Institut des Systèmes Intelligents
et de Robotique

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Sorbonne Universite

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sahbani Anis
Title : Associate Professor
Address : 4 place Jussieu, CC 173, 75252 Paris cedex 05
Phone : +33 (0) 1 44 27 62 23
Email : sahbani(at)isir.upmc.fr
Group : AGATHE (AGATHE)

Publications sorted by category - Publications sorted by date

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Publication list (51).

2015

[2015ACLI3580] - Li, Y.and Saut, J.P. and Pettre, J. and Sahbani, A. and Multon, F. (2015). Fast Grasp Planning Using Cord Geometry.
IEEE Transactions on Robotics. to appear.
[ BIB ]

2014

[2014ACLI3231] - Jarrasse, N. and Proietti, T. and Crocher, V. and Robertson, J. and Sahbani, A. and Morel, G. and Roby-Brami, A. (2014). Robotic exoskeletons: a perspective for the rehabilitation of arm coordination in stroke patients.
Frontiers in Human Neuroscience. Vol 8:947 Pages 1.
[ PDF | HTTP | DOI | BIB ]

[2014ACLI3175] - Jarrasse, N. and Ribeiro, A.T. and Sahbani, A. and Bachta, W. and Roby-Brami, A. (2014). Analysis of hand synergies in healthy subjects during bimanual manipulation of various objects.
Journal of NeuroEngineering and Rehabilitation . Vol 11 Pages 113.
[ PDF | HTTP | DOI | BIB ]

[2014ACLI3176] - Saut, J.-P. and Ivaldi, S. and Sahbani, A. and Bidaud, P. (2014). Grasping objects localized from uncertain point cloud data.
Robotics and Autonomous Systems. Vol 62 No 12 Pages 1742-1754.
[ HTTP | DOI | BIB ]

2013

[2013ACTI2771] - Li,Y. and Saut, J.-P. and Pettré, J. and Sahbani, A. and Bidaud, P. and Multon, F. (2013). Fast Grasp Planning by Using Cord Geometry to Find Grasping Points .
IEEE International Conference on Robotics and Automation (ICRA'13). Pages To appear - Best Manipulation Paper Award - Finalist.
[ BIB ]

[2013ACTI2829] - Francoise, V. and Sahbani, A. and Roby-Brami, A. and Morel, G. (2013). Assistance to bone milling: tool mounted visual display improves the efficiency of robotic guidance.
IEEE Engineering in Medicine and Biology Society (EMBC'13). Pages To appear.
[ BIB ]

[2013ACTN3161] - Roby-Brami, A and Robertson, J and Crocher, V and Sahbani, A and Jarrasse, N and Morel, G (2013). Rééducation robotisée : bases conceptuelles et neurophysiologiques..
Revue Neurologique Vol 169S Journées de Neurologie de langue française. . Pages A221-A223. .
[ BIB ]

2012

[2012ACLI2359] - Crocher, V. and Sahbani, A. and Robertson, J. and Roby-Brami, A. and Morel, G. (2012). Constraining upper-limb synergies of hemiparetic patients using a robotic exoskeleton in the perspective of neuro-rehabilitation.
IEEE Transactions on Neural Systems and Rehabilitation Engineering . Vol 20 (3) Pages 247--257.
[ PDF | HTTP | BIB ]

[2012ACLI2039] - Sahbani, A. and El-Khoury, S. and Bidaud, P. (2012). An Overview of 3D Object Grasp Synthesis Algorithms.
Robotics and Autonomous Systems. Vol 60 (3) Pages 326--336.
[ PDF | HTTP | BIB ]

[2012DO2147] - Dias, J. and Sahbani, A. and Seneviratne, L. and Zeghloul, S. and Zhang, J. (2012). Robotics and Autonomous Systems, Special Issue ''Autonomous Grasping''.
, Elsevier, publisher.
[ HTTP | BIB ]

[2012ACTI2422] - Saut, JP. and Sahbani, A. and Gazeau, JP. and Zeghloul, S. and Bidaud, P. (2012). Dexterous Manipulation Planning For an Anthropomorphic Hand.
In Proc. ROMANSY 2012 - Robot Design, Dynamics and Control IFTOMM. Pages 1-8.
[ BIB ]

[2012COM2360] - Crocher, V. and Sahbani, A. and Robertson, J. and Roby-Brami, A. and Morel, G. (2012). A new control strategy for rehabilitation of upper limb synergies in hemiparetic patients using a robotic exoskeleton.
1st UAE Meeting on Neurorehabilitation (UMNR). Abu Dhabi.
[ HTTP | BIB ]

[2012COM2584] - Francoise, V. and Sahbani, A. and Morel, G. (2012). Combining visual and force feedback for milling gesture guidance.
International Workshop on Human-Friendly Robotics. Brussels, Belgium.
[ BIB ]

2011

[2011ACLI1530] - Saut, J.-P. and Sahbani, A. and Perdereau, V. (2011). A Generic Motion Planner for Robot Multi-fingered Manipulation.
Advanced Robotics, Brill, publisher. Vol 25, No 1-2, Pages 23--46 (24).
[ HTTP | BIB ]

[2011ACLN2687] - Riwan, A. and Giudicelli, B. and Taha, F. and Lazennec, J.-Y. and Sahbani, A. andKilian, P. and Jabbour, Z. and VanRhijn, J. and Louveau, F. and Morel, G. and Francoise, V. and Armand, D. and Lavallée, S. (2011). Surgicobot project: Robotic assistant for spine surgery.
IRBM Ingéniérie et recherche Biomédicale. Vol 32 No 2 Pages 130-136.
[ HTTP | BIB ]

[2011ACTI1833] - Crocher, V. and Jarrasse, N. and Sahbani, A. and Roby-Brami, A. and Morel, G. (2011). Changing human upper-limb synergies with an exoskeleton using viscous fields.
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'11). Pages 4657--4663. Shanghai, China.
[ PDF | BIB ]

[2011ACTI1834] - Vancamberg, L. and Sahbani, A. and Muller, S. and Morel, G. (2011). Needle Path Planning for Digital Breast Tomosynthesis Biopsy Using a Heterogeneous Model.
IEEE International Conference on Robotics and Automation (ICRA'11). Pages 5749--5755. Shanghai, China.
[ BIB ]

[2011ACTI1835] - El-Khoury, S. and Sahbani, A. and Bidaud, P. (2011). 3D Object Grasp Synthesis: A Survey.
13th World Congress in Mechanism and Machine Science (IFToMM'11). Pages 573--583. Guanajuato, Mexico.
[ PDF | BIB ]

[2011ACTI2136] - Francoise, V. and Sahbani, A. and Morel, G. (2011). A comanipulation device for orthopedic surgery that generates geometrical constraints with real-time registration on moving bones.
IEEE International Conference on Robotics and Biomemitics (ROBIO'11). Pages 38--43. Phuket Island, Thailand.
[ BIB ]

[2011BR2344] - Vancamberg, L. and Sahbani, A. and Muller, A. and Iordache, R. and Morel, G. (2011). Procédés d'assistance à la manipulation d'un instrument, et ensemble d'assistance associé..
. No FR1160609 Demande de dépôt.
[ BIB ]

[2011BR2492] - Morel, G. and Muller, S. and Sahbani, A. and Vancamberg, L. (2011). Procédé de détermination d un trajet d insertion d un outil dans une matrice tissulaire pouvant se déformer et système robotisé mettant en oeuvre le procédé .
. No FR2959409
[ BIB ]

2010

[2010ACLI1496] - El-Khoury, S. and Sahbani, A. (2010). A New Strategy Combining Empirical and Analytical Approaches for Grasping Unknown 3D Objects.
Robotics and Autonomous Systems,, Arai T., Dillmannm R. and Grupen R. editors, doi:10.1016/j.robot.2010.01.008, Elsevier, publisher. Vol 58 (5), Pages 497--507.
[ HTTP | BIB ]

[2010COS1497] - Vancamberg, L. and Sahbani, A. and Muller, S. and Morel, G. (2010). Needle Path Planning Method for Digital Breast Tomosynthesis Biopsy Based on Probabilistic Techniques.
Lecture Notes in Computer Science, DOI: 10.1007/978-3-642-13666-5, Springer Berlin / Heidelberg, publisher. Vol 6136 Pages 15-22.
[ HTTP | BIB ]

[2010ACTI1427] - Vancamberg, L. and Sahbani, A. and Muller, S. and Morel, G. (2010). Needle Path Planning for Digital Breast Tomosynthesis Biopsy .
IEEE International Conference on Robotics and Automation (ICRA'10). Pages 2062--2067. Anchorage, Alaska, USA.
[ PDF | BIB ]

[2010ACTI1565] - Crocher, V. and Sahbani, A. and Morel, G. (2010). Imposing joint kinematic constraints with an upper limb exoskeleton without constraining the hand motion.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'10). Pages 5028--5033. Taipei, Taiwan.
[ PDF | BIB ]

[2010BR1902] - Morel, G. and Sahbani, A. and Francoise, V. (2010). Effecteur équipé d'un dispositif de mesure pour la localisation d'une partie utile d'un outil.
. No FR2968191
[ BIB ]

[2010BR1903] - Vancamberg, L. and Sahbani, A. and Muller, S. and Morel, G. (2010). Method for determining insertion trajectory of tool in deformable tissular matrix and robotic system for executing the method.
. No US2011/0270270A1
[ PDF | BIB ]

2009

[2009ACTI947] - El Khoury, S. and Sahbani, A. (2009). On Computing Robust N-Finger Force-Closure Grasps of 3D Objects.
IEEE International Conference on Robotics and Automation (ICRA'09). Pages 2480--2486. Japan, 2009.
[ PDF | BIB ]

[2009ACTI1004] - Sahbani, A. and El-Khoury, S. (2009). A Hybrid Approach For Grasping 3D Objects.
IEEE International Conference on Intelligent Robots and Systems (IROS'09). Pages 1272--1277. St. Louis, Missouri, USA.
[ PDF | BIB ]

2008

[2008ACTI896] - El Khoury, S. and Sahbani, A. (2008). A sufficient condition for computing n-finger force-closure grasps of 3D objects.
IEEE International Conference on Robotics, Automation and Mechatronics. Pages 791-796. Chengdu, China.
[ PDF | BIB ]

[2008ACTI897] - El Khoury, S. and Sahbani, A. (2008). Handling Objects by Their Handles.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'08), WS - . Pages 58--64. Nice, France.
[ PDF | BIB ]

[2008AP898] - El Khoury, S. and Sahbani, A. (2008). A Sufficient Condition for Force-Closure Grasps Synthesis of 3D Objects.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'08), Poster Session. Nice, France.
[ PDF | BIB ]

2007

[2007ACLI892] - Saut, J.-P. and Sahbani, A. and Perdereau, V. (2007). A general approach for dexterous manipulation planning based on configuration space structuring.
The International Journal of Systems and Control. Vol 2 Pages 50--58.
[ BIB ]

[2007ACTI889] - Sahbani, A. and Saut, J.-P. and Perdereau, V. (2007). An efficient algorithm for dexterous manipulation planning.
IEEE International Multi-Conference on Systems, Signals & Devices (SSD'07). Pages 564--569. Tunisia.
[ PDF | BIB ]

[2007ACTI890] - Saut, J.-P. and Sahbani, A. and El Khoury, S. and Perdereau, V. (2007). Dexterous manipulation planning using probabilistic roadmaps in continuous grasp subspaces.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07). Pages 2907--2912. San Diego, CA, USA.
[ PDF | BIB ]

[2007ACTI894] - El Khoury, S. and Sahbani, A. and Perdereau, V. (2007). Learning the natural grasping component of an unknown object.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07). Pages 2957--2962. San Diego, CA, USA.
[ PDF | BIB ]

[2007AP891] - Saut, J.-P. and Sahbani, A. and Perdereau, V. (2007). Planification de Mouvement pour la Manipulation Dextre.
Journées nationales de la Recherche en Robotique (JNRR'07), Poster. Obernai, France.
[ PDF | BIB ]

[2007AP895] - El Khoury, S. and Sahbani, A. and Perdereau, V. (2007). Apprentissage de la partie préhensible d’un objet de forme quelconque.
Journées nationales de la Recherche en Robotique (JNRR'07), Poster. Obernai, France.
[ PDF | BIB ]

2006

[2006ACTI888] - Saut, J.-P. and Sahbani, A. and Perdereau, V. (2006). A global approach for dexterous manipulation planning using paths in n-fingers grasp subspace.
IEEE International Conference on Control, Automation, Robotics & Vision (ICARCV'06). Pages 2019--2024. Singapore.
[ PDF | BIB ]

[2006ACTN887] - Saut, J.-P. and Sahbani, A. and Perdereau, V. (2006). Planification de tâches de manipulation fine d'objets rigides.
MajecSTIC 2006. Pages . France.
[ PDF | BIB ]

[2006ACTN893] - El Khoury, S. and Sahbani, A. and Perdereau, V. (2006). Apprentissage par imitation pour la saisie d'objets de formes quelconques.
MajecSTIC 2006. Pages . France. Prix du meilleur orateur.
[ PDF | BIB ]

2004

[2004ACLI886] - Simeon, T. and Laumond, J.P. and Cortes, J. and Sahbani, A. (2004). Manipulation planning with probabilistic roadmaps.
The International Journal of Robotics Research (IJRR), SAGE Publications, publisher. Vol 23, iss. 7-8 Pages 729--746.
[ PS | BIB ]

2003

[2003ACLI884] - Simeon, T. and Cortes, J. and Sahbani, A. and Laumond, J.P. (2003). A General Manipulation Task Planner .
Algorithmic Foundations of Robotics V, Springer - Verlag, publisher. Vol 7 Pages 311--328.
[ PDF | BIB ]

[2003THDR885] - Sahbani, A. (2003). Planification de tâches de manipulation en robotique par des approches probabilistes.
. France. These de doctorat. Université Paul Sabaitier - Toulouse III..
[ PDF | HTTP | BIB ]

2002

[2002ACTI880] - Simeon, T. and Cortes, J. and Sahbani, A. and Laumond, J.P. (2002). A manipulation planner for pick and place operations under continuous grasps and placements .
IEEE International Conference on Robotics and Automation (ICRA'02). Pages 2022--2027. Washington D.C..
[ PS | BIB ]

[2002ACTI883] - Sahbani, A. and Cortes, J. and Simeon, T. (2002). A probabilistic algorithm for manipulation planning under continuous grasps and placements .
IEEE International Conference on Intelligent Robots and Systems (IROS'02). Pages 1560--1565. Switzerland.
[ PS | BIB ]

[2002AP882] - Simeon, T. and Cortes, J. and Sahbani, A. and Bouchet, J.L. and Overmars, M.H. and Mcphater, N. (2002). Molog final report and third year deliverables .
Projet ESPRIT 4 LTR 28226 MOLOG. Pages 170.
[ HTTP | BIB ]

2001

[2001ACTN877] - Sahbani, A (2001). Planification de tâches de manipulation par des méthodes probabilistes.
2ème Congrès des Doctorants, Ecole Doctorale Systèmes. Toulouse, France.
[ PS | BIB ]

[2001ACTN878] - Sahbani, A (2001). Approches probabilistes pour la planification de tâches de manipulation .
14ème Journées des Jeunes Chercheurs en Robotique. Evry, France.
[ PS | BIB ]

[2001AP879] - Simeon, T. and Laumond, J.P. and Van Geem, C. and Cortes, J. and Sahbani, A. and Lamiraux, F. and Overmars, M.H. and Mcphater, N. and Bouchet, J.L. (2001). Second year deliverables of the MOLOG project .
Projet ESPRIT 4 LTR 28226 MOLOG. Pages 146.
[ BIB ]

2000

[2000ACTI876] - Sahbani, A. and Pascal, J.C (2000). Simulation of Hybrid Systems Using Stateflow .
In 14th European Simulation Multiconference (ESM'2000). Pages 271--275. Ghent, Belgique.
[ PDF | HTTP | BIB ]