Home » Teams » IRIS » Nathanael Jarrasse

  • Nathanael Jarrasse

  • Tenured CNRS Researcher
  • Team: IRIS
  • Email: nathanael.jarrasse@sorbonne-universite.fr
  • Phone:0144276260
  • Addresse: Pyramide ISIR, 4 place Jussieu, 75005 Paris
  • Website: http://www.n-jarrasse.com
  • Bio: I am a permanent research scientist (CR1 CNRS, Section 7, CID 53) at the Institute of Intelligent Systems and Robotics of the Sorbonne Université, Paris, working in the AGATHE team. I was previously working as an associate researcher at the Human Robotics Group, Dept. of Bioengineering, Imperial College London under the supervision of Pr. E. Burdet. I received my HDR from Sorbonne Université in 2022, my PhD from UPMC in 2011, an M.Eng. in Mechanical Engineering from Arts et Métiers ParisTech and an M.Sc. in Robotics from UPMC, both in 2006. Research interests My research projects aim at understanding and improving the physical Human-Robot interaction (pHRi) for neuromotor rehabilitation and assistance applications (especially for the upper-limb) to further embodiment of technological devices. I am especially interested in the natural control of wearable or interacting mechatronic devices (exoskeletons, prosthetics, instrumented interfaces, cobots), the physical coupling between robotic devices and the human body and the analysis of human sensorimotor control and interactive behaviours. I am also concerned by the Ethical, Legal and Societal (ELS) issues in medical and assistive robotics. Additionally, I am the manager of the Team Smart ArM (SAM) participating to the Cybathlon competitions.

Publications

  • Vaynee Sungeelee, Téo Sanchez, Nathanael Jarrasse, Baptiste Caramiaux. Comparing Teaching Strategies of a Machine Learning-based Prosthetic Arm. Intelligent User Interfaces, ACM, Mar 2024, Greenville, South Carolina, United States. ⟨hal-04527854⟩
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  • Silvia Buratti, Deiana Davide, Alessia Noccaro, Mattia Pinardi, Giovanni Di Pino, et al.. Effect of Vibrotactile Feedback on the Control of the Interaction Force of a Supernumerary Robotic Arm. Machines, 2023, Special Issue Recent Advances in Medical Robotics, ⟨10.3390/machines11121085⟩. ⟨hal-04339855⟩
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  • Océane Dubois, Agnès Roby-Brami, Ross Parry, Mahdi Khoramshahi, Nathanaël Jarrassé. A guide to inter-joint coordination characterization for discrete movements: a comparative study. Journal of NeuroEngineering and Rehabilitation, 2023, 20 (1), pp.132. ⟨10.1186/s12984-023-01252-2⟩. ⟨hal-04225857⟩
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  • Océane Dubois, Agnès Roby-Brami, Ross Parry, Nathanael Jarrasse. Does a small perturbation created by an upper-limb exoskeleton impact our coordination in reaching tasks ?. Progress in Motor Control, Sep 2023, Rome, Italy. ⟨hal-04228833⟩
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  • Valentine Gourinat, Nathanael Jarrasse. Le mythe du cyborg : techno-enchantement, récits héroïques et promesses de réparation technologique du corps. ¿ Interrogations ? Revue pluridisciplinaire de sciences humaines et sociales, 2023, 36, pp.1-14. ⟨hal-04133072⟩
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  • Mahdi Khoramshahi, Alexis Poignant, Guillaume Morel, Nathanael Jarrassé. A Practical Control Approach for Safe Collaborative Supernumerary Robotic Arms. 2023 IEEE Conference on Advanced Robotics and its Social Impact (ARSO 2023), IEEE, Jun 2023, Berlin, Germany. ⟨hal-04067845⟩
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  • Olivier Rossel, Manon Chateaux, Nathanaël Jarrassé, Fabien Vérité, Amélie Touillet, et al.. Phantom movement training without classifier performance feedback improves mobilization ability while maintaining EMG pattern classification. IEEE Transactions on Medical Robotics and Bionics, 2023, 5 (1), pp.133-142. ⟨10.1109/TMRB.2023.3237918⟩. ⟨hal-04137971⟩
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  • Dorine Arcangeli, Océane Dubois, Agnès Roby-Brami, Sylvain Famié, Giovanni de Marco, et al.. Human Exteroception during Object Handling with an Upper Limb Exoskeleton. Sensors, 2023, 23 (11), pp.5158. ⟨10.3390/s23115158⟩. ⟨hal-04109437⟩
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  • Atsushi Takagi, Carlo Bagnato, Alejandro Melendez-Calderon, Nathanaël Jarrassé, Gowrishankar Ganesh, et al.. Competition increases the effort put into a physical interaction task. IEEE Transactions on Haptics (ToH), 2023, 16 (4), pp.719-725. ⟨10.1109/TOH.2023.3306794⟩. ⟨hal-04226679⟩
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  • Mahdi Khoramshahi, Agnes Roby-Brami, Ross Parry, Nathanaël Jarrassé. Identification of inverse kinematic parameters in redundant systems: Towards quantification of inter-joint coordination in the human upper extremity. PLoS ONE, 2022, 17 (12), pp.e0278228. ⟨10.1371/journal.pone.0278228⟩. ⟨hal-03918219⟩
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  • Clemence Drouot, Nathanael Jarrasse. Improved real-time gait phase detection using simple force sensors, sequencing conditions and smart fault management. 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec 2022, Jinghong, China. pp.2328-2335, ⟨10.1109/ROBIO55434.2022.10011720⟩. ⟨hal-04019149⟩
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  • Amélie Touillet, Adrienne Gouzien, Marina Badin, Pierrick Herbe, Noël Martinet, et al.. Kinematic analysis of impairments and compensatory motor behavior during prosthetic grasping in below-elbow amputees. PLoS ONE, 2022, 17 (11), pp.e0277917. ⟨10.1371/journal.pone.0277917⟩. ⟨hal-03863792⟩
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  • Alexis Poignant, Nathanael Jarrasse, Guillaume Morel. Virtually turning robotic manipulators into worn devices: opening new horizons for wearable assistive robotics. 2023. ⟨hal-04236124⟩
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  • Nicola Di Stefano, Nathanaël Jarrassé, Luca Valera. The Ethics of Supernumerary Robotic Limbs. An Enactivist Approach. Science and Engineering Ethics, 2022, 28, ⟨10.1007/s11948-022-00405-1⟩. ⟨hal-03852522⟩
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  • Mathilde Legrand, Charlotte Marchand, Florian Richer, Amélie Touillet, Noël Martinet, et al.. Simultaneous control of 2DOF upper-limb prosthesis with body compensations-based control: a multiple cases study. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2022, ⟨10.1109/TNSRE.2022.3186266⟩. ⟨hal-03846023⟩
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  • Omar Mounir Alaoui, Fabien Expert, Guillaume Morel, Nathanael Jarrasse. Using Arm Swing Movements to Maintain the Walking State in a Self-Balanced Lower-Limb Exoskeleton. 2022 IEEE International Conference on Robotics and Automation (ICRA), May 2022, Philadelphia, France. pp.6444-6450, ⟨10.1109/ICRA46639.2022.9811824⟩. ⟨hal-03870400⟩
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  • Nathanaël Jarrassé. On the use of sensorimotor coordinations for intuitive and ecological robotic assistance to gesture. Robotics [cs.RO]. Sorbonne Université, 2022. ⟨tel-03705656⟩
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  • Mathilde Legrand-Lestoille, Charlotte Marchand, Florian Richer, Amélie Touillet, Noël Martinet, et al.. Simultaneous control of 2DOF upper-limb prosthesis with body compensations-based control: a multiple cases study. IEEE Transactions on Neural Systems and Rehabilitation Engineering, In press. ⟨hal-03697470⟩
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  • Charlotte Marchand, Jozina B de Graaf, Nathanaël Jarrassé. Measuring mental workload in assistive wearable devices: a review. Journal of NeuroEngineering and Rehabilitation, 2021, 18 (1), ⟨10.1186/s12984-021-00953-w⟩. ⟨hal-03418729⟩
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  • Clémence Drouot, Nathanaël Jarrassé. Caractérisation de l'effondrement durant la marche des patients atteints de myosite à inclusions : analyse préliminaire. Actes du colloque « Jeunes Chercheuses, Jeunes Chercheurs" IFRATH 2021, IFRATH, Oct 2021, Créteil, France. ⟨hal-04019174⟩
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  • Ross Parry, Agnès Roby-Brami, Nathanael Jarrasse. Upper-limb joint coordination during and after exposure to a robotic exoskeleton: Influence of spontaneous movement vigour.. Société de biomécanique 2021 Session Biomécanique de l’interaction homme – systèmes, ergonomie et robotique., Sep 2021, Saint-Etienne, France. ⟨hal-03869447⟩
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  • Ross Parry, Fabrice Sarlegna, Nathanael Jarrasse, Agnès Roby-Brami. Anticipation and compensation for somatosensory deficits in object handling: evidence from a patient with large fibre sensory neuropathy. Journal of Neurophysiology, 2021, ⟨10.1152/jn.00517.2020⟩. ⟨hal-03289253⟩
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  • Agnès Roby-Brami, Nathanael Jarrasse, Ross Parry. Impairment and Compensation in Dexterous Upper-Limb Function After Stroke. From the Direct Consequences of Pyramidal Tract Lesions to Behavioral Involvement of Both Upper-Limbs in Daily Activities. Frontiers in Human Neuroscience, 2021, 15, ⟨10.3389/fnhum.2021.662006⟩. ⟨hal-03284161⟩
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  • Alexis Poignant, Mathilde Legrand, Nathanael Jarrassé, Guillaume Morel. Computing the positioning error of an upper-arm robotic prosthesis from the observation of its wearer's posture. 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561613⟩. ⟨hal-03248786⟩
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  • Alexis Poignant, Mathilde Legrand, Nathanaël Jarrassé, Guillaume Morel. Computing the positioning error of an upper-arm robotic prosthesis from the observation of its wearer's posture. 2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021, Xi'an, China. ⟨10.1109/ICRA48506.2021.9561613⟩. ⟨hal-03846009⟩
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  • Mahdi Khoramshahi, Guillaume Morel, Nathanael Jarrasse. Intent-aware control in kinematically redundant systems: Towards collaborative wearable robots. 2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021, Xi'an, China. ⟨hal-03181212⟩
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  • Nathanael Jarrasse. Cyborg et corps artificiel. Vers le cyber-monde: Humain et numérique en interaction, 2021. ⟨hal-03409401⟩
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  • Mathilde Legrand, Nathanael Jarrasse, Etienne de Montalivet, Florian Richer, Guillaume Morel. Closing the loop between body compensations and upper-limb prosthetic movements: a feasibility study. IEEE Transactions on Medical Robotics and Bionics, 2021, pp.1-1. ⟨10.1109/TMRB.2020.3048251⟩. ⟨hal-03099461⟩
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  • Mathilde Legrand, Nathanael Jarrasse, Charlotte Marchand, Florian Richer, Amélie Touillet, et al.. Controlling upper-limb prostheses with body compensations. WeRob, Oct 2020, Valencia, Spain. ⟨hal-03038844⟩
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  • Valentine Gourinat, Paul-Fabien Groud, Nathanael Jarrasse. L’ambivalence de l’enchantement prothétique contemporain.. Valentine Gourinat; Paul-Fabien Groud; Nathanaël Jarrassé. Corps & Prothèses, Presses Universitaires de Grenoble, 2020. ⟨hal-03055069⟩
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  • Mathilde Legrand, Nathanaël Jarrassé, Florian Richer, Guillaume Morel. A closed-loop and ergonomic control for prosthetic wrist rotation. IEEE International Conference on Robotics and Automation, May 2020, Paris, France. ⟨10.1109/ICRA40945.2020.9197554⟩. ⟨hal-02884219⟩
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  • Omar Mounir Alaoui, Fabien Expert, Guillaume Morel, Nathanael Jarrasse. Using Generic Upper-Body Movement Strategies in a Free Walking Setting to Detect Gait Initiation Intention in a Lower-Limb Exoskeleton. IEEE Transactions on Medical Robotics and Bionics, 2020, 2 (2), pp.236-247. ⟨10.1109/TMRB.2020.2982004⟩. ⟨hal-02541938⟩
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  • Nathanael Jarrasse, Mathilde Legrand-Lestoille, Guillaume Morel. Device for controlling a robotic system for assisting the mobility of a user. France, Patent n° : WO2020193571A1. 2020. ⟨hal-03980694⟩
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  • Manelle Merad, Étienne de Montalivet, Mathilde Legrand, E. Mastinu, M. Ortiz-Catalan, et al.. Assessment of an automatic prosthetic elbow control strategy using residual limb motion for transhumeral amputated individuals with socket or osseointegrated prostheses. IEEE Transactions on Medical Robotics and Bionics, 2020, pp.1-12. ⟨10.1109/TMRB.2020.2970065⟩. ⟨hal-02463426⟩
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  • Valentine Gourinat, Paul-Fabien Groud, Nathanael Jarrasse (Dir.). Corps et prothèses. Presses Universitaires de Grenoble, 2020, HANDICAP, VIEILLISSEMENT, SOCIÉTÉ, Alain Blanc, 978-2-7061-4756-2. ⟨hal-02909323⟩
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  • Étienne de Montalivet, Kevin Bailly, Amélie Touillet, Noël Martinet, Jean Paysant, et al.. Guiding the training of users with a pattern similarity biofeedback to improve the performance of myoelectric pattern recognition.. IEEE Transactions on Neural Systems and Rehabilitation Engineering, In press, pp.1-11. ⟨10.1109/TNSRE.2020.3003077⟩. ⟨hal-02884543⟩
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  • M. Merad, E. de Montalivet, Mathilde Legrand, A. Touillet, N. Martinet, et al.. Improving the control of prostheses in arm amputees with approaches based on motor coordination. Computer Methods in Biomechanics and Biomedical Engineering, 2019, 22 (sup1), pp.S445-S447. ⟨10.1080/10255842.2020.1714976⟩. ⟨hal-03064851⟩
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  • Malika Auvray, Yann Kechabia, Gabriel Arnold, Nathanael Jarrasse. Providing proprioceptive feedback by means of vibrotactile stimuli: A way to improve body integration of a prosthetic arm. World Haptics Conference (WHC) 2019, Dec 2019, Tokyo, Japan. ⟨hal-04322443⟩
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  • Mathilde Legrand, Étienne de Montalivet, Florian Richer, Nathanaël Jarrassé, Guillaume Morel. Reciprocal Kinematic Control: using human-robot dual adaptation to control upper limb assistive devices. Hamlyn Symposium on Medical Robotics, Jun 2019, Londres, United Kingdom. ⟨hal-02324425⟩
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  • Mathilde Legrand, E de Montalivet, F Richer, N Jarrassé, G Morel. Reciprocal Kinematic Control: using human-robot dual adaptation to control upper limb assistive devices. Hamlyn Symposium on Medical Robotics, Jun 2019, London, United Kingdom. ⟨hal-03040570⟩
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  • Nathanael Jarrasse, Mathilde Legrand-Lestoille, Guillaume Morel. Dispositif de commande d'un système robotique d'assistance à la mobilité d'un utilisateur. France, N° de brevet: FR1903103. 2019. ⟨hal-03980631⟩
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  • Nathanael Jarrasse. Les exosquelettes. Techniques de l'ingénieur, 2019. ⟨hal-02323673⟩
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  • Emmanuel Guigon, Oussama Chafik, Nathanael Jarrasse, Agnès Roby-Brami. Experimental and theoretical study of velocity fluctuations during slow movements in humans. Journal of Neurophysiology, 2019, 121 (2), pp.715-727. ⟨10.1152/jn.00576.2018⟩. ⟨hal-02109365⟩
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  • Ross Parry, Sandra Macias Soria, Pascale Pradat-Diehl, Veronique Marchand-Pauvert, Nathanael Jarrasse, et al.. Effects of Hand Configuration on the Grasping, Holding, and Placement of an Instrumented Object in Patients With Hemiparesis. Frontiers in Neurology, 2019, 10, pp.240. ⟨10.3389/fneur.2019.00240⟩. ⟨hal-02086396⟩
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  • Nathanael Jarrasse, Étienne de Montalivet, Florian Richer, Caroline Nicol, Amelie Touillet, et al.. Phantom-Mobility-Based Prosthesis Control in Transhumeral Amputees Without Surgical Reinnervation: A Preliminary Study. Frontiers in Bioengineering and Biotechnology, 2018, 6, ⟨10.3389/fbioe.2018.00164⟩. ⟨hal-02405906⟩
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  • Nathanaël Jarrassé, Étienne de Montalivet, Florian Richer, Caroline Nicol, Amelie Touillet, et al.. Phantom-mobility-based prosthesis control in transhumeral amputees without surgical reinnervation: a preliminary study.. Frontiers in Bioengineering and Biotechnology, 2018, 6, ⟨10.3389/fbioe.2018.00164⟩. ⟨hal-02002425⟩
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  • Amélie Touillet, Laetitia Peultier-Celli, Caroline Nicol, Nathanaël Jarrassé, Isabelle Loiret, et al.. Characteristics of phantom upper limb mobility encourage phantom-mobility-based prosthesis control. Scientific Reports, 2018, 8, pp.15459. ⟨10.1038/s41598-018-33643-0⟩. ⟨hal-01913708⟩
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  • Yanan Li, Gowrishankar Ganesh, Nathanaël Jarrassé, Sami Haddadin, Alin Albu-Schaeffer, et al.. Force, Impedance, and Trajectory Learning for Contact Tooling and Haptic Identification. IEEE Transactions on Robotics, 2018, 34 (5), pp.1170-1182. ⟨10.1109/tro.2018.2830405⟩. ⟨hal-02049408⟩
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  • Mathilde Legrand, Manelle Merad, Étienne de Montalivet, Agnès Roby-Brami, Nathanaël Jarrassé. Movement-Based Control for Upper-Limb Prosthetics: Is the Regression Technique the Key to a Robust and Accurate Control?. Frontiers in Neurorobotics, 2018, 12, ⟨10.3389/fnbot.2018.00041⟩. ⟨hal-02049404⟩
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  • Ross Parry, Nathanaël Jarrassé, F R Sarlegna, Agnès Roby-Brami. Adaptation to the absence of tactile and proprioceptive feedback in object handling. 12th World Congress of the International Society of Physical and Rehabilitation Medicine (ISPRM 2018), Jul 2018, Paris, France. pp.e422. ⟨hal-02101380⟩
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