Publis

Nicolas Herzig, Richard Moreau, Tanneguy Redarce, Frédéric Abry, Xavier Brun. Nonlinear position and stiffness Backstepping controller for a two Degrees of Freedom pneumatic robot. Control Engineering Practice, Elsevier, 2018, 73, pp.26 - 39. ⟨10.1016/j.conengprac.2017.12.007⟩. ⟨hal-01682127⟩

Nicolas Herzig, Richard Moreau, Arnaud Lelevé, Minh Tu Pham. Stiffness Control of Pneumatic Actuators to Simulate Human Behavior on Medical Haptic Simulators. 2016 IEEE AIM, IEEE, Jul 2016, Banff, Canada. ⟨10.1109/AIM.2016.7576997⟩. ⟨hal-01333383⟩

Pierre-Jean Alès Roux, Nicolas Herzig, Arnaud Lelevé, Richard Moreau, Christian Bauer. 3D Haptic Rendering of Tissues for Epidural Needle Insertion using an Electro-Pneumatic 7 Degrees of Freedom Device. 2016 IEEE IROS, Oct 2016, Daejeon, South Korea. ⟨10.1109/IROS.2016.7759760⟩. ⟨hal-01340723⟩

Nicolas Herzig, Richard Moreau, Tanneguy Redarce, Frédéric Abry, Xavier Brun. Non Linear Position and Closed Loop Stiffness Control for a Pneumatic Actuated Haptic Interface : the BirthSIM. 2015 IEEE IROS, Sep 2015, Hambourg, Germany. pp.1612-1618, ⟨10.1109/IROS.2015.7353583⟩. ⟨hal-01216564⟩

Nicolas Herzig, Richard Moreau, Tanneguy Redarce. A new design for the BirthSIM simulator to improve realism. 36th IEEE EMBC, Aug 2014, Chicago, IL, United States. pp.2065 - 2068, ⟨10.1109/EMBC.2014.6944022⟩. ⟨hal-01086796⟩

Nicolas Herzig. De la conception à la commande d'une nouvelle interface haptique 4 axes hybride pneumatique électrique pour la simulation d'accouchement : Le BirthSIM. Automatique / Robotique. Université de Lyon, 2016. Français. ⟨NNT : 2016LYSEI064⟩. ⟨tel-02067733⟩