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Philippe Poignet

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Presentation

Philippe Poignet est professeur à l’Université de Montpellier (composante d’enseignement : IUT ; laboratoire de recherche : [LIRMM](https://www.lirmm.fr/philippe-poignet/)). 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](https://www.lirmm.fr/equipes/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.

Publications

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Decoupled Model Predictive Control for Path Following on Complex Surfaces

Joao Cavalcanti Santos , Lénaïc Cuau , Philippe Poignet , Nabil Zemiti
IEEE Robotics and Automation Letters, 2023, 8 (4), pp.2046-2053. ⟨10.1109/LRA.2023.3246393⟩
Journal articles lirmm-04000588v1
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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⟩
Journal articles lirmm-04099053v2

Robot-guided osteotomy in fibula free flap mandibular reconstruction: a preclinical study

Marie de Boutray , Lénaïc Cuau , Michael Ohayon , Renaud Garrel , Philippe Poignet
International Journal of Oral and Maxillofacial Surgery, In press, ⟨10.1016/j.ijom.2023.07.010⟩
Journal articles 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
IEEE Transactions on Biomedical Engineering, 2023, 70 (9), pp.2624-2635. ⟨10.1109/TBME.2023.3260683⟩
Journal articles lirmm-04025813v2
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CT/MR-Compatible Physical Human-Robotized Needle Interactions: from Modeling to Percutaneous Steering

Éderson Dorileo , Nabil Zemiti , Sébastien Krut , Philippe Poignet
Mechatronics, 2022, 85, pp.102840. ⟨10.1016/j.mechatronics.2022.102840⟩
Journal articles lirmm-03680857v1
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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⟩
Journal articles lirmm-03713608v1
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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
International Journal of Computer Assisted Radiology and Surgery, 2022, 17, pp.1321-1331. ⟨10.1007/s11548-022-02608-0⟩
Journal articles lirmm-03639410v1
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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⟩
Journal articles 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
Annals of Biomedical Engineering, 2021, 49 (5), pp.1308-1317. ⟨10.1007/s10439-020-02671-1⟩
Journal articles lirmm-02960692v1
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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
Otology and Neurotology, 2021, 42 (6), pp.e779-e787. ⟨10.1097/mao.0000000000003091⟩
Journal articles lirmm-03250536v1
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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
International Journal of Computer Assisted Radiology and Surgery, 2020, 15 (3), pp.531-543. ⟨10.1007/s11548-019-02100-2⟩
Journal articles lirmm-02381958v1
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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⟩
Journal articles lirmm-02997654v1
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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⟩
Journal articles lirmm-01866495v1
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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⟩
Journal articles lirmm-01643079v1
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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⟩
Journal articles lirmm-01803648v1
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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⟩
Journal articles lirmm-01866088v1
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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
International Journal of Computer Assisted Radiology and Surgery, 2018, 13 (1), pp.13-24. ⟨10.1007/s11548-017-1666-6⟩
Journal articles 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⟩
Journal articles lirmm-01370419v1

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

Antonio Pappalardo , Abdulrahman Albakri , Chao Liu , Luca Bascetta , Elena de Momi
Biomedical Signal Processing and Control, 2016, 29, pp.31-43. ⟨10.1016/j.bspc.2016.05.003⟩
Journal articles lirmm-01313221v1

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
Techniques de l'Ingénieur, 2016, Robotique, TIP661WEB, pp.S7767. ⟨10.51257/a-v1-s7767⟩
Journal articles lirmm-01624753v1
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Unsupervised Trajectory Segmentation for Surgical Gesture Recognition in Robotic Training

Fabien Despinoy , David Bouget , Germain Forestier , Cédric Penet , Nabil Zemiti
IEEE Transactions on Biomedical Engineering, 2016, 63 (6), pp.1280-1291. ⟨10.1109/TBME.2015.2493100⟩
Journal articles lirmm-01217023v1

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⟩
Journal articles lirmm-01348647v1
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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
Medical and Biological Engineering and Computing, 2015, 53 (3), pp.227-240. ⟨10.1007/s11517-014-1227-x⟩
Journal articles lirmm-01235810v1

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⟩
Journal articles lirmm-01008788v1

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⟩
Journal articles lirmm-00940940v1

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⟩
Journal articles lirmm-00873838v1
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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⟩
Journal articles lirmm-00951194v1
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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⟩
Journal articles lirmm-00835852v1

Innovative Endoscopic Sino-Nasal and Anterior Skull Base Robotics

Vincent Trévillot , Rafael Sobral , Etienne Dombre , Philippe Poignet , Benoît Herman
International Journal of Computer Assisted Radiology and Surgery, 2013, 8 (6), pp.977-987. ⟨10.1007/s11548-013-0839-1⟩
Journal articles lirmm-00811856v1

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⟩
Journal articles lirmm-00873832v1

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⟩
Journal articles lirmm-00976065v1

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
Medical and Biological Engineering and Computing, 2013, 51 (6), pp.617-631. ⟨10.1007/s11517-013-1032-y⟩
Journal articles hal-00908533v1
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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⟩
Journal articles hal-00799991v1

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 (JESA), 2012, 46 (2-3), pp.137-165
Journal articles 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⟩
Journal articles 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⟩
Journal articles lirmm-00655894v1

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⟩
Journal articles lirmm-00521422v1

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⟩
Journal articles lirmm-00522952v1

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⟩
Journal articles lirmm-00546098v1

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⟩
Journal articles 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
Applied Bionics and Biomechanics, 2011, 8 (2), pp.253-265. ⟨10.3233/ABB-2011-0037⟩
Journal articles lirmm-00628307v1

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

Hassan El Makssoud , David Guiraud , Philippe Poignet , Mitsuhiro Hayashibe , Pierre-Brice Wieber
Biological Cybernetics (Modeling), 2011, 105, pp.121-138. ⟨10.1007/s00422-011-0445-7⟩
Journal articles lirmm-00631528v1

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⟩
Journal articles 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⟩
Journal articles 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⟩
Journal articles 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⟩
Journal articles lirmm-00189902v1
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Robotique médicale et commande en effort

Etienne Dombre , Philippe Poignet
Journal Européen des Systèmes Automatisés (JESA), 2007, 41 (9-10), pp.999-1019. ⟨10.3166/JESA.41.999-1019⟩
Journal articles 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⟩
Journal articles lirmm-00189906v1

Intégration Robot-Capteur

Jacques Gangloff , Philippe Poignet
Techniques de l'Ingénieur, 2007, pp.S7780. ⟨10.51257/a-v1-s7780⟩
Journal articles lirmm-00189915v1

Kinematic and Dynamic Identification of Parallel Mechanisms

Pierre Renaud , Oscar Andrès Vivas , Nicolas Andreff , Philippe Poignet , Philippe Martinet
Control Engineering Practice, 2006, 14 (9), pp.1099-1109. ⟨10.1016/j.conengprac.2005.06.011⟩
Journal articles lirmm-00102629v1

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⟩
Journal articles lirmm-00105331v1
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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⟩
Journal articles lirmm-00105300v1

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⟩
Journal articles lirmm-00105330v1

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⟩
Journal articles inria-00078465v1

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⟩
Journal articles lirmm-00108556v1
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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⟩
Journal articles lirmm-00269631v2

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 (JESA), 2003, 37 (9), pp.1111-1128
Journal articles lirmm-00269819v1
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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⟩
Journal articles hal-00004515v1

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⟩
Journal articles lirmm-00269512v1

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⟩
Journal articles lirmm-00268641v1

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

M. Gautier , Philippe Poignet
Journal Européen des Systèmes Automatisés (JESA), 2002, 36 (3), pp.465-480
Journal articles lirmm-00268642v1
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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
MBC 2023 - 45th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Jul 2023, Sydney, Australia
Conference papers lirmm-04192619v1

Design optimization of a soft micro-robot for medical intervention

Alexandre Thuillier , Sébastien Krut , Nabil Zemiti , Philippe Poignet
ICAR 2023 - 21st International Conference on Advanced Robotics, IEEE, Dec 2023, Abu Dhabi, United Arab Emirates. In press
Conference papers hal-04310368v1
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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 - Conference on New Technologies for Computer and Robot Assisted Surgery, Apr 2022, Napoli, Italy
Conference papers 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 International Conference on Advanced Robotics, Dec 2021, Ljubljana, Slovenia. pp.228-233, ⟨10.1109/ICAR53236.2021.9659367⟩
Conference papers 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⟩
Conference papers 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⟩
Conference papers lirmm-03140520v1
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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⟩
Conference papers lirmm-03140522v1
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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 Vilchis González , 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⟩
Conference papers lirmm-03141529v1
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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
Conference papers lirmm-02105125v1
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Holdable Haptic Device for 4-DOF Motion Guidance

Julie M Walker , Nabil Zemiti , Philippe Poignet , Allison M Okamura
WHC 2019 - 1st IEEE World Haptics Conference, Jul 2019, Tokyo, Japan. pp.109-114, ⟨10.1109/WHC.2019.8816171⟩
Conference papers lirmm-02093717v1
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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
Hamlyn Symposium on Medical Robotics, Jun 2019, Londres, United Kingdom
Conference papers hal-02276986v1
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Intraoperative Ultrasound-based Augmented Reality Guidance

Jun Shen , Nabil Zemiti , Christophe Taoum , Jean-Louis Dillenseger , Philippe Rouanet
SURGETICA, Jun 2019, Rennes, France
Conference papers 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: Hamlyn Symposium on Medical Robotics, Jun 2019, London, United Kingdom
Conference papers lirmm-02093730v1
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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⟩
Conference papers lirmm-01828628v1
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Nonlinear Model-Mediated Teleoperation for Surgical Applications under Time Variant Communication Delay

Chao Liu , Jing Guo , Philippe Poignet
12th IFAC Symposium on Robot Control (SYROCO), Aug 2018, Budapest, Hungary. pp.493-499, ⟨10.1016/j.ifacol.2018.11.585⟩
Conference papers hal-01868281v1
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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
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⟩
Conference papers lirmm-01828409v1

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⟩
Conference papers hal-01653607v1
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Augmented Reality Visualization Based On 3D Ultrasonography

Jun Shen , Nabil Zemiti , Oscar Caravaca Mora , Simon Antoine , Jean-Louis Dillenseger
SURGETICA, Nov 2017, Strasbourg, France
Conference papers lirmm-02105826v1
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Can Multi-Sensory Feedbacks Improve Laparoscopic Surgery Training?

Ninon Candalh-Touta , Philippe Poignet , Jérome Szewczyk
SURGETICA, Nov 2017, Strasbourg, France
Conference papers hal-02147088v1
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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
ICCARV: International Conference on Control, Automation, Robotics and Vision, Nov 2016, Phuket, Thailand. ⟨10.1109/ICARCV.2016.7838563⟩
Conference papers lirmm-01489241v1
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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⟩
Conference papers hal-01455325v1
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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⟩
Conference papers lirmm-01276757v1
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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⟩
Conference papers lirmm-01643092v1

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⟩
Conference papers lirmm-01275452v1

Simplified adaptive path planning for percutaneous needle insertions

Ederson Antônio Gomes Dorileô , Abdulrahman Albakri , Nabil Zemiti , Philippe Poignet
ICRA: International Conference on Robotics and Automation, May 2015, Seattle, WA, United States. pp.1782-1788, ⟨10.1109/ICRA.2015.7139429⟩
Conference papers lirmm-01275360v1

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⟩
Conference papers 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⟩
Conference papers hal-01218787v1

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⟩
Conference papers lirmm-01275351v1
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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
CRAS: Computer/Robot Assisted Surgery, Sep 2015, Bruxelles, Belgium
Conference papers lirmm-01275607v1

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⟩
Conference papers lirmm-01275446v1

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⟩
Conference papers lirmm-01275441v1

Contribution Of Different Drawing Tasks In The Assessment Of Essential Tremor

Christian Geny , Christine Azevedo Coste , Audrey Gabelle-Deloustal , Charles Fattal , Philippe Poignet
MDS: Movement Disorder Society, Jun 2014, Stockholm, Sweden. pp.1133
Conference papers lirmm-01006392v1
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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
Conference papers hal-01275501v1

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⟩
Conference papers lirmm-00941009v1

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

Ederson Antônio Gomes Dorileô , Nikolai Hungr , Nabil Zemiti , Ivan Bricault , Céline Fouard
CARS: Computer Assisted Radiology and Surgery, Jun 2014, Fukuoka, Japan
Conference papers lirmm-01275609v1

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⟩
Conference papers hal-01208441v1

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⟩
Conference papers lirmm-01275458v1

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⟩
Conference papers lirmm-01275470v1
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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⟩
Conference papers lirmm-01086444v1

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⟩
Conference papers lirmm-01078465v1

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⟩
Conference papers hal-01208443v1

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

Chao Liu , Philippe Poignet
EMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, United States
Conference papers lirmm-01275469v1

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⟩
Conference papers lirmm-01275481v1
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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
Conference papers lirmm-00958690v1

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
Conference papers 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⟩
Conference papers lirmm-00963642v1

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⟩
Conference papers lirmm-00779219v1

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⟩
Conference papers 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
Conference papers lirmm-00757181v1

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⟩
Conference papers 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
Hamlyn Symposium on Medical robotics, Jul 2012, London, United Kingdom
Conference papers hal-00751760v1

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
IAS: Intelligent Autonomous Systems, Jun 2012, Jeju Island, South Korea. pp.121-130, ⟨10.1007/978-3-642-33932-5_12⟩
Conference papers lirmm-00808392v1

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⟩
Conference papers lirmm-00813394v1
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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
Conference papers lirmm-00644057v1

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
Conference papers lirmm-00636909v1
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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
EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.6704-6708, ⟨10.1109/IEMBS.2011.6091653⟩
Conference papers lirmm-00623166v1
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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⟩
Conference papers 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
Conference papers lirmm-00629392v1

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
EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.7049-7053, ⟨10.1109/IEMBS.2011.6091782⟩
Conference papers lirmm-00808384v1

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
Conference papers lirmm-00958702v1

Anti-phase tremor attenuation system using surface electromyography and accelerometer

Ferdinan Widjaja , Cheng Yap Shee , Wing Lok Au , Philippe Poignet , Wei Tech Ang
ICRA: International Conference on Robotics and Automation, May 2011, Shanghai, China
Conference papers lirmm-00812828v1
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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⟩
Conference papers lirmm-00641824v1

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⟩
Conference papers lirmm-00623173v1
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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⟩
Conference papers lirmm-00623150v1
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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
20ème Congrès Français de Mécanique (CFM 2011), Aug 2011, Besançon, France
Conference papers hal-03422779v1
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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⟩
Conference papers lirmm-00623141v1
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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⟩
Conference papers 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
Conference papers hal-00466781v1

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⟩
Conference papers 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⟩
Conference papers lirmm-00472110v1
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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
Conference papers 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
Conference papers 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⟩
Conference papers lirmm-00545458v1

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⟩
Conference papers lirmm-00472116v1
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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⟩
Conference papers hal-00466773v1

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⟩
Conference papers lirmm-00812827v1

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⟩
Conference papers lirmm-00351115v1
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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⟩
Conference papers lirmm-00429594v1
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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⟩
Conference papers lirmm-00413465v1
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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⟩
Conference papers 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⟩
Conference papers lirmm-00413447v1
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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⟩
Conference papers 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⟩
Conference papers lirmm-00429579v1
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FES-controlled Co-contraction Strategies for Pathological Tremor Compensation

Antonio Bo , Philippe Poignet , Dingguo Zhang , Wei Tech Ang
IROS: Intelligent RObots and Systems, Oct 2009, St. Louis, MO, United States. pp.1633-1638, ⟨10.1109/IROS.2009.5354397⟩
Conference papers lirmm-00412947v1
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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
Conference papers lirmm-00431187v1

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⟩
Conference papers lirmm-00431185v1

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⟩
Conference papers lirmm-00288836v1

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
Conference papers lirmm-00286409v1
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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
ISG'08: The 6th Conference of the International Society for Gerontechnology, Jun 2008, Pisa, Italy, pp.001-006
Conference papers 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⟩
Conference papers lirmm-00196062v1

Compensation of Physiological Motion using Linear Predictive Force Control

Michel Dominici , Philippe Poignet , Etienne Dombre
IROS: Intelligent Robots and Systems, Sep 2008, Nice, France. pp.1173-1178, ⟨10.1109/IROS.2008.4651011⟩
Conference papers lirmm-00286411v1

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⟩
Conference papers lirmm-00286413v1

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⟩
Conference papers lirmm-00288827v1

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⟩
Conference papers lirmm-00288828v1

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

Ferdinan Widjaja , Cheng Yap Shee , W. T. Latt , Wing Lok Au , Philippe Poignet
ICRA: International Conference on Robotics and Automation, May 2008, Pasadena, CA, United States. pp.3250-3255, ⟨10.1109/ROBOT.2008.4543706⟩
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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⟩
Conference papers lirmm-00286414v1
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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
Conference papers lirmm-00193720v1

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⟩
Conference papers lirmm-00202630v1

Robotic-Assisted Surgery Through Haptic Feedback Teleoperation Controller

Walid Zarrad , Philippe Poignet , Olivier Company , Rui Cortesão
SURGETICA, Sep 2007, Chambéry, France. pp.351-359
Conference papers lirmm-00186821v1

Suivi de coeur battant par analyse de texture

Philippe Poignet , Aurélien Noce , Jean Triboulet
SURGETICA, 2007, Chambéry, France. pp.403-407
Conference papers lirmm-00189791v1

Towards a sensing system for quantification of pathological tremor

Ferdinan Widjaja , Cheng Yap Shee , Wing Lok Au , Wei Tech Ang , Philippe Poignet
ICIAS'07: International Conference on Intelligent & Advanced Systems, Nov 2007, Kuala Lumpur, Malaysia, pp.00-00
Conference papers lirmm-00189885v1

Efficient tracking of the heart using texture

Aurélien Noce , Jean Triboulet , Philippe Poignet
29th Annual International Conference of the IEEE EMBS, pp.4480-4483
Conference papers lirmm-00189695v1
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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
7th IEEE-RAS International Conference on Humanoid Robots, Nov 2007, Pittsburgh, PA, United States. pp.324-329, ⟨10.1109/ICHR.2007.4813888⟩
Conference papers lirmm-00202778v1

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
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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
Conference papers lirmm-00186798v1

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
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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
Conference papers lirmm-00194986v1

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

Mitsuhiro Hayashibe ,