotics and Automation, May 2011, Shanghai, China. pp.3777-3783, ⟨10.1109/ICRA.2011.5979787⟩

Communication dans un congrès lirmm-00641657v1

Adaptive Tracking Control of Rigid-Link Flexible-Joint Robot Manipulator with Uncertainties

Chao Liu , Xianbo Xiang , Philippe Poignet

IFAC 18th World Congress 2011, Milano, Italy. pp.10300-10306

Communication dans un congrès lirmm-00629392v1
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Adaptive Path Planning for Steerable Needles Using Duty-Cycling

Mariana Costa Bernardes , Bruno Vilhena Adorno , Philippe Poignet , Nabil Zemiti , Geovany A. Borges

IROS: Intelligent RObots and Systems, Sep 2011, San Francisco, CA, United States. pp.2545-2550, ⟨10.1109/IROS.2011.6048259⟩

Communication dans un congrès lirmm-00641824v1
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Haptic Feedback Control in Medical Robots Through Fractional Viscoelastic Tissue Model

Yo Kobayashi , Pedro Moreira , Chao Liu , Philippe Poignet , Nabil Zemiti et al.

EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.6704-6708, ⟨10.1109/IEMBS.2011.6091653⟩

Communication dans un congrès lirmm-00623166v1

On the Use of FES to Attenuate Tremor by Modulating Joint Impedance

Antonio Padilha Lanari Bo , Christine Azevedo Coste , Philippe Poignet , Christian Geny , Charles Fattal

CDC-ECC: Conference on Decision and Control - European Control Conference, Dec 2011, Orlando, Florida, United States. pp.6

Communication dans un congrès lirmm-00636909v1
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Tremor attenuation based on joint impedance modulation using FES

Antonio Bo , Christine Azevedo Coste , Christian Geny , Philippe Poignet , Charles Fattal

IFESS: International Functional Electrical Stimulation Conference, Sep 2011, Sao Paulo, Brazil

Communication dans un congrès lirmm-00644057v1
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Joint Angle Estimation in Rehabilitation with Inertial Sensors and its Integration with Kinect

Antonio Bo , Mitsuhiro Hayashibe , Philippe Poignet

EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.3479-3483, ⟨10.1109/IEMBS.2011.6090940⟩

Communication dans un congrès lirmm-00623141v1
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Using electromechanical delay for real-time anti-phase tremor attenuation system using Functional Electrical Stimulation

Ferdinan Widjaja , Cheng Yap Shee , Wing Lok Au , Philippe Poignet , Wei Tech Ang

ICRA 2011 - IEEE International Conference on Robotics and Automation, May 2011, Shanghai, China. pp.3694-3699, ⟨10.1109/ICRA.2011.5979865⟩

Communication dans un congrès lirmm-00812828v1
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AIR2, un robot parallèle à actionnement pneumatique à deux degrés de liberté pour les applications de prise et dépose d'objets

Lotfi Chikh , Cédric Baradat , Philippe Poignet , François Pierrot , Micaël Michelin

CFM 2011 - 20e Congrès Français de Mécanique, Aug 2011, Besançon, France

Communication dans un congrès hal-03422779v1
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Robust 3D Tracking for Robotic-Assisted Beating Heart Surgery

Philippe Poignet , Rogerio Richa , Antonio Padilha Lanari Bo , Chao Liu

EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.6686-6690, ⟨10.1109/IEMBS.2011.6091648⟩

Communication dans un congrès lirmm-00623150v1

3D Force Control for Robotic-Assisted Beating Heart Surgery Based on Viscoelastic Tissue Model

Chao Liu , Pedro Moreira , Nabil Zemiti , Philippe Poignet

EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.7054-7058, ⟨10.1109/IEMBS.2011.6091783⟩

Communication dans un congrès lirmm-00623173v1

A generalized predictive force controller for electropneumatic cylinders

Lotfi Chikh , Philippe Poignet , François Pierrot , Micaël Michelin

NOLCOS: Nonlinear Control Systems, Sep 2010, University of Bologna, Italy. pp.1058-1063, ⟨10.3182/20100901-3-IT-2016.00047⟩

Communication dans un congrès lirmm-00812827v1
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Commande predictive robuste des vérins electropneumatiques dans un schema en cascade position-pression

Lotfi Chikh , Philippe Poignet , Micaël Michelin , François Pierrot

Conférence Internationale Francophone d'Automatique CIFA2010, Jun 2010, Nancy, France. pp.Inconnu

Communication dans un congrès hal-00466784v1

Robust 3D visual tracking for robotic-assisted cardiac interventions

Rogerio Richa , Antonio Bo , Philippe Poignet

MICCAI: Medical Image Computing and Computer Assisted Intervention, Sep 2010, Beijing, China. pp.267-274

Communication dans un congrès lirmm-00812544v1
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Adaptative Force Feedback Control for 3D Compensation of Physiological Motion in Beating Heart Surgery

Zeineb Zarrouk , Ahmed Chemori , Philippe Poignet

IROS: Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. pp.1856-1861, ⟨10.1109/IROS.2010.5650684⟩

Communication dans un congrès lirmm-00545458v1

Tremor attenuation using FES-based joint stiffness control

Antonio Bo , Philippe Poignet , Christian Geny

ICRA: International Conference on Robotics and Automation, May 2010, Anchorage, AK, United States. pp.2928-2933, ⟨10.1109/ROBOT.2010.5509560⟩

Communication dans un congrès lirmm-00472108v1

Beating heart motion prediction for robust visual tracking

Rogerio Richa , Antonio Bo , Philippe Poignet

ICRA: International Conference on Robotics and Automation, May 2010, Anchorage, AK, United States. pp.4579-4584, ⟨10.1109/ROBOT.2010.5509894⟩

Communication dans un congrès lirmm-00472110v1
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Nonlinear Identification Method Corresponding to Muscle Property Variation in FES - Experiments in Paraplegic Patients

Mitsuhiro Hayashibe , Mourad Benoussaad , David Guiraud , Philippe Poignet , Charles Fattal

BioRob: Biomedical Robotics and Biomechatronics, Sep 2010, Tokyo, Japan. pp.401-406, ⟨10.1109/BIOROB.2010.5628018⟩

Communication dans un congrès lirmm-00502181v1
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A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles

Lotfi Chikh , Philippe Poignet , François Pierrot , Micaël Michelin

2010 American Control Conference Marriott Waterfront, Baltimore, MD, USA June 30-July 02, 2010, Jun 2010, Baltimore, United States. pp.6022-6029

Communication dans un congrès hal-00466781v1
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A mixed GPC-H infinity robust cascade position-pressure control strategy for electropneumatic cylinders

Lotfi Chikh , Philippe Poignet , François Pierrot , Cédric Baradat

ICRA: International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.5147-5154, ⟨10.1109/ROBOT.2010.5509386⟩

Communication dans un congrès hal-00466773v1

SP-ID regulation of rigid-link electrically driven robots with uncertain kinematics

Chao Liu , Philippe Poignet

ICRA: International Conference on Robotics and Automation, May 2010, Anchorage, AK, United States. pp.4663-4668, ⟨10.1109/ROBOT.2010.5509996⟩

Communication dans un congrès lirmm-00472116v1
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Compensation for 3D physiological motion in robotic-assisted surgery using a predictive force controller

Michel Dominici , Philippe Poignet , Rui Cortesão , Etienne Dombre , Olivier Tempier

IROS 2009 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.2634-2639, ⟨10.1109/IROS.2009.5353909⟩

Communication dans un congrès lirmm-00812831v1
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Physiological Musculoskeletal Model Identification for the Lower Limbs Control of Paraplegic Under Implanted FES

Mourad Benoussaad , David Guiraud , Philippe Poignet

IROS'09: International Conference on Intelligent RObots and Systems, Oct 2009, St. Louis, MO, United States. pp.3549-3554, ⟨10.1109/IROS.2009.5354348⟩

Communication dans un congrès lirmm-00413447v1
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Modeling Human Postural Coordination to Improve the Control of Balance in Humanoids

Vincent Bonnet , Julien Lagarde , Philippe Fraisse , Nacim Ramdani , Sofiane Ramdani et al.

7th IEEE-RAS International Conference on Humanoid Robots, Nov 2007, Pittsburgh, PA, United States. pp.324-329, ⟨10.1109/ICHR.2007.4813888⟩

Communication dans un congrès lirmm-00202778v1
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Identification and Validation of FES Physiological Musculoskeletal Model in Paraplegic Subjects

Mourad Benoussaad , Mitsuhiro Hayashibe , Charles Fattal , Philippe Poignet , David Guiraud

EMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.6538-6541, ⟨10.1109/IEMBS.2009.5334507⟩

Communication dans un congrès lirmm-00413465v1
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EMG-to-force estimation with full-scale physiology based muscle model

Mitsuhiro Hayashibe , David Guiraud , Philippe Poignet

IROS'09: International Conference on Intelligent RObots and Systems, Oct 2009, St. Louis, MO, United States. pp.1621-1626, ⟨10.1109/IROS.2009.5354644⟩

Communication dans un congrès lirmm-00429594v1

Motion Compensation for Robotic-Assisted Surgery with Force Feedback

Rui Cortesão , Philippe Poignet

ICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.3464-3469, ⟨10.1109/ROBOT.2009.5152220⟩

Communication dans un congrès lirmm-00351115v1

Filtering of intended motion for real-time tremor compensation in human upper limb using surface electromyography

Ferdinan Widjaja , Cheng Yap Shee , Philippe Poignet , Wei Tech Ang

EMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.2296-2299, ⟨10.1109/IEMBS.2009.5332523⟩

Communication dans un congrès lirmm-00431185v1
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Some control-related issues in mini-robotics for endoluminal surgery

Philippe Poignet , Ahmed Chemori , Nabil Zemiti , Chao Liu

EMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.6850-6855

Communication dans un congrès lirmm-00431187v1
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FES-controlled Co-contraction Strategies for Pathological Tremor Compensation

Antonio Bo , Philippe Poignet , Dingguo Zhang , Wei Tech Ang

IROS 2009 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.1633-1638, ⟨10.1109/IROS.2009.5354397⟩

Communication dans un congrès lirmm-00412947v1
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Filtering Voluntary Motion for Pathological Tremor Compensation

Antonio Bo , Philippe Poignet , Christian Geny

IROS: Intelligent RObots and Systems, Oct 2009, St. Louis, MO, United States. pp.55-60, ⟨10.1109/IROS.2009.5353972⟩

Communication dans un congrès lirmm-00412950v1
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EMG-Based Neuromuscular Modeling with Full Physiological Dynamics and Its Comparison with Modified Hill Model

Mitsuhiro Hayashibe , David Guiraud , Philippe Poignet

EMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.6530-6533, ⟨10.1109/IEMBS.2009.5333147⟩

Communication dans un congrès lirmm-00429579v1

Optimal Functional Electrical Stimulation patterns synthesis for knee joint control

Mourad Benoussaad , Philippe Poignet , David Guiraud

IROS'08: International Conference on Intelligent RObots and Systems, Sep 2008, Nice, France. pp.2386-2391, ⟨10.1109/IROS.2008.4651112⟩

Communication dans un congrès lirmm-00286413v1

Efficient 3D tracking for motion compensation in beating heart surgery

Rogerio Richa , Philippe Poignet , Chao Liu

MICCAI: Medical Image Computing and Computer Assisted Intervention, Sep 2008, New-York University, United States. pp.684-691

Communication dans un congrès lirmm-00286409v1

Online Pathological Tremor Characterization Using Extended Kalman Filtering

Antonio Bo , Philippe Poignet , Ferdinan Widjaja , Wei Tech Ang

EMBC: Engineering in Medicine and Biology Conference, Aug 2008, Vancouver, BC, Canada. pp.1753-1756, ⟨10.1109/IEMBS.2008.4649516⟩

Communication dans un congrès lirmm-00288836v1
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Current Progress on Pathological Tremor Modeling and Active Compensation using Functional Electrical Stimulation

Ferdinan Widjaja , Cheng Yap Shee , Dingguo Zhang , Wei Tech Ang , Philippe Poignet et al.

ISG 2008 - 6th Conference of the International Society for Gerontechnology, Jun 2008, Pisa, Italy. pp.001-006

Communication dans un congrès lirmm-00288453v1
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Nonlinear identification of skeletal muscle dynamics with sigma-point kalman filter for model-based FES

Mitsuhiro Hayashibe , Philippe Poignet , David Guiraud

ICRA 2008 - IEEE International Conference on Robotics and Automation, May 2008, Pasadena, CA, United States. pp.2049-2054, ⟨10.1109/ROBOT.2008.4543508⟩

Communication dans un congrès lirmm-00196062v1

Deformable motion tracking of the heart surface

Rogerio Richa , Philippe Poignet , Chao Liu

IROS: Intelligent Robots and Systems, Sep 2008, Nice, France. pp.3997-4003, ⟨10.1109/IROS.2008.4650916⟩

Communication dans un congrès lirmm-00286414v1
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Compensation of Physiological Motion using Linear Predictive Force Control

Michel Dominici , Philippe Poignet , Etienne Dombre

IROS 2008 - IEEE/RSJ International Conference on Intelligent RObots and Systems, Sep 2008, Nice, France. pp.1173-1178, ⟨10.1109/IROS.2008.4651011⟩

Communication dans un congrès lirmm-00286411v1

Kalman filtering of accelerometer and electromyography data in pathological tremor sensing system

Ferdinan Widjaja , Cheng Yap Shee , Win Tun Latt , Wing Lok Au , Philippe Poignet et al.

ICRA 2008 - IEEE International Conference on Robotics and Automation, May 2008, Pasadena, CA, United States. pp.3250-3255, ⟨10.1109/ROBOT.2008.4543706⟩

Communication dans un congrès lirmm-00196066v1

A Neuromusculoskeletal Model Exploring Peripheral Mechanism of Tremor

Dingguo Zhang , Wei Tech Ang , Philippe Poignet

EMBC: Engineering in Medicine and Biology Conference, Aug 2008, Vancouver, BC, Canada. pp.3715-3719, ⟨10.1109/IEMBS.2008.4650016⟩

Communication dans un congrès lirmm-00288828v1

Motion Prediction for Tracking the Beating Heart

Rogerio Richa , Antonio Bo , Philippe Poignet

EMBC: Engineering in Medicine and Biology Conference, Aug 2008, Vancouver, BC, Canada. pp.3261-3264, ⟨10.1109/IEMBS.2008.4649900⟩

Communication dans un congrès lirmm-00288827v1

Stereo-Vision for 3D Tracking of the Beating Heart

Aurélien Noce , Sylvain Petit , Jean Triboulet , Philippe Poignet

SURGETICA, 2007, Chambery, France

Communication dans un congrès lirmm-01596160v1

Haptic Feedback Control in Medical Robotics through Stiffness Estimation with Extended Kalman

Walid Zarrad , Philippe Poignet , Rui Cortesão , Olivier Company

ICAR 2007 - 13th International Conference on Advanced Robotics, Aug 2007, Jeju, South Korea. pp.81-87

Communication dans un congrès lirmm-00186798v1

Lower Limbs Movement Restoration using Input-Output Feedback Linearization and Model Predictive Control

Samer Mohammed , Philippe Poignet , Philippe Fraisse , David Guiraud

IROS: Intelligent Robots and Systems, Oct 2007, San Diego, United States. pp.1945-1950

Communication dans un congrès lirmm-00194986v1

Séquences de stimulation électrique optimales pour la restauration du mouvement fonctionnel

Mourad Benoussaad , Philippe Poignet , David Guiraud

ASSISTH'07: 1st International Conference on Accessibility and Assistive Technology for People in Disability Situation, Nov 2007, Toulouse, France, pp.343-348

Communication dans un congrès lirmm-00189889v1

Experimental Identification of Skeletal Muscle Biomechanical Parameters with Sigma Point Kalman Filter

Mitsuhiro Hayashibe , David Guiraud , Christine Azevedo Coste , Philippe Poignet

IFESS: International Functional Electrical Stimulation Society, Nov 2007, Philadelphia, United States

Communication dans un congrès lirmm-00189892v1

Mesure d' effort et de diamètre d'artères

Jean Triboulet , Michel Dauzat , Philippe Poignet , Etienne Dombre

4ème Colloque Interdisciplinaire en Instrumentation C2I, Oct 2007, Nancy, pp.001-008

Communication dans un congrès lirmm-00364676v1

Towards a sensing system for quantification of pathological tremor

Ferdinan Widjaja , Cheng Yap Shee , Wing Lok Au , Wei Tech Ang , Philippe Poignet

ICIAS 2007 - International Conference on Intelligent & Advanced Systems, Nov 2007, Kuala Lumpur, Malaysia

Communication dans un congrès lirmm-00189885v1

Suivi de coeur battant par analyse de texture

Philippe Poignet , Aurélien Noce , Jean Triboulet

SURGETICA, 2007, Chambéry, France. pp.403-407

Communication dans un congrès lirmm-00189791v1

Efficient tracking of the heart using texture

Aurélien Noce , Jean Triboulet , Philippe Poignet

29th Annual International Conference of the IEEE EMBS, pp.4480-4483

Communication dans un congrès lirmm-00189695v1

Robotic-Assisted Surgery Through Haptic Feedback Teleoperation Controller

Walid Zarrad , Philippe Poignet , Olivier Company , Rui Cortesão

SURGETICA, Sep 2007, Chambéry, France. pp.351-359

Communication dans un congrès lirmm-00186821v1

Stability and Transparency Analysis of a Haptic Feedback Controller for Medical Applications

Walid Zarrad , Philippe Poignet , Rui Cortesão , Olivier Company

CDC 2007 - 46th IEEE Conference on Decision and Control, Dec 2007, New Orleans, LA, United States. pp.5767-5772, ⟨10.1109/CDC.2007.4434677⟩

Communication dans un congrès lirmm-00202630v1
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Optimal Patterns Synthesis Approach for Knee Motion under Functional Electrical Stimulation

Mourad Benoussaad , Philippe Poignet , David Guiraud

IFESS: International Functional Electrical Stimulation Society, Nov 2007, Philadelphia, United States

Communication dans un congrès lirmm-00193720v1

Towards Teleoperated Needle Insertion with Haptic Feedback Controller

Walid Zarrad , Philippe Poignet , Rui Cortesão , Olivier Company

IROS: Intelligent Robots and Systems, Oct 2007, San Diego, CA, United States. pp.1254-1259, ⟨10.1109/IROS.2007.4399085⟩

Communication dans un congrès lirmm-00186804v1
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Suivi de Coeur Battant : Tracking 2D et 3D utilisant la Texture

Aurélien Noce , Jean Triboulet , Philippe Poignet

CORESA: COmpression et REprésentation des Signaux Audiovisuels, Nov 2007, Montpellier, France. pp.43-47

Communication dans un congrès lirmm-00186884v1

Dynamic Modelling and Identification of PAR4, a Very High-Speed Parallel Manipulator

Vincent Nabat , Olivier Company , François Pierrot , Philippe Poignet

IROS'06: International Conference on Intelligent Robots & Systems, 2006, Beijing, China

Communication dans un congrès lirmm-00106293v1

Texture Features Selection for Visual Servoing of the Beating Heart

Aurélien Noce , Jean Triboulet , Philippe Poignet , Etienne Dombre

BioRob 2006 - 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Feb 2006, Pisa, Italy. pp.335-340, ⟨10.1109/BIOROB.2006.1639109⟩

Communication dans un congrès lirmm-00102762v1
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Image Based Visual Servoing through Nonlinear Model Predictive Control

Mickaël Sauvée , Philippe Poignet , Etienne Dombre , Estelle Courtial

CDC 2006 - 45th International Conference on Decision and Control, Dec 2006, San Diego, CA, United States. pp.1776-1781, ⟨10.1109/CDC.2006.377243⟩

Communication dans un congrès lirmm-00125467v1

3D Heart Motion Estimation Using Endoscopic Monocular Vision System

Mickaël Sauvée , Philippe Poignet , Jean Triboulet , Etienne Dombre , Ezio Malis et al.

MCBMS 2006 - 6th IFAC Symposium on Modeling and Control in Biomedical Systems, Sep 2006, Reims, France. pp.141-146

Communication dans un congrès lirmm-00100317v1

Towards Nonlinear Model Predictive Control for Image Based Visual Servoing

Mickaël Sauvée , Philippe Poignet , Etienne Dombre

NMPC-FS’06: 1st IFAC Workshop Nonlinear Model Predictive Control for Fast Systems, Oct 2006, Grenoble, France

Communication dans un congrès lirmm-00102765v1

Closed Loop Non Linear Model Predictive Control Applied On Paralyzed Muscles To Restore Lower Limbs Functions

Samer Mohammed , Philippe Poignet , David Guiraud

IROS'06: International Conference on Intelligent Robots and Systems, Oct 2006, pp.259-264

Communication dans un congrès lirmm-00125486v1

Haptic Control Design for Robotic-Assisted Minimally Invasive Surgery

Rui Cortesão , Walid Zarrad , Philippe Poignet , Olivier Company , Etienne Dombre

IROS: Intelligent Robots and Systems, Oct 2006, Beijing, China. pp.454-459, ⟨10.1109/IROS.2006.282168⟩

Communication dans un congrès lirmm-00119815v1

Experimental Parallel Robot Dynamic Model Evaluation with Set Membership Estimation

Nacim Ramdani , Philippe Poignet

SYSID'06: 14th IFAC Symposium on System Identification, 2006, pp.967-972

Communication dans un congrès lirmm-00119385v1

Towards Modelling the Human Sensory Motor System

David Guiraud , Christine Azevedo Coste , Ken Yoshida , Philippe Poignet , Samer Mohammed et al.

MCBMS’06: 6th IFAC Symposium on Modelling and Control in Biomedical Systems, Sep 2006, Reims, France. pp.399-404

Communication dans un congrès lirmm-00100349v1

Composite visual tracking of the moving heart using texture characterization

Aurélien Noce , Jean Triboulet , Philippe Poignet

Medical Robotics Workshop (MICCAI'06), Oct 2006, pp.6

Communication dans un congrès lirmm-00125463v1

Nonlinear Model Predictive Control via Interval Analysis

Fabien Lydoire , Philippe Poignet

CDC'05: Conference on Decision and Control, Dec 2005, Seville, Spain

Communication dans un congrès lirmm-00106117v1
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Projet GABIE : Guidage Actif Basé sur l'Imagerie Echographique

Etienne Dombre , François Pierrot , Philippe Poignet , Pierre Renaud

ROBEA 2005 - 5e Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, Mar 2005, Montpellier, France. pp.49-56

Communication dans un congrès lirmm-00105974v1
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Session robotique médicale La conception de robots pour l'assistance aux gestes médicaux et chirurgicaux

Philippe Poignet , Gérard Poisson

JNRR 2005 - 5e Journées Nationales de la Recherche en Robotique, Oct 2005, Guidel, France

Communication dans un congrès lirmm-04005224v1
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Robust Control Law Strategy Based on High Order Sliding Mode : Towards a Muscle Control

Samer Mohammed , Philippe Fraisse , David Guiraud , Philippe Poignet , Hassan El Makssoud

IROS'05: International Conference on Intelligent Robots & Systems, Aug 2005, Edmonton (Canada), pp.2882-2887

Communication dans un congrès lirmm-00106501v1

Towards a Co-contraction Muscle Control Strategy For Paraplegics

Samer Mohammed , Philippe Fraisse , David Guiraud , Philippe Poignet , Hassan El Makssoud

CDC: Conference on Decision and Control, Dec 2005, Seville, Spain. pp.7428-7433, ⟨10.1109/CDC.2005.1583360⟩

Communication dans un congrès lirmm-00106120v1

BRIGIT: A Robotized Tool Guide for Orthopedic Surgery

Pierre Maillet , Bertin Nahum , Lucien Blondel , Philippe Poignet , Etienne Dombre

ICRA: International Conference on Robotics and Automation, Apr 2005, Barcelona, Spain. pp.211-216, ⟨10.1109/ROBOT.2005.1570121⟩

Communication dans un congrès lirmm-00105994v1

Mitral Valve Leaflet Motion Tracking in Ultrasound Images

Mickaël Sauvée , Pierre Renaud , Philippe Poignet , Jean Triboulet , Etienne Dombre et al.

SURGETICA, Jan 2005, Chambéry, France. pp.237-244

Communication dans un congrès lirmm-00105992v1

Projet MARGE : Modélisation, Apprentissage et Reproduction du Geste Endochirurchical

Etienne Dombre , Micaël Michelin , François Pierrot , Philippe Poignet , Philippe Bidaud et al.

ROBEA 2004 - 4ièmes Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, Jan 2004, Toulouse, France. pp.17-25

Communication dans un congrès lirmm-00108664v1

Commande non Linéaire à Horizon Fuyant via l'Arithmétique d'Intervalles

Fabien Lydoire , Philippe Poignet

CIFA: Conférence Internationale Francophone d'Automatique, Nov 2004, Douz, Tunisie. pp.CD n°66

Communication dans un congrès lirmm-00108928v1

Control of the Knee Joint Under Functional Electrical Stimulation: Simulation Results Based on a New Physiological Muscle Model

Hassan El Makssoud , Philippe Fraisse , Samer Mohammed , David Guiraud , Philippe Poignet

IFESS: International Functional Electrical Stimulation Society, Sep 2004, Bournemouth, United Kingdom. pp.113-116

Communication dans un congrès lirmm-00108860v1

Using a complex, physiological based modelling of the muscle to perform realistic simulation and test control strategies: closed loop controlled stand up example

Samer Mohammed , David Guiraud , Philippe Fraisse , Philippe Poignet , Hassan El Makssoud

IFESS: International Functional Electrical Stimulation Society, Sep 2004, Bournemouth, United Kingdom. pp.219-221

Communication dans un congrès lirmm-00108861v1

Mathematical Muscle Model for Functional Electrical Stimulation Control Strategies

Hassan El Makssoud , David Guiraud , Philippe Poignet

ICRA: International Conference on Robotics and Automation, Apr 2004, New Orleans, LA, United States. pp.1282-1287

Communication dans un congrès lirmm-00108855v1
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Dynamic Task/Posture Decoupling for Minimally Invasive Surgery Motions

Micaël Michelin , Philippe Poignet , Etienne Dombre

ISER: International Symposium on Experimental Robotics, Jun 2004, Singapore, Singapore

Communication dans un congrès lirmm-00108813v1

Dynamic Task/Posture Decoupling for Minimally Invasive Surgery Motions: Simulation Results

Micaël Michelin , Philippe Poignet , Etienne Dombre

IROS: Intelligent Robots and Systems, Sep 2004, Sendai, Japan. pp.3625-3630, ⟨10.1109/IROS.2004.1389978⟩

Communication dans un congrès lirmm-00108907v1

Modelling and Control of Human Paralysed Lower Limbs Under Functional Electrical Simulation (FES)

David Guiraud , Philippe Poignet , Christine Azevedo Coste , Philippe Fraisse , Hassan El Makssoud et al.

HLR: Humanoid and Legged Robots, Oct 2004, Metz, France

Communication dans un congrès lirmm-00108917v1
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MARGE Project: Design, Modeling, and Control of Assistive Devices for Minimally Invasive Surgery

Etienne Dombre , Micaël Michelin , François Pierrot , Philippe Poignet , Philippe Bidaud et al.

MICCAI 2004 - 7th International Conference on Medical Image Computing and Computer Assisted Intervention, Sep 2004, Saint-Malo, France. pp.1-8, ⟨10.1007/978-3-540-30136-3_1⟩

Communication dans un congrès lirmm-00108906v1
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Experimental Dynamic Identification of a Fully Parallel Robot

Oscar Andrès Vivas , Philippe Poignet , Frédéric Marquet , François Pierrot , Maxime Gautier

ICRA: International Conference on Robotics and Automation, Sep 2003, Taipei, Taiwan. pp.3278-3284

Communication dans un congrès lirmm-00269510v1
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Modelling of the human paralysed lower limb under FES

David Guiraud , Philippe Poignet , Pierre-Brice Wieber , Hassan El Makssoud , François Pierrot et al.

ICRA: International Conference on Robotics and Automation, Sep 2003, Taipei, Taiwan. pp.2218-2223, ⟨10.1109/ROBOT.2003.1241923⟩

Communication dans un congrès inria-00390865v1
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Robust Estimation of Parallel Robot with Interval Analysis

Philippe Poignet , Nacim Ramdani , Oscar Andrès Vivas

CDC: Conference on Decision and Control, Dec 2003, Maui, Hawaii, United States. pp.6503-6508, ⟨10.1109/CDC.2003.1272397⟩

Communication dans un congrès lirmm-00269478v1

Experimental Dynamic Parameters Idenfification of a 7 Dof Walking Robot

Fabien Lydoire , Philippe Poignet

CLAWAR: Climbing and Walking Robots, Sep 2003, Catania, Italy. pp.477-484

Communication dans un congrès lirmm-00269728v1

L'estimation Robuste des Paramètres Dynamiques Physique de Robots dans un Contexte à Erreur Bornée Constitue-elle une Alternative Pertinente à une Approche de Type Maximum de Vraisemblance ?

Philippe Poignet , Nacim Ramdani , Oscar Andrès Vivas

JNA'03: Journées Nationales d'Automatique, Jun 2003, Valenciennes, France

Communication dans un congrès lirmm-00269732v1

DERMAROB : A Partial Thickness Skin Harvesting Robot: Technical and Experimental Data

Luc Téot , Gilles Duchemin , Philippe Poignet , Etienne Dombre

ETRS: European Tissue Repair Society, Sep 2003, Amsterdam, Netherlands

Communication dans un congrès lirmm-00269597v1
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Predictive Functional Control for a Parallel Robot

Oscar Andrès Vivas , Philippe Poignet , François Pierrot

IROS: Intelligent Robots and Systems, Oct 2003, Las Vegas, NV, United States. pp.2785-2790, ⟨10.1109/IROS.2003.1249292⟩

Communication dans un congrès lirmm-00191950v1

Automatic Control Theory Applied to the Restoration of the Movement of Paralysed Limbs

David Guiraud , Hassan El Makssoud , Philippe Poignet , Philippe Fraisse , Etienne Dombre

IARP: International Advanced Robotics Programme, Oct 2003, Madrid, Spain. pp.99-103

Communication dans un congrès lirmm-00269763v1
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Ellipsoidal Estimation of Parallel Robot Dynamic Parameters

Philippe Poignet , Nacim Ramdani , Oscar Andrès Vivas

IROS: Intelligent Robots and Systems, Oct 2003, Las Vegas, NV, United States. pp.3300-3305, ⟨10.1109/IROS.2003.1249665⟩

Communication dans un congrès lirmm-00269729v1
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Non Linear Model Predictive Control Using Constraints Satisfaction

Fabien Lydoire , Philippe Poignet

COCOS: Global Optimization and Constraint Satisfaction, Nov 2003, Lausanne, Switzerland. pp.142-153, ⟨10.1007/11425076_11⟩

Communication dans un congrès istex lirmm-00269731v1

Modelling of the Skeletal Muscle under Functional Electrical Stimulation

Hassan El Makssoud , Philippe Poignet , David Guiraud

IFESS: International Functional Electrical Stimulation Society, Jul 2003, Sunshine Coast, Bribane, Australia. pp.206-209

Communication dans un congrès lirmm-00269712v1

Applications des Outils de l'Automatique au Problème de la Restauration du Mouvement de Membres Paralysés sous Stimulation Electrique Fonctionnelle

David Guiraud , Hassan El Makssoud , Philippe Poignet , Philippe Fraisse , Etienne Dombre

JNRR: Journées Nationales de la Recherche en Robotique, Oct 2003, Clermont-Ferrand, France. pp.75-80

Communication dans un congrès lirmm-00269702v1
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Model Based Predictive Control of a Fully Parallel Robot

Oscar Andrès Vivas , Philippe Poignet

SYROCO: Symposium on Robot Control, 2003, Wroclaw, Poland. pp.277-282

Communication dans un congrès lirmm-00269468v1
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Accelerometer Based Identification of Mechanical Systems

Minh Tu Pham , Philippe Poignet , Matthieu Gautier

ICRA 2002 - IEEE International Conference on Robotics and Automation, May 2002, Washington, DC, United States. pp.4293-4298, ⟨10.1109/ROBOT.2002.1014433⟩

Communication dans un congrès lirmm-00268522v1

DERMAROB : Robot de Prélèvement Cutané

Philippe Poignet , Gilles Duchemin , Etienne Dombre , François Pierrot , Luc Téot

GAM: Groupe pour l'Avancement de la Microchirurgie, 2002, Collioure, France

Communication dans un congrès lirmm-00269353v1
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Three-Dimensional Parameterised Gaits for Biped Walking

Fabien Lydoire , Philippe Poignet , Christine Azevedo Coste , Bernard Espiau

CLAWAR: Climbing and Walking Robots, 2002, Paris, France. pp.749-757

Communication dans un congrès lirmm-00268512v1

Identification des Flexibilités de Machines Outils

Minh Tu Pham , Matthieu Gautier , Philippe Poignet

Assises Machines et Usinage Grande Vitesse, 2002, Lille, France

Communication dans un congrès lirmm-00268644v1

Moving Horizon Control for Biped Robots Without Reference Trajectory

Christine Azevedo Coste , Philippe Poignet , Bernard Espiau

ICRA: International Conference on Robotics and Automation, May 2002, Washington, DC, United States. pp.2762-2767

Communication dans un congrès lirmm-00268479v1

Dermarob, A Robotic Assistive Device for Skin Harvesting

Etienne Dombre , Gilles Duchemin , François Pierrot , Philippe Poignet

SURGETICA, Sep 2002, Grenoble, France. pp.63-68

Communication dans un congrès lirmm-00268444v1
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Robots à Architecture Complexe : De la Conception à la Performance et l'Autonomie

Nicolas Andreff , Belhassen-Chedli Bouzgarrou , Etienne Dombre , Damien Chablat , Olivier Company et al.

ROBEA 2002 - 2es Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, 2002, Toulouse, France. pp.7-11

Communication dans un congrès lirmm-00268624v1

Achieving Motion Under a Penetration Point Constraint

Micaël Michelin , Etienne Dombre , Philippe Poignet , François Pierrot , Laurent Eckert

IROS: Intelligent Robots and Systems, Sep 2002, Lausanne, Switzerland. pp.1475-1480

Communication dans un congrès lirmm-00268625v1
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Contrôle du mouvement du membre inférieur humain paralysé sous stimulation électrique

David Guiraud , Philippe Poignet , Pierre-Brice Wieber , Hassan El Makssoud , François Pierrot et al.

ROBEA 2002 - 2ièmes Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, Jan 2002, Toulouse, France. pp.9-15

Communication dans un congrès lirmm-00268635v1

Robotized Skin Harvesting

Gilles Duchemin , Etienne Dombre , François Pierrot , Philippe Poignet

ISER: International Symposium on Experimental Robotics, 2002, Sant'Angello d'Ischia, Italy

Communication dans un congrès lirmm-00268634v1

DERMAROB: Robot d'Assistance pour la Chirurgie Réparatrice et la Chirurgie Plastique

Gilles Duchemin , Etienne Dombre , François Pierrot , Philippe Poignet , Luc Téot

GAM: Groupe pour l'Avancement de la Microchirurgie, Apr 2002, Collioure, France

Communication dans un congrès lirmm-00269351v1

DERMAROB : Robot de Prélèvement Cutané

Gilles Duchemin , Etienne Dombre , François Pierrot , Philippe Poignet , Loïc Urbain et al.

JJCR: Journées des Jeunes Chercheurs en Robotique, Jan 2002, Strasbourg, France

Communication dans un congrès lirmm-00269350v1
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MAX - Robots à architecture complexe : de la conception à la performance et l’autonomie

Etienne Dombre , Olivier Company , Sébastien Krut , Frédéric Marquet , François Pierrot et al.

ROBEA 2002 - 2ièmes Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, 2002, Toulouse, France. pp.1-8

Communication dans un congrès lirmm-00108665v1

Commande predictive pour la marche d'un robot bipède sous actionné

Christine Azevedo Coste , Philippe Poignet

CIFA: Conférence Internationale Francophone d'Automatique, Jul 2002, Nantes, France

Communication dans un congrès lirmm-00268645v1

On line Optimal Control for Biped Robots

Christine Azevedo Coste , Philippe Poignet , Bernard Espiau

IFAC'02: World Congress, 2002, Barcelona, Spain

Communication dans un congrès lirmm-00268643v1
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Identification of joint stiffness with bandpass filtering

Minh Tu Pham , Maxime Gautier , Philippe Poignet

ICRA 2001 - IEEE International Conference on Robotics and Automation, May 2001, Seoul, South Korea. pp.2867-2872, ⟨10.1109/ROBOT.2001.933056⟩

Communication dans un congrès hal-04741134v1
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SICOMAT : a system for SImulation and COntrol analysis of MAchine Tools

Maxime Gautier , Minh Tu Pham , Wisama Khalil , Philippe Lemoine , Philippe Poignet

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2001, Jul 2001, Como, Italy. pp. 665-670, ⟨10.1109/AIM.2001.936546⟩

Communication dans un congrès hal-00362669v1
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SICOMAT : a system for SImulation and COntrol analysis of MAchine Tools

Maxime Gautier , Minh Tu Pham , Wisama Khalil , Philippe Lemoine , Philippe Poignet

2nd International Seminar on Improving Machine Tool Performance, IMTP2, Jul 2000, La Baule, France. Session A1, Num A6, pp. 1-19

Communication dans un congrès hal-00362667v1
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Automatic tuning of cascade structure CNC controllers

Minh Tu Pham , Philippe Poignet , Maxime Gautier

6th International Workshop on Advanced Motion Control. Proceedings, Mar 2000, Nagoya, Japan. pp.390-395, ⟨10.1109/AMC.2000.862899⟩

Communication dans un congrès hal-04741108v1
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Needle localization for needle steering under 3D ultrasound feedback

Guillaume Lapouge , Jocelyne Troccaz , Philippe Poignet

CSR: Continuum and Soft Robots, Oct 2018, Madrid, Spain. , Continuum and Soft Robots (CSR) for Medical Interventions: Modelling, Fabrication, and Control - IROS Workshop, 2018

Poster de conférence hal-01896975v1
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Toward an MR-compatible needle holder with adaptive compliance using an active tensegrity mechanism

Quentin Boehler , Marc Vedrines , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

SURGETICA, Dec 2014, Chambéry, France. Computer-Assisted Medical Interventions. Scientific problems, tools and clinical applications, 2014

Poster de conférence lirmm-01275440v1

Force Control for Robotic-Assisted Surgery Based on Viscoelastic Tissue Model

Pedro Moreira , Chao Liu , Nabil Zemiti , Philippe Poignet

SKILLS'2011: The International Conference of the European SKILLS Project, Dec 2011, Montpellier, France. , 2011, ⟨10.1051/bioconf/20110100066⟩

Poster de conférence lirmm-00779228v1
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A Cutting Guide Positioner Robot to Improve Bone-Cutting Precision in Knee Osteotomy

Bertin Nahum , Lucien Blondel , E. Tassel , Etienne Dombre , Philippe Poignet et al.

CAOS 2004 - 4th Annual Meeting of Computer Assisted Orthopaedic Surgery, Jun 2004, Chicago, United States. pp.301-302, 2004

Poster de conférence lirmm-00108655v1

Effect of Non-passive Operator on Enhanced Wave-Based Teleoperator for Robotic-Assisted Surgery: First Case Study

Jing Guo , Chao Liu , Philippe Poignet

New Trends in Medical and Service Robots, Mechanisms and Machine Science (39), pp.1-14, 2016, Human Centered Analysis, Control and Design, 978-3-319-30674-2. ⟨10.1007/978-3-319-30674-2_1⟩

Chapitre d'ouvrage lirmm-01318919v1
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Influence of Spring Characteristics on the Behavior of Tensegrity Mechanisms

Quentin Boehler , Marc Vedrines , Salih Abdelaziz , Philippe Poignet , Pierre Renaud

Advances in Robot Kinematics, pp.161-169, 2014, 978-3-319-06698-1. ⟨10.1007/978-3-319-06698-1_18⟩

Chapitre d'ouvrage lirmm-01018866v1

Vision-Based Control

Jacques Gangloff , Florent Nageotte , Philippe Poignet

Jocelyne Troccaz. Medical Robotics, Wiley, pp.177-232, 2013, 978-1-84-821-334-0. ⟨10.1002/9781118562147.ch6⟩

Chapitre d'ouvrage lirmm-00678546v1

Contribution des différentes taches graphiques à l'évaluation du tremblement essentiel

Christian Geny , Christine Azevedo Coste , Audrey Gabelle , Charles Fattal , Philippe Poignet et al.

Revue Neurologique, 169(S2), Elsevier Masson, pp.A136-A137, 2013, ⟨10.1016/j.neurol.2013.01.325⟩

Chapitre d'ouvrage lirmm-00823431v1

Design of Medical Robots

Etienne Dombre , Philippe Poignet , François Pierrot

Jocelyne Troccaz. Medical Robotics, Wiley, pp.141-176, 2012, 978-1-84821-334-0

Chapitre d'ouvrage lirmm-00667875v1

Interaction Modeling and Force Control

Philippe Poignet , Bernard Bayle

Jocelyne Troccaz. Medical Robotics, John Wiley, pp.233-267, 2012, 978-1-84821-334-0

Chapitre d'ouvrage lirmm-00678558v1

Motion tracking for beating heart surgery

Rogerio Richa , Antonio Bo , Philippe Poignet

Jacob Rosen and Blake Hannaford and Richard Satava. Surgical Robotics - Systems Applications and Visions, Springer, pp.497-524, 2011, ⟨10.1007/978-1-4419-1126-1⟩

Chapitre d'ouvrage lirmm-00564548v1

Motion prediction and 3D tracking of the beating heart

Rogerio Richa , Antonio Bo , Philippe Poignet

Jacob Rosen and Blake Hannaford and Richard Satava. Surgical robotics - Systems, Applications and Visions, pp.N/A, 2010

Chapitre d'ouvrage lirmm-00431797v1

On the Design of a Fast Parallel Robot Based on Its Dynamic Model

Vincent Nabat , Sébastien Krut , Olivier Company , Philippe Poignet , François Pierrot

Experimental Robotics, Springer, pp.409-419, 2008, 978-3-540-77456-3. ⟨10.1007/978-3-540-77457-0⟩

Chapitre d'ouvrage lirmm-00232868v1

Rehabilitation of the Paralyzed Lower Limbs Using Functional Electrical Stimulation: Robust Closed Loop Control

Samer Mohammed , Philippe Poignet , Philippe Fraisse , David Guiraud

Cutting Edge Robotics - Rehabilitation Robotics, pp.337-358, 2007, 978-3-902613-04-2

Chapitre d'ouvrage lirmm-00171438v1

Geometrical Control Approach for Minimally Invasive Surgery

Micaël Michelin , Etienne Dombre , Philippe Poignet

T.M. Buzug; T.C. Lueth. Perspective in Image-Guided Surgery, World Scientific Publishing, pp.152-159, 2004, 981-238-872-9

Chapitre d'ouvrage lirmm-00109157v1

Optimisation of the Robot Placement in the Operating Room

Philippe Maillet , Etienne Dombre , Philippe Poignet

T.M. Buzug; T.C. Lueth. Perspective in Image-Guided Surgery, World Scientific Publishing, pp.383-390, 2004, 981-238-872-9

Chapitre d'ouvrage lirmm-00109156v1

Robotized Skin Harvesting

Gilles Duchemin , Etienne Dombre , François Pierrot , Philippe Poignet

Experimental Robotics VIII, 5, Springer Tracts in Advanced Robotics (STAR Series), Springer-Verlag, pp.404-413, 2003, 3-540-00305-3

Chapitre d'ouvrage lirmm-00269516v1