Publications

1. M.M. Gichane, J.B. Byiringiro, M. Benoussaad, M. Rakotondrabe, System-Level Validation of a Digital Twin - Mixed Reality Framework Towards Proactive Human–Robot Collaboration, Accepted in IET Cyber-Systems and Robotics journal, 2026.

2. F. Ardiani, A. Janot, M. Benoussaad, A constrained instrumental variable method for identification of industrial robots, Control Engineering Practice, Volume 154, 2025, 106168, ISSN 0967-0661, https://doi.org/10.1016/j.conengprac.2024.106168.

3. M.M. Gichane, J.B. Byiringiro, M. Benoussaad, M. Rakotondrabe. Human-Centric Framework for Robotic Assembly for Industry of the Future. Int. J. Precis. Eng. Manuf. (2024). https://doi.org/10.1007/s12541-024-01176-4.

4. W. Deng, F. Ardiani, K. T.P. Nguyen, M. Benoussaad, K. Medjaher, Physics informed machine learning model for inverse dynamics in robotic manipulators, Applied Soft Computing, Volume 163, 2024, 111877, ISSN 1568-4946, https://doi.org/10.1016/j.asoc.2024.111877.

5. M. Mujica, M. Crespo, M. Benoussaad, S. Junco, J-Y. Fourquet, Robust variable admittance control for human–robot co-manipulation of objects with unknown load, Robotics and Computer-Integrated Manufacturing (RCIM), Volume 79, 2023, 102408, ISSN 0736-5845, https://doi.org/10.1016/j.rcim.2022.102408.

6. M. Benoussaad, G. Grioli, W. Wan, M. Rakotondrabe, Editorial: “Physical human-robot interaction and co-manipulation: Mechatronics approaches”, Mechatronics, Volume 86, 2022, 102877, ISSN 0957-4158, https://doi.org/10.1016/j.mechatronics.2022.102877. 

7. H. Nascimento, M. Mujica and M. Benoussaad, Collision Avoidance Interaction Between Human and a Hidden Robot Based on Kinect and Robot Data Fusion, in IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 1, pp. 88-94 (2021). https://doi.org/10.1109/LRA.2020.3032104

8. G. Carriere, M. Benoussaad, V. Wagner, G. Dessein, B. Boniface. Off-line correction method suitable for a machining robotapplication to composite materials. in Int J Adv Manuf Technol, 110, 2361–2375 (2020). https://doi.org/10.1007/s00170-020-05947-x 

9. M. Benoussaad, F. Rotella, and I. Chaibi, Flatness of Musculoskeletal Systems Under Functional Electrical Stimulation, in Med Biol Eng Comput, vol. 58, 1113–1126 (2020). https://doi.org/10.1007/s11517-020-02139-3  

10. L. Zhan, D. Guiraud, D. Andreu,  M. Benoussaad, C. Fattal, M. Hayashibe. Real-time estimation of FES-induced joint torque with evoked EMG. Application to spinal cord injured patients, in Journal of NeuroEngineering and Rehabilitation, 13, 60 (2016). https://doi.org/10.1186/s12984-016-0169-y.  

11. M. Benoussaad, B. Sijobert, K. Mombaur and C. Azevedo-Coste. Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data. Sensors (Basel). 16(1):12 (2016). https://doi.org/10.3390/s16010012.  

12. B. Sijobert, M. Benoussaad, J. Denys, R. Pissard-Gibollet, C. Geny and C. Azevedo-Coste, Implementation and Validation of a Stride Length Estimation Algorithm, Using a Single Basic Inertial Sensor on Healthy Subjects and Patients Suffering from Parkinson's Disease. Health. 7, 704-714 (2015). https://doi.org/10.4236/health.2015.76084.

13.  M. Benoussaad, P. Poignet, M. Hayashibe, C. Azevedo-Coste, C. Fattal and D. Guiraud. Synthesis of optimal electrical stimulation patterns for functional motion restoration: applied to spinal cord-injured patients. in Medical & Biological Engineering & Computing, 53, 227–240 (2015). https://doi.org/10.1007/s11517-014-1227-x

14. D. Guiraud, C. Azevedo-Coste,  M. Benoussaad, C. Fattal, Implanted Functional Electrical Stimulation: case report of a paraplegic patient with complete SCI after 9 years. in Journal of NeuroEngineering and Rehabilitation, 11, 15 (2014). https://doi.org/10.1186/1743-0003-11-15.

15. M. Benoussaad, P. Poignet, M. Hayashibe, C. Azevedo-Coste, C. Fattal, D. Guiraud, Experimental Parameter Identification of multi-scale Musculoskeletal Model Controlled by Electrical Stimulation: Application to patients with spinal cord injury, Medical & Biological Engineering & Computing, 2013, Vol. 51, Issue 6, pp.617-631, June 2013. https://doi.org/10.1007/s11517-013-1032-y.

1. F. Ardiani, M. Mujica, M. Benoussaad, M. Cherif, A. Janot, J.-Y. Fourquet, MESII: Dataset and parameters identification of multiple KUKA IIWA collaborative manipulators, in 23rd IFAC World Congress (IFAC WC’2026), August 23rd-28th, 2026, Busan, Republic of Korea. Available at : https://hal.laas.fr/LAAS-RAP/hal-03866427v1.

2. R. Ghaddar, A. Koessler, M. Benoussaad, T. Raharijaona, Human-Robot Collaborative Manipulation of Deformable Linear Objects based on the Catenary Model, in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM’2026), July 7th-10th, 2026, Genova, Italy.

3. S.L. Hadj Sassi, M. Benoussaad, B.Watier, Minimization method comparison for bi-level optimization in the context of physical collaboration, in 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN’2025), August 25-29, 2025, Eindhoven, The Netherlands.

4. M.M. Gichane, J.B. Byiringiro, M. Benoussaad, M. Rakotondrabe, Multi-Human-Robot Collaborative Framework Towards the Next Generation of Learning Factories, in Louw, L., Hummel, V., de Kock, I., von Leipzig, K. (eds), Advancing Learning Factories : Enabling Future-Ready Skills, CFL 2025, Lecture Notes in Networks and Systems, vol. 1546, Springer, Cham. https ://doi.org/10.1007/978-3-031-98883-746.

5. A. Flores, M. Benoussaad, G. Flores, M. Rakotondrabe, Level Position and Obstacle Avoidance Control for Human-Robot Co-Manipulation of a Rigid Object, in 22rd IFAC World Congress, Yokohama (Japan), 2023. 

6. Z. Ousaadi, H. Akroum, M.A. Mamou, M. Benoussaad, Improvement of the Precision of a Two-Degree-of-Freedom Manipulator Arm PID Controller, in 2023 IEEE International Conference on Artificial  Intelligence & Green Energy (ICAIGE), pp. 1–4, October 12–14, 2023, Sousse, Tunisia.

7. M. Mujica, M. Benoussaad and J. -Y. Fourquet, Simulated Framework for Physical Human-Robot Collaboration to Co-Manipulate Objects, 17th International Conference on Control, Automation, Robotics and Vision (ICARCV), Singapore, Singapore, 2022, pp. 610-615, doi: 10.1109/ICARCV57592.2022.10004230.

8. F. Ardiani, M. Benoussaad and A. Janot, On the Dynamic Parameter Identification of Collaborative Manipulators: Application to a KUKA iiwa, 17th International Conference on Control, Automation, Robotics and Vision (ICARCV), Singapore, Singapore, 2022, pp. 468-473, doi: 10.1109/ICARCV57592.2022.10004294.

9. M. Benoussaad, A. De Lucio Rangel, G. I. Perez-Soto, K. A. Camarillo-Gómez, M. Rakotondrabe, Force-position modeling and control of a two robots based platform for automated pick-and-place task using H∞ technique, IFAC-PapersOnLine, Volume 55, Issue 12, 2022, Pages 641-646, ISSN 2405-8963, https://doi.org/10.1016/j.ifacol.2022.07.384.

10. F. Ardiani, M. Benoussaad and A. Janot, Improving Recursive Dynamic Parameter Estimation of Manipulators by knowing Robot's Model integrated in the Controller, IFAC-PapersOnLine, Volume 55, Issue 20, 2022, Pages 223-228, ISSN 2405-8963, https://doi.org/10.1016/j.ifacol.2022.09.099. 

11. M. Crespo, M. Mujica, M. Benoussaad and S. Junco, Robust Control in Task Space for Redundant Manipulator, 2021 XIX Workshop on Information Processing and Control (RPIC), 2021, pp. 1-6, doi: 10.1109/RPIC53795.2021.9648420. 

12. M. Mujica, A. Donaire, M. Benoussaad and J. -Y. Fourquet, Impedance Control for a Flexible Robot Enhanced with Energy Tanks in the port-Hamiltonian Framework, in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech republic (2021), pp. 9283-9289, doi:10.1109/IROS51168.2021.9636472.

13. F. Ardiani, M. Benoussaad, and A. Janot, Comparison of Least-Squares and Instrumental Variables for Parameters Estimation on Differential Drive Mobile Robots, IFAC-PapersOnLine (SYSID'2021), Volume 54, Issue 7, pp. 310-315, ISSN 2405-8963 (2021). https://doi.org/10.1016/j.ifacol.2021.08.377.

14. H. Nascimento, M. Mujica and M. Benoussaad, Collision Avoidance in Human-Robot Interaction Using Kinect Vision System Combined With Robot’s Model and Data, in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV (USA). pp. 10293-10298 (2020). https://doi.org/10.1109/IROS45743.2020.9341248.

15. M. Mujica, M. Benoussaad and J.-Y. Fourquet, Evaluation of Human-Robot Object Co-manipulation Under Robot Impedance Control, in 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris (France). pp. 9143-9149 (2020). https://doi.org/10.1109/ICRA40945.2020.9197329.   

16. M. Benoussaad and M. Rakotondrabe, Feedforward and H∞ Feedback Robotic Force Control in a 1-dof Physical Interaction Using a Nonlinear Human Model, in 21st IFAC World Congress, Berlin (Germany), IFAC-PapersOnLine, Volume 53, Issue 2, pp. 8531-8537, ISSN 2405-8963 (2020). https://doi.org/10.1016/j.ifacol.2020.12.1415.

17. M. Benoussaad, A. Habbadi, M. Aljanaideh, and M. Rakotondrabe, Feedforward and statefeedback force-position control of a robotic platform devoted to precise co-manipulation, in International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS). pp. 1-6 (2020). https://doi.org/10.1109/MARSS49294.2020.9307867.

18. M. Benoussaad, K. Mombaur, C. Azevedo-Coste, Nonlinear Model Predictive Control of Joint Ankle by Electrical Stimulation For Drop Foot Correction, in   2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3-7 November 2013, Tokyo (Japan). pp. 983-989. https://doi.org/10.1109/IROS.2013.6696470. 

19. M. Hayashibe,  M. Benoussaad, D. Guiraud, P. Poignet, C. Fattal, Nonlinear Identification Method Corresponding to Muscle Property Variation in FES -Experiments in Paraplegic Patients, in 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob'10), 26-29 September 2010, Tokyo (Japan). pp. 401-406. https://doi.org/10.1109/BIOROB.2010.5628018. 

20. J. Jovic, C. Azevedo-Coste, P. Fraisse,  M. Benoussaad, C. Fattal, Optimizing FES-assisted sit to stand transfer initiation in paraplegic individuals using trunk movement information, in The XVIII congress of the International Society of Electrophysiology and Kinesiology (ISEK'10), 16-19 June 2010, Aalborg, Denmark.

21. M. Benoussaad, D. Guiraud, P. Poignet, Physiological Musculoskeletal Model Identification for the Lower Limbs Control of Paraplegic Under Implanted FES, in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 10-15 Oct. 2009, St Louis (USA). pp. 3549-3554, https://doi.org/10.1109/IROS.2009.5354348.

22. M. Benoussaad, M. Hayashibe, C. Fattal, P. Poignet, D. Guiraud, Identification and Validation of FES PhysiologicalMusculoskeletalModel in Paraplegic Subjects, in 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2-6 September 2009, Minneapolis, Minnesota (USA). pp. 6538-6541, https://doi.org/10.1109/IEMBS.2009.5334507.

23. M. Benoussaad, P. Poignet, D. Guiraud, Optimal Functional Electrical Stimulation patterns synthesis for knee joint control, in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'08), 22-26 September 2008, Nice (France). pp. 2386-2391, https://doi.org/10.1109/IROS.2008.4651112.

24. M. Benoussaad, P. Poignet, D. Guiraud, Optimal patterns synthesis approach for knee motion under Functional Electrical Stimulation, in 12th Annual Conference of the International FES Society (IFESS'07), November 2007, Philadelphia, PA (USA).

1. R. Ghaddar, A. Koessler, M. Benoussaad, T. Raharijaona, Shaping a Deformable Object within a Human-Robot Collaborative Framework, in Congr.s Fran.ais de M.canique, Universit. de Lorraine, Metz, France, August 25–29, 2025. 

2. R. Ghaddar, A. Koessler, H. Courtecuisse, M. Benoussaad, T. Raharijaona, Human Robot Collaborative Manipulation of a Deformable Object, in Second Congress of SAGIP/GDR MACS (National Society of Control, Industrial and Production Engineering), Villeurbanne, France, May 2024.

3. M. Gichane, B. Mauze, M. Benoussaad, J.B. Byiringiro, M. Rakotondrabe, Generic Virtual Control and Monitoring Framework for Improved Safety and Ergonomics : Case Study on Robotic Hand, in Annual Congress of SAGIP/GDR MACS (National Society of Control, Industrial and Production Engineering / NationalWorkshop Society on Modeling, Analysis and Control of Dynamical Systems), Marseille, France, June 2023.

4. M. Benoussaad, P. Poignet, D. Guiraud, Y. Nakamura, Comparison of Muscle Models in Dynamic Condition: Application in Rehabilitation with Functional Electrical Stimulation, in The Robotics and Mechatronics Conference 2011 (ROBOMEC 2011), May 2011, Okayama (Japan). https://doi.org/10.1299/jsmermd.2011._2P2-D03_1

5. M. Benoussaad, P. Poignet, D. Guiraud, Séquences de stimulation électrique optimales pour la restauration du mouvement fonctionnel, 1ere Conference Internationale Sur l'accessibilité et les systèmes de suppléance aux personnes en situations de handicaps (ASSISTH'07), Novembre 2007. Toulouse, France.

Mourad Benoussaad, Identification protocol under FES and stimulation patterns synthesis for rehabilitation in spinal cord injured subject, PhD thesis, Science University of Montpellier (France), 2009. (thesis in French).

Mourad Benoussaad, Toward physical Human-Robot Collaboration : Challenges and perspectives, HDR (Habilitation to conduct research), University of Toulouse 3 - Paul-Sabatier (France), 2023.

Ediing activities:

• • Guest editor of a Special Issue on “pHRI and Co-manipulation: Mechatronics Approaches”,for IFAC Mechatronics journal, 2021.

Projects expertise:

• • Expertise of two research projects for Canada Foundation for Innovation (FCI), 2019.

Journals referee:

Regular review for several journals: 

• • IEEE TNSRE, 

  • IEEE RA-L, 

  • MBEC Journal (Springer), 

  • Sensors (Mdpi), 

  • IEEE TIE, 

  • Mechatronics journal (Elsevir), 

  • NCAA journal (Springer), 

  • IEEE JBHI, 

  • Eur J. Transl Myol.       

Conferences referee:

Regular review for several international conferences: 

• • IEEE ICRA, 

  • IEEE IROS, 

  • IEEE EMBC, 

  • IFAC WC, 

  • IEEE CASE, 

  • IEEE ICOOR, 

  • IFESS.                

Workshop on "Robotic manipulation: mechatronic tools, modeling, identification and control", IFAC WC 2020

Organizers:

• Dr Mourad Benoussaad, Laboratoire Genie de Production (LGP), ENIT / Toulouse INP, Tarbes France

• Dr Mathieu Grossard, Robotics Laboratory, CEA LIST, Paris FR,

• Prof Micky Rakotondrabe, Laboratoire Genie de Production (LGP), ENIT / Toulouse INP, Tarbes France