<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-05316463</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-25T04:37:48+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Study of the Influence of a Force Bias on a Robotic Partner During Kinesthetic Communication</title>
            <title xml:lang="fr">Etude de l'influence d'un biais dans la force d'une partenaire robotique durant une communication kinesthésique</title>
            <author role="aut">
              <persName>
                <forename type="first">Ousmane</forename>
                <surname>Ndiaye</surname>
              </persName>
              <idno type="halauthorid">866365-0</idno>
              <affiliation ref="#struct-541937"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Ouriel</forename>
                <surname>Grynszpan</surname>
              </persName>
              <email type="md5">712701376e45ea485288b5c76156f627</email>
              <email type="domain">upmc.fr</email>
              <idno type="idhal" notation="string">ourielgrynszpan</idno>
              <idno type="idhal" notation="numeric">1106199</idno>
              <idno type="halauthorid" notation="string">690248-1106199</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-7141-5946</idno>
              <idno type="IDREF">https://www.idref.fr/102749299</idno>
              <idno type="ISNI">http://isni.org/isni/0000000357523980</idno>
              <idno type="VIAF">https://viaf.org/viaf/197181172</idno>
              <affiliation ref="#struct-1061259"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Bruno</forename>
                <surname>Berberian</surname>
              </persName>
              <idno type="halauthorid">394358-0</idno>
              <affiliation ref="#struct-531213"/>
            </author>
            <author role="crp">
              <persName>
                <forename type="first">Ludovic</forename>
                <surname>Saint-Bauzel</surname>
              </persName>
              <email type="md5">72bed050b90629f7e76c8aa9eff92b8d</email>
              <email type="domain">sorbonne-universite.fr</email>
              <idno type="idhal" notation="string">ludovic-saint-bauzel</idno>
              <idno type="idhal" notation="numeric">4543</idno>
              <idno type="halauthorid" notation="string">17776-4543</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-4372-4917</idno>
              <idno type="IDREF">https://www.idref.fr/130897809</idno>
              <affiliation ref="#struct-541937"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Ludovic</forename>
                <surname>Saint-Bauzel</surname>
              </persName>
              <email type="md5">72bed050b90629f7e76c8aa9eff92b8d</email>
              <email type="domain">sorbonne-universite.fr</email>
            </editor>
            <funder ref="#projanr-52008"/>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2025-10-15 15:51:51</date>
              <date type="whenModified">2025-12-23 03:17:13</date>
              <date type="whenReleased">2025-10-16 13:48:00</date>
              <date type="whenProduced">2024-11-18</date>
              <date type="whenEndEmbargoed">2025-10-15</date>
              <ref type="file" target="https://hal.science/hal-05316463v1/document">
                <date notBefore="2025-10-15"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://hal.science/hal-05316463v1/file/IROS24_Force_field.pdf" id="file-5316463-4554998">
                <date notBefore="2025-10-15"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="318209">
                <persName>
                  <forename>Ludovic</forename>
                  <surname>Saint-Bauzel</surname>
                </persName>
                <email type="md5">72bed050b90629f7e76c8aa9eff92b8d</email>
                <email type="domain">sorbonne-universite.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-05316463</idno>
            <idno type="halUri">https://hal.science/hal-05316463</idno>
            <idno type="halBibtex">ndiaye:hal-05316463</idno>
            <idno type="halRefHtml">&lt;i&gt;21st International Conference on Informatics in Control, Automation and Robotics&lt;/i&gt;, Nov 2024, Porto, France. pp.400-407, &lt;a target="_blank" href="https://dx.doi.org/10.5220/0013013400003822"&gt;&amp;#x27E8;10.5220/0013013400003822&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">21st International Conference on Informatics in Control, Automation and Robotics, Nov 2024, Porto, France. pp.400-407, &amp;#x27E8;10.5220/0013013400003822&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://creativecommons.org/licenses/by-nc/4.0/">CC BY-NC 4.0 - Attribution - Non-commercial use<ref corresp="#file-5316463-4554998"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="ONERA">ONERA - Office National d'Études et de Recherches Aérospatiales</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="ISIR" corresp="SORBONNE-UNIVERSITE">Institut des Systèmes Intelligents et de Robotique</idno>
            <idno type="stamp" n="CENTRALESUPELEC">Ecole CentraleSupélec</idno>
            <idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno>
            <idno type="stamp" n="UNIV-PARIS-SACLAY">Université Paris-Saclay</idno>
            <idno type="stamp" n="SORBONNE-UNIVERSITE">Sorbonne Université</idno>
            <idno type="stamp" n="SORBONNE-UNIV" corresp="SORBONNE-UNIVERSITE">Sorbonne Université 01/01/2018</idno>
            <idno type="stamp" n="SU-SCIENCES" corresp="SORBONNE-UNIVERSITE">Faculté des Sciences de Sorbonne Université</idno>
            <idno type="stamp" n="UNIVERSITE-PARIS-SACLAY" corresp="UNIV-PARIS-SACLAY">Université Paris-Saclay</idno>
            <idno type="stamp" n="SU-TI">Sorbonne Université - Texte Intégral</idno>
            <idno type="stamp" n="ANR">ANR</idno>
            <idno type="stamp" n="LISN">Laboratoire Interdisciplinaire des Sciences du Numérique</idno>
            <idno type="stamp" n="GS-COMPUTER-SCIENCE">Graduate School Computer Science</idno>
            <idno type="stamp" n="ALLIANCE-SU"> Alliance Sorbonne Université</idno>
            <idno type="stamp" n="ISIR_IRIS" corresp="ISIR">Interface et Robotique pour l’Interaction Sensorimotrice</idno>
            <idno type="stamp" n="DTIS_ONERA" corresp="ONERA">DTIS ONERA</idno>
            <idno type="stamp" n="PSACLAY-TEST">Université Paris-Saclay - Collection pour tests</idno>
            <idno type="stamp" n="SUPRA_INGENIERIE">Ingénierie</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
            <note type="proceedings" n="0">No</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Study of the Influence of a Force Bias on a Robotic Partner During Kinesthetic Communication</title>
                <title xml:lang="fr">Etude de l'influence d'un biais dans la force d'une partenaire robotique durant une communication kinesthésique</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Ousmane</forename>
                    <surname>Ndiaye</surname>
                  </persName>
                  <idno type="halauthorid">866365-0</idno>
                  <affiliation ref="#struct-541937"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Ouriel</forename>
                    <surname>Grynszpan</surname>
                  </persName>
                  <email type="md5">712701376e45ea485288b5c76156f627</email>
                  <email type="domain">upmc.fr</email>
                  <idno type="idhal" notation="string">ourielgrynszpan</idno>
                  <idno type="idhal" notation="numeric">1106199</idno>
                  <idno type="halauthorid" notation="string">690248-1106199</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-7141-5946</idno>
                  <idno type="IDREF">https://www.idref.fr/102749299</idno>
                  <idno type="ISNI">http://isni.org/isni/0000000357523980</idno>
                  <idno type="VIAF">https://viaf.org/viaf/197181172</idno>
                  <affiliation ref="#struct-1061259"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Bruno</forename>
                    <surname>Berberian</surname>
                  </persName>
                  <idno type="halauthorid">394358-0</idno>
                  <affiliation ref="#struct-531213"/>
                </author>
                <author role="crp">
                  <persName>
                    <forename type="first">Ludovic</forename>
                    <surname>Saint-Bauzel</surname>
                  </persName>
                  <email type="md5">72bed050b90629f7e76c8aa9eff92b8d</email>
                  <email type="domain">sorbonne-universite.fr</email>
                  <idno type="idhal" notation="string">ludovic-saint-bauzel</idno>
                  <idno type="idhal" notation="numeric">4543</idno>
                  <idno type="halauthorid" notation="string">17776-4543</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-4372-4917</idno>
                  <idno type="IDREF">https://www.idref.fr/130897809</idno>
                  <affiliation ref="#struct-541937"/>
                </author>
              </analytic>
              <monogr>
                <meeting>
                  <title>21st International Conference on Informatics in Control, Automation and Robotics</title>
                  <date type="start">2024-11-18</date>
                  <date type="end">2024-11-20</date>
                  <settlement>Porto</settlement>
                  <country key="FR">France</country>
                </meeting>
                <imprint>
                  <publisher>SCITEPRESS - Science and Technology Publications</publisher>
                  <biblScope unit="pp">400-407</biblScope>
                </imprint>
              </monogr>
              <idno type="doi">10.5220/0013013400003822</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">Physical Human-Human Interaction</term>
                <term xml:lang="en">Physical Human-Robot Interaction</term>
                <term xml:lang="en">Sense of Agency</term>
              </keywords>
              <classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode>
              <classCode scheme="halDomain" n="scco.psyc">Cognitive science/Psychology</classCode>
              <classCode scheme="halTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halOldTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halTreeTypology" n="COMM">Conference papers</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>Numerous physical tasks necessitate collaboration among multiple individuals. While it's established that during comanipulation tasks, the exchange of forces between actors conveys information, the precise mechanisms of transmission and interpretation remain poorly elucidated. Various studies have underscored that when a robot exhibits human-like motions, human understanding of its intentions is enhanced. Nevertheless, discernible disparities emerge when comparing human-to-human and human-to-robot interactions across diverse metrics. The findings presented in this paper illustrate that when a robot consistently applies a light force field alongside its usual motions, the observed disparities in these metrics diminish significantly. Consequently, human interactions with this robot become more akin to those with other humans.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="laboratory" xml:id="struct-541937" status="VALID">
          <idno type="IdRef">241179122</idno>
          <idno type="RNSR">200918463J</idno>
          <idno type="ROR">05neq8668</idno>
          <orgName>Institut des Systèmes Intelligents et de Robotique</orgName>
          <orgName type="acronym">ISIR</orgName>
          <date type="start">2018-01-01</date>
          <desc>
            <address>
              <addrLine>Sorbonne-Université, Boite courrier 173 4 Place JUSSIEU 75252 Paris cedex 05</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.isir.upmc.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-413221" type="direct"/>
            <relation name="UMR7222" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-1061259" status="VALID">
          <idno type="IdRef">253160316</idno>
          <idno type="RNSR">202123711L</idno>
          <idno type="ROR">https://ror.org/00rd81916</idno>
          <idno type="Wikidata">Q109620676</idno>
          <orgName>Laboratoire Interdisciplinaire des Sciences du Numérique</orgName>
          <orgName type="acronym">LISN</orgName>
          <date type="start">2021-01-01</date>
          <desc>
            <address>
              <addrLine>Campus Universitaire bât 507Rue du Belvédère91405 Orsay cedexet Campus Universitaire bât 6401 rue Raimond Castaing91190 Gif-sur-Yvette</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.lisn.upsaclay.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-300009" type="direct"/>
            <relation active="#struct-411575" type="direct"/>
            <relation active="#struct-419361" type="direct"/>
            <relation name="UMR9015" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-531213" status="VALID">
          <orgName>DTIS, ONERA [Salon-de-Provence]</orgName>
          <date type="start">2018-03-19</date>
          <desc>
            <address>
              <addrLine>13330 Salon-de-Provence</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.onera.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-300024" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-413221" status="VALID">
          <idno type="IdRef">221333754</idno>
          <idno type="ROR">https://ror.org/02en5vm52</idno>
          <orgName>Sorbonne Université</orgName>
          <orgName type="acronym">SU</orgName>
          <date type="start">2018-01-01</date>
          <desc>
            <address>
              <addrLine>21 rue de l’École de médecine - 75006 Paris</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.sorbonne-universite.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-300009" status="VALID">
          <idno type="ROR">https://ror.org/02kvxyf05</idno>
          <orgName>Institut National de Recherche en Informatique et en Automatique</orgName>
          <orgName type="acronym">Inria</orgName>
          <desc>
            <address>
              <addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/en/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-411575" status="VALID">
          <idno type="IdRef">184443237</idno>
          <idno type="ROR">https://ror.org/019tcpt25</idno>
          <orgName>CentraleSupélec</orgName>
          <desc>
            <address>
              <addrLine>3, rue Joliot Curie,Plateau de Moulon,91192 GIF-SUR-YVETTE Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.centralesupelec.fr</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-419361" status="VALID">
          <idno type="IdRef">241345251</idno>
          <idno type="ROR">https://ror.org/03xjwb503</idno>
          <orgName>Université Paris-Saclay</orgName>
          <desc>
            <address>
              <addrLine>Bâtiment Bréguet, 3 Rue Joliot Curie 2e ét, 91190 Gif-sur-Yvette</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.universite-paris-saclay.fr/fr</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-300024" status="VALID">
          <idno type="ROR">https://ror.org/005y2ap84</idno>
          <orgName>ONERA</orgName>
          <desc>
            <address>
              <addrLine>Office National d’Études et de Recherches Aéronautiques29, avenue de la Division Leclerc - BP 72 - 92322 CHATILLON CEDEX</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.onera.fr/fr</ref>
          </desc>
        </org>
      </listOrg>
      <listOrg type="projects">
        <org type="anrProject" xml:id="projanr-52008" status="VALID">
          <idno type="anr">ANR-20-CE33-0012</idno>
          <orgName>LEXIKHUM</orgName>
          <desc>LEXique d'Interaction Kinesthésique Humain-Machine</desc>
          <date type="start">2020</date>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>