
Philippe Poignet
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.
Publications
Publications
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Optimal Bending Stiffness Design of a Soft Micro-Robot for Cochlear ImplantationROBOSOFT 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-04660122
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Tendon-Driven vs Rod-Driven Continuum Robots: A Bench Test EvaluationCRAS 2024 - Conference on New Technologies for Computer and Robot Assisted Surgery, Sep 2024, Odense, Denmark
Communication dans un congrès
hal-04690807
v2
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Direct TPS-based 3D non-rigid motion estimation on 3D colored point cloud in eye-in-hand configurationIROS 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-04659853
v1
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sEMG-based Motion Recognition for Robotic Surgery Training - A Preliminary StudyEMBC 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-04192619
v1
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Design optimization of a soft micro-robot for medical interventionICAR 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-04310368
v1
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Super twisting control for tensegrity systemsSYROCO 2022 - 13th IFAC Symposium on Robot Control, Oct 2022, Matsumoto, Japan
Communication dans un congrès
hal-04565814
v1
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Fast and Automatic Optical 3D Cameras Calibration for Contactless Surface Registration in Computer Assisted SurgeryCRAS 2022 - 11th Conference on New Technologies for Computer and Robot Assisted Surgery, Apr 2022, Napoli, Italy
Communication dans un congrès
lirmm-03713605
v1
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Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous InterventionsARK 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-04565727
v1
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Geometric Calibration of a New Miniaturized Endoscopic Ultrasound ProbeICAR 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-03519968
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Model Predictive Controller for a Planar Tensegrity Mechanism with decoupled position and stiffness controlARK 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-03140520
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Efficient target tracking for 3D ultrasound-guided needle steeringSPIE Medical Imaging, Feb 2020, Houston, United States. pp.#113150I, ⟨10.1117/12.2548321⟩
Communication dans un congrès
hal-02498231
v1
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Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity MechanismARK 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-03141529
v1
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Asynchronous and decoupled control of the position and the stiffness of a spatial RCM tensegrity mechanism for needle manipulationICRA 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-03140522
v1
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Towards a novel man-machine interface to speed up training on robot-assisted surgerySURGETICA, Jun 2019, Rennes, France
Communication dans un congrès
lirmm-02105125
v1
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Holdable Haptic Device for 4-DOF Motion GuidanceWHC 2019 - 1st IEEE World Haptics Conference, Jul 2019, Tokyo, Japan. pp.109-114, ⟨10.1109/WHC.2019.8816171⟩
Communication dans un congrès
lirmm-02093717
v1
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Intraoperative Ultrasound-based Augmented Reality GuidanceSURGETICA, Jun 2019, Rennes, France
Communication dans un congrès
lirmm-02105828
v1
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How to enhance learning of robotic surgery gestures? A tactile cue saliency investigation for 3D hand guidance. ("Best Poster Award")HSMR 2019 - 12th Hamlyn Symposium on Medical Robotics, Jun 2019, London, United Kingdom
Communication dans un congrès
lirmm-02093730
v1
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Needle Segmentation in 3D Ultrasound Volumes Based on Machine Learning for Needle SteeringHSMR 2019 - 12th Hamlyn Symposium on Medical Robotics, Jun 2019, Londres, United Kingdom
Communication dans un congrès
hal-02276986
v1
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Fast And Simple Automatic 3D Ultrasound Probe Calibration Based On 3D Printed Phantom And An Untracked MarkerEMBC 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-01828628
v1
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Nonlinear Model-Mediated Teleoperation for Surgical Applications under Time Variant Communication DelaySYROCO 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-01868281
v1
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Intraoperative Ultrasonography-based Augmented Reality For Application In Image Guided Robotic SurgeryCARS 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-01828409
v1
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Battery-free force sensor for instrumented knee implantHI-POCT: Healthcare Innovations and Point-of-Care Technologies, Nov 2017, Bethesda, United States. ⟨10.1109/HIC.2017.8227570⟩
Communication dans un congrès
hal-01653607
v1
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Augmented Reality Visualization Based On 3D UltrasonographySURGETICA, Nov 2017, Strasbourg, France
Communication dans un congrès
lirmm-02105826
v1
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Optimization of concentric-tube robot design for deep anterior brain tumor surgeryICCARV: International Conference on Control, Automation, Robotics and Vision, Nov 2016, Phuket, Thailand. ⟨10.1109/ICARCV.2016.7838563⟩
Communication dans un congrès
lirmm-01489241
v1
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Can Multi-Sensory Feedbacks Improve Laparoscopic Surgery Training?SURGETICA, Nov 2017, Strasbourg, France
Communication dans un congrès
hal-02147088
v1
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Beveled-Tip Needle-Steering Using 3D Ultrasound, Mechanical-Based Kalman Filter and Curvilinear ROI PredictionICCARV: International Conference on Control, Automation, Robotics and Vision, Nov 2016, Phuket, Thailand. ⟨10.1109/ICARCV.2016.7838840⟩
Communication dans un congrès
hal-01455325
v1
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Towards the control of tensegrity mechanisms for variable stiffness applications: a case studyEUCOMES: 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-01643092
v1
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Design and evaluation of a novel variable stiffness spherical joint with application to MR-compatible robot designICRA: International Conference on Robotics and Automation, May 2016, Stockholm, Sweden. pp.661-667, ⟨10.1109/ICRA.2016.7487192⟩
Communication dans un congrès
lirmm-01276757
v1
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Stable and Enhanced Position-Force Tracking for Bilateral Teleoperation with Time DelayECC: European Control Conference, Jul 2015, Linz, Austria. pp.1980-1985, ⟨10.1109/ECC.2015.7330829⟩
Communication dans un congrès
lirmm-01275452
v1
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Simplified adaptive path planning for percutaneous needle insertionsICRA 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-01275360
v1
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Needle Deflection Prediction Using Adaptive Slope ModelICAR 2015 - 17th International Conference on Advanced Robotics, Jul 2015, Istanbul, Turkey. pp.60-65, ⟨10.1109/ICAR.2015.7251434⟩
Communication dans un congrès
lirmm-01275351
v1
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Enhanced Position-Force Tracking of Time-Delayed Teleoperation for Robotic-Assisted SurgeryEMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milan, Italy. pp.4894-4897, ⟨10.1109/EMBC.2015.7319489⟩
Communication dans un congrès
lirmm-01275446
v1
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Experiments on a variable stiffness tensegrity mechanism for an MR-compatible needle holderCRAS: Computer/Robot Assisted Surgery, Sep 2015, Bruxelles, Belgium
Communication dans un congrès
lirmm-01275607
v1
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Using Rotation for Steerable Needle Detection in 3D Color-Doppler Ultrasound ImagesEMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milano, Italy. pp.1544-1547, ⟨10.1109/EMBC.2015.7318666⟩
Communication dans un congrès
hal-01218787
v1
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Parallel Singularities for the Design of Softening Springs Using Compliant MechanismsIDETC/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-01276756
v1
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Motion Prediction Using Dual Kalman Filter for Robust Beating Heart TrackingEMBC: Engineering in Medicine and Biology Conference, Aug 2015, Milan, Italy. pp.4875-4878, ⟨10.1109/EMBC.2015.7319485⟩
Communication dans un congrès
lirmm-01275441
v1
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Contribution Of Different Drawing Tasks In The Assessment Of Essential TremorMDS: Movement Disorder Society, Jun 2014, Stockholm, Sweden. pp.1133
Communication dans un congrès
lirmm-01006392
v1
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A novel contactless human-machine interface for laparoscopic telesurgerySURGETICA, Dec 2014, Chambéry, France
Communication dans un congrès
hal-01275501
v1
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A modular CT/MRI-guided Teleoperation Platform for Robot Assisted Punctures PlanningCARS 2014 - 28th International Congress and Exhibition on Computer Assisted Radiology and Surgery, Jun 2014, Fukuoka, Japan
Communication dans un congrès
lirmm-01275609
v1
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A Miniaturised Actuation System Embedded in an Instrumented Knee Implant for Postoperative Ligament Imbalance CorrectionEMBC: 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-01208441
v1
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Modelling and Control of an ERF-based Needle Insertion Training PlatformIPCAI: 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-00941009
v1
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Environment Modeling with Physiological Motion Disturbance for Surgical TeleoperationICCARV: 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-01275458
v1
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Scaled Position-Force Tracking for Wireless Teleoperation of Miniaturized Surgical Robotic SystemEMBC: Engineering in Medicine and Biology Conference, Aug 2014, Chicago, United States. pp.361-365, ⟨10.1109/EMBC.2014.6943604⟩
Communication dans un congrès
lirmm-01275470
v1
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Comparative Assessment of a Novel Optical Human-Machine Interface for Laparoscopic TelesurgeryIPCAI: 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-01086444
v1
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Haptic Teleoperation and Concentric Tube Robot - Some New Control Developments for New Surgical Robot ApplicationsEMBC 2014 - 36th International Conference of the IEEE Engineering in Medicine and Biology Society, Aug 2014, Chicago, United States
Communication dans un congrès
lirmm-01275469
v1
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Design and Evaluation of a 1DoF ERF-Based Needle Insertion Haptic PlatformIROS: Intelligent Robots and Systems, Sep 2014, Chicago, IL, United States. pp.1216-1221, ⟨10.1109/IROS.2014.6942712⟩
Communication dans un congrès
lirmm-01078465
v1
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An active tibial component for potoperative fine tuning adjustment of knee ligament imbalanceBioRob: Biomedical Robotics and Biomechatronics, Aug 2014, Sao Paulo, Brazil. pp.126-131, ⟨10.1109/BIOROB.2014.6913764⟩
Communication dans un congrès
hal-01208443
v1
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Task-Space Position Control of Concentric-Tube Robot with Inaccurate Kinematics Using Approximate JacobianICRA: International Conference on Robotics and Automation, May 2014, Hong Kong, China. pp.5877-5882, ⟨10.1109/ICRA.2014.6907724⟩
Communication dans un congrès
lirmm-01275481
v1
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Control of meso-robots for endoluminal SurgeryCRAS: New Technologies for Computer/Robot Assisted Surgery, Sep 2013, Verone, Italy
Communication dans un congrès
lirmm-00958690
v1
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A Case Study of Safety in the Design of Surgical Robots: The ARAKNES PlatformIAS: 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-00808392
v1
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Towards a Dynamic Tibial Component for Postoperative Fine-tuning Adjustment of Knee Ligament ImbalanceBIODEVICES: Biomedical Electronics and Devices, Feb 2013, Barcelona, Spain. pp.95-102
Communication dans un congrès
hal-01208446
v1
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Stability and Performance Analysis of Three-Channel Teleoperation Control Architectures for Medical ApplicationsIROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.456-462, ⟨10.1109/IROS.2013.6696391⟩
Communication dans un congrès
lirmm-00963642
v1
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Beating Heart Motion Compensation Using Active Observers and Disturbance EstimationSYROCO: Symposium on Robot Control, Sep 2012, Dubrovnik, Croatia. pp.741-746, ⟨10.3182/20120905-3-HR-2030.00164⟩
Communication dans un congrès
lirmm-00779219
v1
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Viscoelastic Model Based Force Tracking Control for Robotic-Assisted SurgeryBioRob: Biomedical Robotics and Biomechatronics, Jun 2012, Roma, Italy. pp.1199-1204
Communication dans un congrès
lirmm-00757181
v1
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Soft tissue force control using active observers and viscoelastic interaction modelICRA: 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-00779205
v1
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The impact of interaction model on stability and transparency in bilateral teleoperation for medical applicationsICRA: 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-00808388
v1
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Active stabilization of ultrasound image for robotically-assisted medical proceduresHamlyn Symposium on Medical robotics, Jul 2012, London, United Kingdom
Communication dans un congrès
hal-00751760
v1
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Semi-automatic needle steering system with robotic manipulatorICRA: 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-00813394
v1
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Tremor attenuation based on joint impedance modulation using FESIFESS: International Functional Electrical Stimulation Conference, Sep 2011, Sao Paulo, Brazil
Communication dans un congrès
lirmm-00644057
v1
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On the Use of FES to Attenuate Tremor by Modulating Joint ImpedanceCDC-ECC: Conference on Decision and Control - European Control Conference, Dec 2011, Orlando, Florida, United States. pp.6
Communication dans un congrès
lirmm-00636909
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Haptic Feedback Control in Medical Robots Through Fractional Viscoelastic Tissue ModelEMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.6704-6708, ⟨10.1109/IEMBS.2011.6091653⟩
Communication dans un congrès
lirmm-00623166
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Real-time control and evaluation of a teleoperated miniature arm for Single Port LaparoscopyEMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.7049-7053, ⟨10.1109/IEMBS.2011.6091782⟩
Communication dans un congrès
lirmm-00808384
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Path planning for steerable needles using duty-cyclingCARS: Computer-Assisted Radiology and Surgery, 2011, Berlin, Germany. pp.293-294
Communication dans un congrès
lirmm-00958702
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Adaptive Tracking Control of Rigid-Link Flexible-Joint Robot Manipulator with UncertaintiesIFAC 18th World Congress 2011, Milano, Italy. pp.10300-10306
Communication dans un congrès
lirmm-00629392
v1
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Towards a Cooperative Framework for Interactive Manipulation Involving a Human and a HumanoidICRA: International Conference on Robotics and Automation, May 2011, Shanghai, China. pp.3777-3783, ⟨10.1109/ICRA.2011.5979787⟩
Communication dans un congrès
lirmm-00641657
v1
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Anti-phase tremor attenuation system using surface electromyography and accelerometerICRA: International Conference on Robotics and Automation, May 2011, Shanghai, China
Communication dans un congrès
lirmm-00812828
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Adaptive Path Planning for Steerable Needles Using Duty-CyclingIROS: Intelligent RObots and Systems, Sep 2011, San Francisco, CA, United States. pp.2545-2550, ⟨10.1109/IROS.2011.6048259⟩
Communication dans un congrès
lirmm-00641824
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Joint Angle Estimation in Rehabilitation with Inertial Sensors and its Integration with KinectEMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.3479-3483, ⟨10.1109/IEMBS.2011.6090940⟩
Communication dans un congrès
lirmm-00623141
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AIR2, un robot parallèle à actionnement pneumatique à deux degrés de liberté pour les applications de prise et dépose d'objets20ème Congrès Français de Mécanique (CFM 2011), Aug 2011, Besançon, France
Communication dans un congrès
hal-03422779
v1
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Robust 3D Tracking for Robotic-Assisted Beating Heart SurgeryEMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.6686-6690, ⟨10.1109/IEMBS.2011.6091648⟩
Communication dans un congrès
lirmm-00623150
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3D Force Control for Robotic-Assisted Beating Heart Surgery Based on Viscoelastic Tissue ModelEMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.7054-7058, ⟨10.1109/IEMBS.2011.6091783⟩
Communication dans un congrès
lirmm-00623173
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Nonlinear Identification Method Corresponding to Muscle Property Variation in FES - Experiments in Paraplegic PatientsBioRob: Biomedical Robotics and Biomechatronics, Sep 2010, Tokyo, Japan. pp.401-406, ⟨10.1109/BIOROB.2010.5628018⟩
Communication dans un congrès
lirmm-00502181
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A predictive robust cascade position-torque control strategy for Pneumatic Artificial Muscles2010 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-00466781
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Beating heart motion prediction for robust visual trackingICRA: 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-00472110
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Tremor attenuation using FES-based joint stiffness controlICRA: 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-00472108
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Commande predictive robuste des vérins electropneumatiques dans un schema en cascade position-pressionConférence Internationale Francophone d'Automatique CIFA2010, Jun 2010, Nancy, France. pp.Inconnu
Communication dans un congrès
hal-00466784
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Robust 3D visual tracking for robotic-assisted cardiac interventionsMICCAI: Medical Image Computing and Computer Assisted Intervention, Sep 2010, Beijing, China. pp.267-274
Communication dans un congrès
lirmm-00812544
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Adaptative Force Feedback Control for 3D Compensation of Physiological Motion in Beating Heart SurgeryIROS: Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. pp.1856-1861, ⟨10.1109/IROS.2010.5650684⟩
Communication dans un congrès
lirmm-00545458
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A mixed GPC-H infinity robust cascade position-pressure control strategy for electropneumatic cylindersICRA: International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.5147-5154, ⟨10.1109/ROBOT.2010.5509386⟩
Communication dans un congrès
hal-00466773
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SP-ID regulation of rigid-link electrically driven robots with uncertain kinematicsICRA: 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-00472116
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A generalized predictive force controller for electropneumatic cylindersNOLCOS: Nonlinear Control Systems, Sep 2010, University of Bologna, Italy. pp.1058-1063, ⟨10.3182/20100901-3-IT-2016.00047⟩
Communication dans un congrès
lirmm-00812827
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Motion Compensation for Robotic-Assisted Surgery with Force FeedbackICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.3464-3469, ⟨10.1109/ROBOT.2009.5152220⟩
Communication dans un congrès
lirmm-00351115
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Identification and Validation of FES Physiological Musculoskeletal Model in Paraplegic SubjectsEMBC: 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-00413465
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EMG-to-force estimation with full-scale physiology based muscle modelIROS'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-00429594
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Compensation for 3D physiological motion in robotic-assisted surgery using a predictive force controllerIROS 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-00812831
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Modeling Human Postural Coordination to Improve the Control of Balance in Humanoids7th 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-00202778
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Physiological Musculoskeletal Model Identification for the Lower Limbs Control of Paraplegic Under Implanted FESIROS'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-00413447
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Filtering of intended motion for real-time tremor compensation in human upper limb using surface electromyographyEMBC: 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-00431185
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Some control-related issues in mini-robotics for endoluminal surgeryEMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.6850-6855
Communication dans un congrès
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Filtering Voluntary Motion for Pathological Tremor CompensationIROS: Intelligent RObots and Systems, Oct 2009, St. Louis, MO, United States. pp.55-60, ⟨10.1109/IROS.2009.5353972⟩
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FES-controlled Co-contraction Strategies for Pathological Tremor CompensationIROS: Intelligent RObots and Systems, Oct 2009, St. Louis, MO, United States. pp.1633-1638, ⟨10.1109/IROS.2009.5354397⟩
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EMG-Based Neuromuscular Modeling with Full Physiological Dynamics and Its Comparison with Modified Hill ModelEMBC: Engineering in Medicine and Biology Conference, Sep 2009, Minneapolis, MN, United States. pp.6530-6533, ⟨10.1109/IEMBS.2009.5333147⟩
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Efficient 3D tracking for motion compensation in beating heart surgeryMICCAI: Medical Image Computing and Computer Assisted Intervention, Sep 2008, New-York University, United States. pp.684-691
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Nonlinear identification of skeletal muscle dynamics with sigma-point kalman filter for model-based FESICRA 2008 - IEEE International Conference on Robotics and Automation, May 2008, Pasadena, CA, United States. pp.2049-2054, ⟨10.1109/ROBOT.2008.4543508⟩
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Online Pathological Tremor Characterization Using Extended Kalman FilteringEMBC: Engineering in Medicine and Biology Conference, Aug 2008, Vancouver, BC, Canada. pp.1753-1756, ⟨10.1109/IEMBS.2008.4649516⟩
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Current Progress on Pathological Tremor Modeling and Active Compensation using Functional Electrical StimulationISG'08: The 6th Conference of the International Society for Gerontechnology, Jun 2008, Pisa, Italy, pp.001-006
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Optimal Functional Electrical Stimulation patterns synthesis for knee joint controlIROS'08: International Conference on Intelligent RObots and Systems, Sep 2008, Nice, France. pp.2386-2391, ⟨10.1109/IROS.2008.4651112⟩
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Deformable motion tracking of the heart surfaceIROS: Intelligent Robots and Systems, Sep 2008, Nice, France. pp.3997-4003, ⟨10.1109/IROS.2008.4650916⟩
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Kalman filtering of accelerometer and electromyography data in pathological tremor sensing systemICRA: International Conference on Robotics and Automation, May 2008, Pasadena, CA, United States. pp.3250-3255, ⟨10.1109/ROBOT.2008.4543706⟩
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Compensation of Physiological Motion using Linear Predictive Force ControlIROS 2008 - IEEE/RSJ International Conference on Intelligent RObots and Systems, Sep 2008, Nice, France. pp.1173-1178, ⟨10.1109/IROS.2008.4651011⟩
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A Neuromusculoskeletal Model Exploring Peripheral Mechanism of TremorEMBC: Engineering in Medicine and Biology Conference, Aug 2008, Vancouver, BC, Canada. pp.3715-3719, ⟨10.1109/IEMBS.2008.4650016⟩
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Motion Prediction for Tracking the Beating HeartEMBC: Engineering in Medicine and Biology Conference, Aug 2008, Vancouver, BC, Canada. pp.3261-3264, ⟨10.1109/IEMBS.2008.4649900⟩
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Optimal Patterns Synthesis Approach for Knee Motion under Functional Electrical StimulationIFESS: International Functional Electrical Stimulation Society, Nov 2007, Philadelphia, United States
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Towards a sensing system for quantification of pathological tremorICIAS'07: International Conference on Intelligent & Advanced Systems, Nov 2007, Kuala Lumpur, Malaysia, pp.00-00
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Suivi de coeur battant par analyse de textureSURGETICA, 2007, Chambéry, France. pp.403-407
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Efficient tracking of the heart using texture29th Annual International Conference of the IEEE EMBS, pp.4480-4483
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Stability and Transparency Analysis of a Haptic Feedback Controller for Medical ApplicationsCDC 2007 - 46th IEEE Conference on Decision and Control, Dec 2007, New Orleans, LA, United States. pp.5767-5772, ⟨10.1109/CDC.2007.4434677⟩
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Robotic-Assisted Surgery Through Haptic Feedback Teleoperation ControllerSURGETICA, Sep 2007, Chambéry, France. pp.351-359
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Séquences de stimulation électrique optimales pour la restauration du mouvement fonctionnelASSISTH'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 ControlIROS: Intelligent Robots and Systems, Oct 2007, San Diego, United States. pp.1945-1950
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Experimental Identification of Skeletal Muscle Biomechanical Parameters with Sigma Point Kalman FilterIFESS: International Functional Electrical Stimulation Society, Nov 2007, Philadelphia, United States
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Mesure d' effort et de diamètre d'artères4ème 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 KalmanICAR 2007 - 13th International Conference on Advanced Robotics, Aug 2007, Jeju, South Korea. pp.81-87
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Towards Teleoperated Needle Insertion with Haptic Feedback ControllerIROS: Intelligent Robots and Systems, Oct 2007, San Diego, CA, United States. pp.1254-1259, ⟨10.1109/IROS.2007.4399085⟩
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Suivi de Coeur Battant : Tracking 2D et 3D utilisant la TextureCORESA: COmpression et REprésentation des Signaux Audiovisuels, Nov 2007, Montpellier, France. pp.43-47
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Stereo-Vision for 3D Tracking of the Beating HeartSURGETICA, 2007, Chambery, France
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Closed Loop Non Linear Model Predictive Control Applied On Paralyzed Muscles To Restore Lower Limbs FunctionsIROS'06: International Conference on Intelligent Robots and Systems, Oct 2006, pp.259-264
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Towards Nonlinear Model Predictive Control for Image Based Visual ServoingNMPC-FS’06: 1st IFAC Workshop Nonlinear Model Predictive Control for Fast Systems, Oct 2006, Grenoble, France
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Image Based Visual Servoing through Nonlinear Model Predictive ControlCDC 2006 - 45th International Conference on Decision and Control, Dec 2006, San Diego, CA, United States. pp.1776-1781, ⟨10.1109/CDC.2006.377243⟩
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Texture Features Selection for Visual Servoing of the Beating HeartBioRob 2006 - 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Feb 2006, Pisa, Italy. pp.335-340, ⟨10.1109/BIOROB.2006.1639109⟩
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3D Heart Motion Estimation Using Endoscopic Monocular Vision SystemMCBMS 2006 - 6th IFAC Symposium on Modeling and Control in Biomedical Systems, Sep 2006, Reims, France. pp.141-146
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Haptic Control Design for Robotic-Assisted Minimally Invasive SurgeryIROS: Intelligent Robots and Systems, Oct 2006, Beijing, China. pp.454-459, ⟨10.1109/IROS.2006.282168⟩
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Towards Modelling the Human Sensory Motor SystemMCBMS’06: 6th IFAC Symposium on Modelling and Control in Biomedical Systems, Sep 2006, Reims, France. pp.399-404
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Experimental Parallel Robot Dynamic Model Evaluation with Set Membership EstimationSYSID'06: 14th IFAC Symposium on System Identification, 2006, pp.967-972
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Composite visual tracking of the moving heart using texture characterizationMedical Robotics Workshop (MICCAI'06), Oct 2006, pp.6
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Dynamic Modelling and Identification of PAR4, a Very High-Speed Parallel ManipulatorIROS'06: International Conference on Intelligent Robots & Systems, 2006, Beijing, China
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Robust Control Law Strategy Based on High Order Sliding Mode : Towards a Muscle ControlIROS'05: International Conference on Intelligent Robots & Systems, Aug 2005, Edmonton (Canada), pp.2882-2887
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Session robotique médicale La conception de robots pour l'assistance aux gestes médicaux et chirurgicauxJNRR 2005 - 5e Journées Nationales de la Recherche en Robotique, Oct 2005, Guidel, France
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Projet GABIE : Guidage Actif Basé sur l'Imagerie EchographiqueROBEA 2005 - 5e Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, Mar 2005, Montpellier, France. pp.49-56
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BRIGIT: A Robotized Tool Guide for Orthopedic SurgeryICRA: International Conference on Robotics and Automation, Apr 2005, Barcelona, Spain. pp.211-216, ⟨10.1109/ROBOT.2005.1570121⟩
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Mitral Valve Leaflet Motion Tracking in Ultrasound ImagesSURGETICA, Jan 2005, Chambéry, France. pp.237-244
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Towards a Co-contraction Muscle Control Strategy For ParaplegicsCDC: Conference on Decision and Control, Dec 2005, Seville, Spain. pp.7428-7433, ⟨10.1109/CDC.2005.1583360⟩
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Nonlinear Model Predictive Control via Interval AnalysisCDC'05: Conference on Decision and Control, Dec 2005, Seville, Spain
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Modelling and Control of Human Paralysed Lower Limbs Under Functional Electrical Simulation (FES)HLR: Humanoid and Legged Robots, Oct 2004, Metz, France
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MARGE Project: Design, Modeling, and Control of Assistive Devices for Minimally Invasive SurgeryMICCAI 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⟩
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Projet MARGE : Modélisation, Apprentissage et Reproduction du Geste EndochirurchicalROBEA 2004 - 4ièmes Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, Jan 2004, Toulouse, France. pp.17-25
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Control of the Knee Joint Under Functional Electrical Stimulation: Simulation Results Based on a New Physiological Muscle ModelIFESS: International Functional Electrical Stimulation Society, Sep 2004, Bournemouth, United Kingdom. pp.113-116
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Commande non Linéaire à Horizon Fuyant via l'Arithmétique d'IntervallesCIFA: Conférence Internationale Francophone d'Automatique, Nov 2004, Douz, Tunisie. pp.CD n°66
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Mathematical Muscle Model for Functional Electrical Stimulation Control StrategiesICRA: International Conference on Robotics and Automation, Apr 2004, New Orleans, LA, United States. pp.1282-1287
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Using a complex, physiological based modelling of the muscle to perform realistic simulation and test control strategies: closed loop controlled stand up exampleIFESS: International Functional Electrical Stimulation Society, Sep 2004, Bournemouth, United Kingdom. pp.219-221
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Dynamic Task/Posture Decoupling for Minimally Invasive Surgery MotionsISER: International Symposium on Experimental Robotics, Jun 2004, Singapore, Singapore
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Dynamic Task/Posture Decoupling for Minimally Invasive Surgery Motions: Simulation ResultsIROS: Intelligent Robots and Systems, Sep 2004, Sendai, Japan. pp.3625-3630, ⟨10.1109/IROS.2004.1389978⟩
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Automatic Control Theory Applied to the Restoration of the Movement of Paralysed LimbsIARP: International Advanced Robotics Programme, Oct 2003, Madrid, Spain. pp.99-103
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DERMAROB : A Partial Thickness Skin Harvesting Robot: Technical and Experimental DataETRS: European Tissue Repair Society, Sep 2003, Amsterdam, Netherlands
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Predictive Functional Control for a Parallel RobotIROS: Intelligent Robots and Systems, Oct 2003, Las Vegas, NV, United States. pp.2785-2790, ⟨10.1109/IROS.2003.1249292⟩
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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 ?JNA'03: Journées Nationales d'Automatique, Jun 2003, Valenciennes, France
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Robust Estimation of Parallel Robot with Interval AnalysisCDC: Conference on Decision and Control, Dec 2003, Maui, Hawaii, United States. pp.6503-6508, ⟨10.1109/CDC.2003.1272397⟩
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Experimental Dynamic Parameters Idenfification of a 7 Dof Walking RobotCLAWAR: Climbing and Walking Robots, Sep 2003, Catania, Italy. pp.477-484
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Modelling of the Skeletal Muscle under Functional Electrical StimulationIFESS: International Functional Electrical Stimulation Society, Jul 2003, Sunshine Coast, Bribane, Australia. pp.206-209
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Ellipsoidal Estimation of Parallel Robot Dynamic ParametersIROS: Intelligent Robots and Systems, Oct 2003, Las Vegas, NV, United States. pp.3300-3305, ⟨10.1109/IROS.2003.1249665⟩
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Non Linear Model Predictive Control Using Constraints SatisfactionCOCOS: Global Optimization and Constraint Satisfaction, Nov 2003, Lausanne, Switzerland. pp.142-153, ⟨10.1007/11425076_11⟩
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istex
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Applications des Outils de l'Automatique au Problème de la Restauration du Mouvement de Membres Paralysés sous Stimulation Electrique FonctionnelleJNRR: Journées Nationales de la Recherche en Robotique, Oct 2003, Clermont-Ferrand, France. pp.75-80
Communication dans un congrès
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Model Based Predictive Control of a Fully Parallel RobotSYROCO: Symposium on Robot Control, 2003, Wroclaw, Poland. pp.277-282
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Modelling of the human paralysed lower limb under FESICRA: International Conference on Robotics and Automation, Sep 2003, Taipei, Taiwan. pp.2218-2223, ⟨10.1109/ROBOT.2003.1241923⟩
Communication dans un congrès
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Experimental Dynamic Identification of a Fully Parallel RobotICRA: International Conference on Robotics and Automation, Sep 2003, Taipei, Taiwan. pp.3278-3284
Communication dans un congrès
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Moving Horizon Control for Biped Robots Without Reference TrajectoryICRA: International Conference on Robotics and Automation, May 2002, Washington, DC, United States. pp.2762-2767
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Robots à Architecture Complexe : De la Conception à la Performance et l'AutonomieROBEA 2002 - 2es Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, 2002, Toulouse, France. pp.7-11
Communication dans un congrès
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Dermarob, A Robotic Assistive Device for Skin HarvestingSURGETICA, Sep 2002, Grenoble, France. pp.63-68
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Achieving Motion Under a Penetration Point ConstraintIROS: Intelligent Robots and Systems, Sep 2002, Lausanne, Switzerland. pp.1475-1480
Communication dans un congrès
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Identification des Flexibilités de Machines OutilsAssises Machines et Usinage Grande Vitesse, 2002, Lille, France
Communication dans un congrès
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Three-Dimensional Parameterised Gaits for Biped WalkingCLAWAR: Climbing and Walking Robots, 2002, Paris, France. pp.749-757
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DERMAROB : Robot de Prélèvement CutanéGAM: Groupe pour l'Avancement de la Microchirurgie, 2002, Collioure, France
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Contrôle du mouvement du membre inférieur humain paralysé sous stimulation électriqueROBEA 2002 - 2ièmes Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, Jan 2002, Toulouse, France. pp.9-15
Communication dans un congrès
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Robotized Skin HarvestingISER: International Symposium on Experimental Robotics, 2002, Sant'Angello d'Ischia, Italy
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DERMAROB : Robot de Prélèvement CutanéJJCR: Journées des Jeunes Chercheurs en Robotique, Jan 2002, Strasbourg, France
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DERMAROB: Robot d'Assistance pour la Chirurgie Réparatrice et la Chirurgie PlastiqueGAM: Groupe pour l'Avancement de la Microchirurgie, Apr 2002, Collioure, France
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MAX - Robots à architecture complexe : de la conception à la performance et l’autonomieROBEA 2002 - 2ièmes Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, 2002, Toulouse, France. pp.1-8
Communication dans un congrès
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Commande predictive pour la marche d'un robot bipède sous actionnéCIFA: Conférence Internationale Francophone d'Automatique, Jul 2002, Nantes, France
Communication dans un congrès
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On line Optimal Control for Biped RobotsIFAC'02: World Congress, 2002, Barcelona, Spain
Communication dans un congrès
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Accelerometer Based Identification of Mechanical SystemsICRA 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
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Identification of joint stiffness with bandpass filteringICRA 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-04741134
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SICOMAT : a system for SImulation and COntrol analysis of MAchine ToolsIEEE/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-00362669
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Automatic tuning of cascade structure CNC controllers6th International Workshop on Advanced Motion Control. Proceedings, Mar 2000, Nagoya, Japan. pp.390-395, ⟨10.1109/AMC.2000.862899⟩
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hal-04741108
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SICOMAT : a system for SImulation and COntrol analysis of MAchine Tools2nd International Seminar on Improving Machine Tool Performance, IMTP2, Jul 2000, La Baule, France. Session A1, Num A6, pp. 1-19
Communication dans un congrès
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Needle localization for needle steering under 3D ultrasound feedbackCSR: 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
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Toward an MR-compatible needle holder with adaptive compliance using an active tensegrity mechanismSURGETICA, Dec 2014, Chambéry, France. Computer-Assisted Medical Interventions. Scientific problems, tools and clinical applications, 2014
Poster de conférence
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Force Control for Robotic-Assisted Surgery Based on Viscoelastic Tissue ModelSKILLS'2011: The International Conference of the European SKILLS Project, Dec 2011, Montpellier, France. , 2011, ⟨10.1051/bioconf/20110100066⟩
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A Cutting Guide Positioner Robot to Improve Bone-Cutting Precision in Knee OsteotomyCAOS 2004 - 4th Annual Meeting of Computer Assisted Orthopaedic Surgery, Jun 2004, Chicago, United States. pp.301-302, 2004
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Effect of Non-passive Operator on Enhanced Wave-Based Teleoperator for Robotic-Assisted Surgery: First Case StudyNew 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
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Influence of Spring Characteristics on the Behavior of Tensegrity MechanismsAdvances in Robot Kinematics, pp.161-169, 2014, 978-3-319-06698-1. ⟨10.1007/978-3-319-06698-1_18⟩
Chapitre d'ouvrage
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Contribution des différentes taches graphiques à l'évaluation du tremblement essentielRevue Neurologique, 169(S2), Elsevier Masson, pp.A136-A137, 2013, ⟨10.1016/j.neurol.2013.01.325⟩
Chapitre d'ouvrage
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Vision-Based ControlJocelyne Troccaz. Medical Robotics, Wiley, pp.177-232, 2013, 978-1-84-821-334-0. ⟨10.1002/9781118562147.ch6⟩
Chapitre d'ouvrage
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Design of Medical RobotsJocelyne Troccaz. Medical Robotics, Wiley, pp.141-176, 2012, 978-1-84821-334-0
Chapitre d'ouvrage
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Interaction Modeling and Force ControlJocelyne Troccaz. Medical Robotics, John Wiley, pp.233-267, 2012, 978-1-84821-334-0
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Motion tracking for beating heart surgeryJacob 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
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Motion prediction and 3D tracking of the beating heartJacob Rosen and Blake Hannaford and Richard Satava. Surgical robotics - Systems, Applications and Visions, pp.N/A, 2010
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On the Design of a Fast Parallel Robot Based on Its Dynamic ModelExperimental Robotics, Springer, pp.409-419, 2008, 978-3-540-77456-3. ⟨10.1007/978-3-540-77457-0⟩
Chapitre d'ouvrage
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Rehabilitation of the Paralyzed Lower Limbs Using Functional Electrical Stimulation: Robust Closed Loop ControlCutting Edge Robotics - Rehabilitation Robotics, pp.337-358, 2007, 978-3-902613-04-2
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Geometrical Control Approach for Minimally Invasive SurgeryT.M. Buzug; T.C. Lueth. Perspective in Image-Guided Surgery, World Scientific Publishing, pp.152-159, 2004, 981-238-872-9
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Optimisation of the Robot Placement in the Operating RoomT.M. Buzug; T.C. Lueth. Perspective in Image-Guided Surgery, World Scientific Publishing, pp.383-390, 2004, 981-238-872-9
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Robotized Skin HarvestingExperimental Robotics VIII, 5, Springer Tracts in Advanced Robotics (STAR Series), Springer-Verlag, pp.404-413, 2003, 3-540-00305-3
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Anti-buckling device capable of guiding a cylindrical element that is pushed and moved over a given distance in the direction of its axisUnited States, Patent n° : US20230106299A1. 2021
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Système de sécurisation d’un patient adapté à une chirurgie de l’œilFrance, N° de brevet: FR2011777A. 2020
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Dispositif anti-flambement apte à guider un élément cylindrique poussé et déplacé sur une distance donnée dans la direction de son axeFrance, N° de brevet: FR2002744A. 2020
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Interface de pilotage et système robotisé comprenant une telle interface de pilotageFrance, N° de brevet: FR20200004321. 2020
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Dispositif médical pour la chirurgie de l’oeilFrance, N° de brevet: FR1872462A. 2018
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