Publications HAL (classement par type)

Journal articles

2024

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Kakeru Yamasaki, Shibata Tomohiro, Patrick Henaff. Individual adaptation and social attributes in a handshake robot with CPG control. Advanced Robotics, 2024, 0, pp.1-16. ⟨10.1080/01691864.2024.2384422⟩. ⟨hal-04674318⟩

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Kakeru Yamasaki, Shibata Tomohiro, Patrick Henaff. Personalized Assist-As-Needed Dressing Assistance Robot without Human
Modeling using Rowat-Selverston CPG Controller. Advanced Robotics, 2024, 38 (19-20), pp.1408-1423. ⟨hal-04674349⟩

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2022

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Andrii Dmytrovych Shachykov, Julien Frère, Patrick Henaff. Simulation of spinal muscle control in human gait using OpenSim. IEEE Transactions on Medical Robotics and Bionics, 2022, 4 (1), pp.254-265. ⟨10.1109/tmrb.2022.3143263⟩. ⟨hal-03527433⟩

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2019

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Melanie Jouaiti, Patrick Henaff. Comparative Study of Forced Oscillators for the Adaptive Generation of Rhythmic Movements in Robot Controllers. Biological Cybernetics (Modeling), 2019, 113 (5-6), pp.547-560. ⟨10.1007/s00422-019-00807-8⟩. ⟨hal-02291575⟩

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Viacheslav Osaulenko, Bernard Girau, Oleksandr Makarenko, Patrick Henaff. Increasing Capacity of Association Memory by Means of Synaptic Clustering. Neural Processing Letters, 2019, 50 (3), pp.2717-2730. ⟨10.1007/s11063-019-10051-7⟩. ⟨hal-02143550⟩

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Artem Melnyk, Patrick Henaff. Physical Analysis of Handshaking Between Humans: Mutual Synchronisation and Social Context. International Journal of Social Robotics, In press, ⟨10.1007/s12369-019-00525-y⟩. ⟨hal-01988627⟩

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Melanie Jouaiti, Patrick Henaff. Robot-Based Motor Rehabilitation in Autism: A Systematic Review. International Journal of Social Robotics, 2019, 11 (5), pp.753-764. ⟨10.1007/s12369-019-00598-9⟩. ⟨hal-02295952⟩

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2018

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Oleksii Avilov, Anton Popov, Vladimir Timofieiev, Laurent Bougrain, Patrick Henaff. ОЦІНКА ЯКОСТІ УЯВНИХ РУХІВ НА ОСНОВІ МАШИННОГО НАВЧАННЯ ДЛЯ ЗАСТОСУВАННЯ В НЕЙРОКОМП’ЮТЕРНИХ ІНТЕРФЕЙСАХ. Microsystems, Electronics and Acoustics, 2018, 23 (5), pp.25-31. ⟨10.20535/2523-4455.2018.23.5.134021⟩. ⟨hal-02153795⟩

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Andrii Dmytrovych Shachykov, Patrick Henaff, Olexandr Petrovych Shulyak. Нейро-мускульноскелетный симулятор ритмических движений тазобедренного сустава человека. Bulletin of National Technical University of Ukraine « KPI ». Series Instrument Making, 2018, 55(1), pp.118-125. ⟨10.20535/1970.55(1).2018.135832⟩. ⟨hal-01798576⟩

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Melanie Jouaiti, Lancelot Caron, Patrick Henaff. Hebbian Plasticity in CPG Controllers Facilitates Self-Synchronization for Human-Robot Handshaking. Frontiers in Neurorobotics, 2018, 12, pp.29. ⟨10.3389/fnbot.2018.00029⟩. ⟨hal-01811316⟩

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Patrick Henaff, Ismail Laachir, Francesco Russo. Gas storage valuation and hedging. A quantification of the model risk.. International Journal of Financial Studies, 2018, 6 (1 (27)), ⟨10.3390/ijfs6010027⟩. ⟨hal-00918082⟩

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2014

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John Nassour, Patrick Henaff, Fethi Ben Ouezdou, Gordon Cheng. Multi-layered multi-pattern CPG for adaptive locomotion of humanoid robots. Biological Cybernetics (Modeling), 2014, 1-13, pp.19. ⟨10.1007/s00422-014-0592-8⟩. ⟨hal-01111244⟩

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2011

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Thierry Hoinville, C. Tapia, Patrick Henaff. Flexible and Stable Pattern Generation by Evolving Constrained Plastic Neurocontrollers. Adaptive Behavior, 2011, 19, pp.187-207. ⟨10.1177/1059712311403631⟩. ⟨hal-00784897⟩

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2010

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Elmira Amrollah, Patrick Henaff. On the role of sensory feedbacks in Rowat-Selverston CPG to improve robot legged locomotion. Frontiers in Neurorobotics, 2010, 4 (113), pp.1-9. ⟨10.3389/fnbot.2010.00113⟩. ⟨hal-00552103⟩

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Patrick Henaff, Vincent Scesa, Fethi Ben Ouezdou, Olivier Bruneau. Real time implementation of CTRNN and BPTT algorithm to learn on-line biped robot balance: Experiments on the standing posture. Control Engineering Practice, 2010, 19 (1), pp.89 – 99. ⟨10.1016/j.conengprac.2010.10.002⟩. ⟨hal-00538710⟩

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Patrick Henaff, Viacheslav Khomenko, Vladimir Borysenko. generalized model of articulated electromechanical systems with elasticities in transmissions. Journal of Technical Electrodynamics Institut d’Électrodynamique de l’Académie Nationale des Sciences d’Ukraine., 2010, 1, pp.141-146. ⟨hal-00523315⟩

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Hayssam Serhan, Chaiban G. Nasr, Patrick Henaff. MUSCLE EMULATION WITH DC MOTOR AND NEURAL NETWORKS FOR BIPED ROBOTS. International Journal of Neural Systems, 2010, 20 (4), pp.341-353. ⟨10.1142/S0129065710002450⟩. ⟨hal-00519954⟩

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2007

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Thierry Hoinville, Patrick Henaff, Stéphane Delaplace. Etude sur l’intérêt des modèles biologiques de réseaux de neurones pour la synthèse de rythmes locomoteurs adaptatifs. Journal Européen des Systèmes Automatisés (JESA), 2007, Vol. 41 (N°3/4), pp.413-435. ⟨hal-00519907⟩

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2005

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Thierry Hoinville, Patrick Henaff, Eric Monacelli. Evolving Simplistic Neural Controllers toward Adaptation to Internal Perturbations. AMSE Journal of Advances in Modelling, advances C, 2005, 60 (6), pp.57-71. ⟨hal-00519921⟩

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2003

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Patrick Henaff, Eric Monacelli, Stéphane Delaplace, Rolland Thieffry. Technical aid adaptation with robotic. AMSE Journal of Advances in Modelling, advances C, 2003, 60 (6), pp.57-71. ⟨hal-00523332⟩

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Conference papers

2024

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Laurent Ciarletta, Idriss Abdallah, Patrick Henaff, Jonathan Champagne, Matthieu Bonnavent. Couplage entre un apprentissage par renforcement profond et une machine à états : approche théorique. CAID – Conference on Artificial Intelligence for Defense, DGA, Nov 2024, Rennes, France. ⟨hal-04811715⟩

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Kakeru Yamasaki, Shibata Tomohiro, Patrick Henaff. Social Attributes in a Handshake Robot Adaptive to Human Shaking Motion Using a CPG Controller. The 33rd IEEE International Conference on Robot and Human Interactive Communication, IEEE RO-MAN 2024, Aug 2024, Passadena, CA, United States. ⟨hal-04606905⟩

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Isabel Casso, Hendry Ferreira Chame, Patrick Henaff, Yvonne N. Delevoye-Turrell. Exploring Engagement in Human-Robot Interaction through the Quantification of Human Spontaneous Movement. The 33rd IEEE International Conference on Robot and Human Interactive Communication – IEEE RO-MAN 2024, Aug 2024, Pasadena (CA), United States. ⟨10.1109/RO-MAN60168.2024.10731439⟩. ⟨hal-04606893⟩

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Kakeru Yamasaki, Shibata Tomohiro, Patrick Henaff. Social Attributes Vary with Individual Differences in a CPG-Controlled Handshake Robot. 29th Robotics Symposia, Mar 2024, Nago, Japan. ⟨hal-04504158⟩

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Masayuki Fujiwara, Phan Hoang Huu Duc, Laurent Bougrain, Patrick Henaff, Hiroaki Wagatsuma. Trigger circuit design and system integration for simultaneous measurement of human EEG, motion, and gaze. 2024 International Conference on Artificial Life and Robotics ICAROB2024, Feb 2024, Oita, Japan. ⟨hal-04508181⟩

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2023

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Patrick Henaff. Adaptive central pattern generators to control human/robot interactions (keynote speaker). 13th International IEEE Conference Dependable Systems, Services and Technologies, DESSERT2023, IEEE Greece section, Oct 2023, Athens, Greece. ⟨hal-04508215⟩

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Isabel Casso, Hendry Ferreira Chame, Patrick Henaff, Yvonne N. Delevoye-Turrell. Robot oscillation frequency impacts human engagement during Human-Robot Interaction. Rhythm Perception and Production Workshop (RPPW), Nottingham Trent University, Jun 2023, Nottingham (UK), United Kingdom. ⟨hal-04533487⟩

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Isabel Casso, Hendry Ferreira Chame, Patrick Henaff, Yvonne N. Delevoye-Turrell. L’effet de l’oscillation dans l’interaction humain-robot.. Drôles D’objets – Un Nouvel Art De Faire, May 2023, Nancy, France. ⟨hal-04428759⟩

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2022

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Lauriane Le Pape, Patrick Henaff, Tomohiro Shibata, Rikuo Kawamoto, Taiki Yoshitake. Towards a neuromusculoskeletal platform to simulate healthy and deficient gait with assistive devices. IEEE ICRA 2022 _ 4th Workshop on Integrating Multidisciplinary Approaches to Advance Physical Human-Robot Interaction: Challenges of Interfacing Wearable Robots with the Human Neuromotor System, May 2022, Philadelphia, United States. ⟨hal-03674286⟩

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2021

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Baptiste Menges, Adrien Guenard, Patrick Henaff. Dynamic Oscillators to Compensate Master Devices Imperfections in Robots Teleoperation Tasks Requiring Dynamic Movements. CASE 2021 – IEEE 17th International Conference on Automation Science and Engineering, Aug 2021, Lyon, France. ⟨hal-03336509⟩

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Baptiste Menges, Adrien Guenard, Patrick Henaff. Improving Control of a Teleoperated Robot Using an Adaptive Oscillator to Perform a Rhythmic Task for Foundry Applications. ISR 2021 – IEEE International Conference on Intelligence and Safety for Robotics, Mar 2021, Nagoya/ Virtual, Japan. ⟨10.1109/ISR50024.2021.9419530⟩. ⟨hal-03164389⟩

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2019

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Maria Rodalyn V. Sanchez, Satoru Mishima, Masayuki Fujiwara, Guangyi Ai, Melanie Jouaiti, et al.. Methodological Design for Integration of Human EEG Data with Behavioral Analyses into Human-Human/Robot Interactions in a Real-World Context. ICICIC2019 – The 14th International Conference on Innovative Computing, Information and Control, Aug 2019, Seoul, South Korea. pp.8. ⟨hal-02437374⟩

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Melanie Jouaiti, Patrick Henaff. Real Time Movement Classification in Versatile CPG Control. Workshop on Robust Artificial Intelligence for Neurorobotics, Aug 2019, Edinburgh, United Kingdom. ⟨hal-02291647⟩

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Melanie Jouaiti, Patrick Henaff. Motor Coordination Learning for Rhythmic Movements. Development and Learning and Epigenetic Robotics (ICDL-Epirob), 2019 Joint IEEE International Conferences on, Aug 2019, Oslo, Norway. ⟨hal-02144957⟩

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Melanie Jouaiti, Patrick Henaff. The Sound of Actuators: Disturbance in Human -Robot Interactions?. Development and Learning and Epigenetic Robotics (ICDL-Epirob), 2019 Joint IEEE International Conferences on, Aug 2019, Oslo, Norway. ⟨hal-02144955⟩

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Andrii Dmytrovych Shachykov, Oleksandr Shuliak, Patrick Henaff. Closed-loop Central Pattern Generator Control of Human Gaits in OpenSim Simulator. IJCNN 2019 – International Joint Conference on Neural Networks, Jul 2019, Budapest, Hungary. ⟨hal-02309658⟩

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2018

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Oleksii Avilov, Anton Popov, Vladimir Ivanovich Timofeyev, Laurent Bougrain, Patrick Henaff. Класифікація комбінованих уявних рухів за допомогою бінарних класифікаторів у нейрокомп’ютерних інтерфейсах. XVII International scientific and technical conference “Physical processes and fields of technical and biological objects”, Nov 2018, Kremenchuk, Ukraine. ⟨hal-01928217⟩

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Baptiste Menges, Michaël Sarrey, Patrick Henaff. Implementation, risk assessment and safety human/robot interaction of collaborative robot UR10. SIAS 2018 – 9th International Conference on Safety of Industrial Automated Systems, Oct 2018, Nancy, France. ⟨hal-01842999⟩

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Melanie Jouaiti, Patrick Henaff. CPG-based Controllers can Generate Both Discrete and Rhythmic Movements. IROS 2018 – IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. ⟨hal-01837189⟩

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Melanie Jouaiti, Patrick Henaff. CPG-based Controllers can Trigger the Emergence of Social Synchrony in Human-Robot Interactions. ARSO 2018 – IEEE International Workshop on Advanced Robotics and its Social Impacts, Sep 2018, Genoa, Italy. ⟨hal-01825464v2⟩

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Baptiste Menges, Michaël Sarrey, Patrick Henaff. Integration of collaborative robot in a hard steel industrial environment. CASE 2018 – 14th IEEE International Conference on Automation Science and Engineering, Aug 2018, munich, Germany. ⟨hal-01843017⟩

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Amélie Aussel, Radu Ranta, Laure Buhry, Louise Tyvaert, Patrick Henaff. A detailed model of the hippocampal formation for the generation of sharp-wave ripples and theta-nested gamma oscillations. 27th Annual Computational Neuroscience Meeting, CNS*2018, Jul 2018, Seatle, WA, United States. ⟨hal-01843023⟩

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Petro Aksonenko, Vadym Avrutov, Yu F. Lazarev, Patrick Henaff, Laurent Ciarletta. Expanded Algorithm for Inertial Navigation. SAI 2018 – IEEE Computing Conference, Jul 2018, londres, United Kingdom. ⟨hal-01843047⟩

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Paul Granjon, Alain Dutech, Patrick Henaff. Guido and Am I Robot?, case study of two robotic artworks operating in public spaces. ICLI 2018 – International Conference on Live Interfaces, Jun 2018, Porto, Portugal. ⟨hal-01843041⟩

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Melanie Jouaiti, Patrick Henaff. Plastic CPG-based Robot Controllers for Human-Robot Rhythmic Interactions. JNRH 2018 – Journées Nationales de la Robotique Humanoïde, Jun 2018, Nancy, France. ⟨hal-02024599⟩

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Andrii Dmytrovych Shachykov, Patrick Henaff, Alexander Shulyak. Modeling of human gait control using CPGs. JNRH 2018 – Journées Nationales de la Robotique Humanoïde, Jun 2018, Nancy, France. ⟨hal-02006019⟩

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2017

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Andrii Dmytrovych Shachykov, Patrick Henaff, Anton Popov, Olexandr Petrovych Shulyak. CPG-based circuitry for controlling musculoskeletal model of human locomotor system. BioCAS 2017 – IEEE Biomedical Circuits and Systems Conference, Oct 2017, Turin, Italy. ⟨hal-01798605⟩

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Petro Aksonenko, Vadym Avrutov, Yu F. Lazarev, Patrick Henaff, Laurent Ciarletta. Overclocking Algorithms for SINS. APUAVD 2017 – 4th IEEE International Conference Actual Problems of Unmanned Aerial Vehicles Developments, Oct 2017, Kiev, Ukraine. pp.125-129, ⟨10.1109/APUAVD.2017.8308791⟩. ⟨hal-01843054⟩

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Henaff Patrick. From the control of biological complex systems toward the control of robotic complex systems . International Conference on Computer Science and Computational Intelligence (ICCSCI), Oct 2017, bali, Indonesia. ⟨hal-01843711⟩

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Hélène Fischer, Michel Hehn, Thomas Hauet, Daniel Lacour, Stéphane Suire, et al.. MAGNETICA, une expo attirante …. 24e Congrès général SFP, Société Française de Physique, Jul 2017, Orsay, France. ⟨hal-01576861⟩

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V.V. Avrutov, N.I. Bouraou, L. Lakoza, O.M. Pavlovskyi, Patrick Henaff, et al.. NEMS Gyroscope. ICE ITMC 2017 – 23rd ICE/IEEE International Technology Management Conference, Jun 2017, Porto, Portugal. pp.394-398, ⟨10.1109/ICE.2017.8279912⟩. ⟨hal-01843148⟩

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Vadym Avrutov, Petro Aksonenko, Nadiya Bouraou, Henaff Patrick, Laurent Ciarletta. Expanded Calibration of the MEMS Inertial Sensors. UKRCON 2017 – IEEE First Ukraine Conference on Electrical and Computer Engineering (UKRCON), May 2017, KIEV, Ukraine. ⟨10.1109/UKRCON.2017.8100328⟩. ⟨hal-01654275⟩

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Andrii Dmytrovych Shachykov, Patrick Henaff, Anton Popov, Olexandr Petrovych Shulyak. Neuro-musculoskeletal Simulator of Human Rhythmic Movements. UKRCON 2017 – IEEE First Ukraine Conference on Electrical and Computer Engineering, May 2017, Kyiv, Ukraine. ⟨hal-01798629⟩

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Henaff Patrick. Biological control for humanoid robots . 2017 IEEE First Ukraine Conference on Electrical and Computer Engineering (UKRCON), May 2017, kiev, Ukraine. ⟨hal-01843714⟩

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V V Avrutov, P M Aksonenko, P Henaff, Laurent Ciarletta. 3D-Calibration of the IMU. ELNANO 2017 – IEEE 37th International Conference on Electronics and Nanotechnology, Apr 2017, KIEV, Ukraine. pp.1-6, ⟨10.1109/ELNANO.2017.7939782⟩. ⟨hal-01654279⟩

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2016

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Gilles Tagne, Patrick Henaff, Nicolas Grégori. Measurement and analysis of physical parameters of the handshake between two persons according to simple social contexts. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2016, Daejeon, South Korea. ⟨10.1109/IROS.2016.7759125⟩. ⟨hal-01843162⟩

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Artem Melnyk, Patrick Henaff. Bio-inspired plastic controller for a robot arm to shake hand with human. IEEE 36th International Conference on ELECTRONICS AND NANOTECHNOLOGY ELNANO-2016, Univ KPI, Apr 2016, Kiev, Ukraine. pp.163-168. ⟨hal-01310304⟩

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2015

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Artem Melnyk, Patrick Henaff, Anton Popov. Analysis of a handshake between humans using wavelet transforms. ELNANO 2015 – IEEE 35th International Conference on Electronics and Nanotechnology, Apr 2015, kiev, Ukraine. pp.397 – 401, ⟨10.1109/ELNANO.2015.7146918⟩. ⟨hal-01255181⟩

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2014

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Patrick Henaff. Interaction rythmique homme/robot : cas du « handshaking. JNRI 2014, Journées Nationales de la Robotique Interactive, Dec 2014, toulouse, France. ⟨hal-01111253⟩

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Artem Melnyk, Vladimir Borysenko, Patrick Henaff. Analysis of synchrony of a handshake between humans. AIM 2014 – IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Jul 2014, Besançon, France. pp.1753-1758, ⟨10.1109/AIM.2014.6878337⟩. ⟨hal-01111248⟩

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Artem Melnyk, Viacheslav Khomenko, Patrick Henaff, Vladimir Borysenko. Sensor network architecture to measure characteristics of a handshake between humans. Electronics and Nanotechnology (ELNANO), 2014 IEEE 34th International Conference on, 2014, Kiev, Ukraine. pp.264- 268, ⟨10.1109/ELNANO.2014.6873983⟩. ⟨hal-01111251⟩

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Ganna Pugach, Alexandre Pitti, Artem Melnyk, Patrick Henaff, Philippe Gaussier. Learning spatial Touch in an Artificial Skin with Neural Network. Eurohaptics 2014, 2014, versailles, France. pp.458-460, ⟨10.1007/978-3-662-44196-1⟩. ⟨hal-01111217⟩

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2013

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Artem Melnyk, Viacheslav Khomenko, Vladimir Borysenko, Patrick Henaff. Physical human-robot interaction in the handshaking case: learning of rhythmicity using oscillators neuron. 2013 IFAC Conference on Manufacturing Modelling, Management, and Control, IFAC MIM ‘2013, Jun 2013, St Petersbourg, Russia. ⟨hal-00802019⟩

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Ganna Pugach, Viacheslav Khomenko, Artem Melnyk, Alexandre Pitti, Patrick Henaff, et al.. Electronic hardware design of a low cost tactile sensor device for physical Human-Robot Interactions. ELNANO 2013 – 33rd IEEE International Scientific Conference Electronics and Nanotechnology, Apr 2013, Kiev, Ukraine. pp.5, ⟨10.1109/ELNANO.2013.6552033⟩. ⟨hal-00784892⟩

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2011

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John Nassour, Patrick Henaff, Fethi Ben Ouezdou, Gordon Cheng. Experience-based Learning Mechanism with a Concept of Vigilance. Computational Neuroscience & Neurotechnology Bernstein Conference & Neurex Annual Meeting 2011, Nov 2011, Bernstein, Germany. ⟨10.3389/conf.fncom.2011.53.00099⟩. ⟨hal-00667682⟩

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Viacheslav Khomenko, Patrick Henaff, Olivier Bruneau, Fethi Ben Ouezdou, Vladimir Borysenko, et al.. Non-Invasive Low Cost Method for Linear and Angular Accelerations Measurement in Biped Locomotion Mechanism. IEEE International Conference SENSORS 2011, Oct 2011, Limerik, Ireland. pp.1756-1759. ⟨hal-00667677⟩

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Artem Melnyk, Sébastien Razakarivony, Patrick Henaff, Vladimir Borysenko, Philippe Gaussier. Adaptive Behavior Of An Electromechanical Arm Robot In a Case Of Physical Interaction With a Human Being. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2011), Jul 2011, Budapest, Hungary. pp.689-694, ⟨10.1109/AIM.2011.6027148⟩. ⟨hal-00667693⟩

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John Nassour, Patrick Henaff, Fethi Ben Ouezdou, Gordon Cheng. Bipedal Locomotion Control with Rhythmic Neural Circuits. International Workshop on Bio-Inspired Robots, Apr 2011, nantes, France. ⟨hal-00667709⟩

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2010

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John Nassour, Patrick Henaff, Fethi Ben Ouezdou, Gordon Cheng. Adaptive Locomotive Behaviors of a Biped Robot: Patterns Generation and Classification. International Conference on Simulation of Adaptive behavior, SAB 2010,, Aug 2010, France. pp.313-324. ⟨hal-00519947⟩

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2009

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John Nassour, Patrick Henaff, Fethi Ben Ouezdou, Gordon Cheng. Experience-based Learning Mechanism for Neural Controller Adaptation: Application to Walking Biped Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009 ), Sep 2009, France. pp.4955-4961. ⟨hal-00519941⟩

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Samer Alfayad, Fethi Ben Ouezdou, Faycal Namoun, Olivier Bruneau, Patrick Henaff. Three DOF Hybrid Mechanism for Humanoid Robotic Application:Modeling, Design and Realization. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), Sep 2009, United States. pp.4955-4961. ⟨hal-00519956⟩

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2008

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Hayssam Serhan, Patrick Henaff, Chaiban G. Nasr, Fethi Ben Ouezdou. State Machine-Based Controller for Walk-Halt-Walk Transitions on a Biped Robot. IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008, Dec 2008, Daejeon, South Korea. pp.535-540. ⟨hal-00519960⟩

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Hayssam Serhan, Patrick Henaff, Chaiban G. Nasr, Fethi Ben Ouezdou. Dynamic Control Strategy of a Biped Inspired from Human Walking. IEEE-RAS/EMBS Inter.l Conference on Biomedical Robotics and Biomechatronics -BioRob 2008, Oct 2008, Scottsdale, United States. pp.342-347, ⟨10.1109/BIOROB.2008.4762797⟩. ⟨hal-00523030⟩

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Hayssam Serhan, Patrick Henaff, Fethi Ben Ouezdou, Chaiban G. Nasr. A New Control Strategy for ROBIAN Biped Robot Inspired from Human Walking. IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2008, Sep 2008, Nice, France. pp.2479- 2485. ⟨hal-00523317⟩

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2006

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Vincent Scesa, Patrick Henaff, Fethi Ben Ouezdou, Faycal Namoun. Time Window Width Influence On Dynamic BPTT(h) Learning Algorithm Performances: Experimental Study. 16th International Conference on Artificial Neural Networks, ICANN 2006, Sep 2006, athene, Greece. pp.93 -102, ⟨10.1007/11840817_10⟩. ⟨hal-00523037⟩

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Vincent Scesa, Patrick Henaff, Fethi Ben Ouezdou, Faycal Namoun. On The Analysis Of Sigmoid Time Parameters For Dynamic Truncated BPTT Algorithm. IEEE International Joint Conference on Neural Networks, IJCNN 2006,, Jul 2006, Vancouver, Canada. pp.4498 – 4505, ⟨10.1109/IJCNN.2006.247074⟩. ⟨hal-00523039⟩

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ref_biblio

Hayssam Serhan, Chaiban G. Nasr, Patrick Henaff. Designing a Muscle like System based on PID Controller and Tuned by Neural Network. IEEE International Joint Conference on Neural Networks, Jul 2006, vancouver, Canada. pp.10090-10097, ⟨10.1109/IJCNN.2006.247203⟩. ⟨hal-00523295⟩

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2005

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Vincent Scesa, Bachar Mohamed, Patrick Henaff, Fethi Ben Ouezdou. Dynamic recurrent neural network for biped robot equilibrium control: preliminary results. IEEE International Conference on Robotics and Automation, ICRA 2005, Apr 2005, Barcelone, Spain. pp.4125-4130. ⟨hal-00523322⟩

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2004

ref_biblio

Thierry Hoinville, Patrick Henaff. Comparative Study of Two Homeostatic Mechanisms in Evolved Neural Controllers for Legged Locomotion. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2004, Japan. pp.2624-2629. ⟨hal-00523324⟩

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ref_biblio

Thierry Hoinville, Patrick Henaff. Evolving Plastic Neural Controllers stabilized by Homeostatic Mechanisms for Adaptation to a Perturbation. International Conference on the Simulation and Synthesis of Living Systems (ALIFE9, Sep 2004, boston, United States. pp.81-88. ⟨hal-00522803⟩

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2003

ref_biblio

Rolland Thieffry, Eric Monacelli, Patrick Henaff, Stéphane Delaplace. Configuring sensors by user learning for a locomotion aid interface .. IEEE International Conference on Robotics and Automation, ICRA 2003, May 2003, Pekin, China. pp.1509-1514. ⟨hal-00523331⟩

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2002

ref_biblio

Patrick Henaff, Olivier Chocron. Adaptive Learning Control in Evolutionary Design of Mobile Robots,. IEEE International Conference on Systems, Man and Cybernetics, Oct 2002, Hammamet, Tunisia. pp.345-349, ⟨10.1109/ICSMC.2002.1176065⟩. ⟨hal-00523329⟩

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ref_biblio

Rolland Thieffry, Eric Monacelli, Patrick Henaff, Stéphane Delaplace. Approaches and learning phases for a robotic adaptive deambulation task. IEEE International Conference on Systems, Man and Cybernetics, SMC 2002, Oct 2002, Hammamet, Tunisia. pp.210-215. ⟨hal-00523327⟩

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ref_biblio

Patrick Henaff, Olivier Chocron. Evolving mobile robots with learning abilities by neural controller. International Symposium on Measurement and Control In Robotics , Jun 2002, bourges, France. ⟨hal-01843705⟩

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1997

ref_biblio

G. Bourdon, Patrick Henaff. Fuzzy and neural control for mobile robotics experimentations. 1st IEEE International Conference on Conventional and Knowledge Based Intelligent Electronic Systems. KES ’97, May 1997, Adelaide, France. ⟨10.1109/KES.1997.619450⟩. ⟨hal-01843716⟩

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1996

ref_biblio

Henaff Patrick, Stéphane Delaplace. Backpropagation Algorithm Without Output Desired: Implementation of Neural Control in Mobile Robotics,. Int. Conf. on Neural Networks and their Applications, 1996, Marseille, France. ⟨hal-01843718⟩

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1994

ref_biblio

Patrick Henaff, M. Milgram, J. Rabit. Adaptive neural control in mobile robotics: experimentation for a wheeled cart. IEEE International Conference on Systems, Man and Cybernetics, Oct 1994, San Antonio, France. ⟨10.1109/ICSMC.1994.399997⟩. ⟨hal-01843721⟩

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ref_biblio

Henaff Patrick, Maurice Milgram. Adaptive Neural Control with Backpropagation Algorithm. IEEE Int. Symp. Signal Processing, Robotics and Neural Networks, Apr 1994, Lille, France. ⟨hal-01843723⟩

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1993

ref_biblio

Patrick Henaff, Holger Schwenk, M. Milgram. A Neural Network Approach of the Control of Dynamic Biped Equilibrium. 3rd International Symposium on Measurement and Control in Robotics (ISMCR ’93), Sep 1993, Turin, Italy. pp.AS.II-19. ⟨hal-01348277⟩

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Book sections

2017

ref_biblio

Andrii Dmytrovych Shachykov, Patrick Henaff, Olexandr Petrovych Shulyak. Comparison of measured and modeled movements of the human lower limbs. АКТУАЛЬНІ ПРОБЛЕМИ АВТОМАТИКИ ТА ПРИЛАДОБУДУВАННЯ, 2017, 978-6177577-38-5. ⟨hal-01798594⟩

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2016

ref_biblio

Henaff Patrick, Hayssam Serhan. Muscle-like Compliance in Knee Articulations Improves Biped Robot Walkings. edited by Guanghui (Richard) Wang, Intech,. Recent Advances in Robotic Systems, 2016, 978-953-51-4767-1. ⟨hal-01842424⟩

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2006

ref_biblio

Hayssam Serhan, Chaiban G. Nasr, Patrick Henaff. Designing An Artificial Muscle Based on PID Controller and Tuned by Neural Network with NN Identification of the Plant. ASME books. Intelligent Engineering Systems Through Artificial Neural Networks, ASME books, pp.747-752, 2006. ⟨hal-00523296⟩

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1997

ref_biblio

Henaff Patrick, Stéphane Delaplace. Using Backpropagation Algorithm for Neural Adaptive Control: Experimental Validation on an Industrial Mobile Robot. Morecki, A., Bianchi, G., Rzymkowski, C ROMANSY 11. International Centre for Mechanical Sciences Springer, Vienna. Part of the International Centre for Mechanical Sciences book series, 381 (347-354), 1997. ⟨hal-01843719⟩

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Habilitation à diriger des recherches

2011

ref_biblio

Patrick Henaff. Commande bio-inspirée et genèse de mouvements rythmiques en robotique. Automatique / Robotique. Université de Cergy Pontoise, 2011. ⟨tel-00667651⟩

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Books

2018

ref_biblio

Andrii Dmytrovych Shachykov, Patrick Henaff, Olexandr Petrovych Shulyak (Dir.). Моделирование ритмических движений тазобедренного сустава человека на нейронном и мускульноскелетном уровне. National Technical University of Ukraine « Kyiv Polytechnic Institute », 2018. ⟨hal-01798555⟩

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Poster communications

2024

ref_biblio

Lénaïg Gueho, Cyril Plapous, Rozenn Nicol, Patrick Henaff, Laurent Bougrain. Evaluation de stimulations sonores pour améliorer le confort utilisateur et leur détection par une ICO auditive. CORTICO 2024, May 2024, NANCY, France. ⟨hal-04631298⟩

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Isabel Casso, Hendry Ferreira Chame, Patrick Henaff, Yvonne N. Delevoye-Turrell. Sorry I overreacted: The role of Affect in the Modulation of Motor Resonance during Face-to-Face Interaction. The European Society for Cognitive and Affective Neuroscience, May 2024, Ghent (BE), Belgium. ⟨hal-04606872⟩

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ref_biblio

Kakeru Yamasaki, Takumi Kajiwara, Tomohiro Shibata, Patrick Henaff. Realizing a Personal Adaptive Dressing Assistance Robot. IEEE International Conference on Robotics and Automation ICRA2024, May 2024, Yokohama Japan, Japan. ⟨hal-04557303⟩

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2023

ref_biblio

Lénaïg Gueho, Cyril Plapous, Laurent Bougrain, Patrick Henaff, Rozenn Nicol. Conception et évaluation d’une interface cerveau-machine exploitant des stimuli auditifs spatialisés. Journées Perception Sonore, Nov 2023, PARIS, France. ⟨hal-04287488⟩

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ref_biblio

Isabel Casso, Hendry Ferreira Chame, Patrick Henaff, Yvonne N. Delevoye-Turrell. Effects of Robot Oscillation Frequency on Human Motor Resonance. 3rd international conference Timing Research Forum (TRF3), Oct 2023, Lisbon, Portugal. 2023. ⟨hal-04533517⟩

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Theses

1994

ref_biblio

Patrick Henaff. Mises en œuvre de Commandes Neuronales par Rétropropagation Indirecte : Applications à la Robotique Mobile. Robotique [cs.RO]. Université Pierre et Marie Curie, 1994. Français. ⟨NNT : 1994PA066152⟩. ⟨tel-03832547⟩

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