ROBOTICS / ENGINEERING

Book Chapters

• M. Inami, G. Ganesh, Y. Miyawaki, M. Kitazaki, Y. Iwata, M Sugimoto. ⾃在化⾝体論:超感覚・超⾝体・変⾝・分⾝・合体が織りなす⼈-類の未来 (Freedom from body constraints: Extrasensory, superhuman, variational, split, and coalesced people -as the future of mankind).
  NTS Publications, Tokyo.

• E. Burdet, G. Ganesh, C.G. Yang, A. Albu-Schäffer.
  Interaction Force, Impedance and Trajectory Adaptation: by Humans, for Robots.
  Springer Tracts in Advanced Robotics.

• E. Burdet, R. Gassert, G. Gowrishankar, D. Chapuis, H. Bleuler.
  fMRI Compatible Haptic Interfaces to Investigate Human Motor Control.
  Springer Tracts in Advanced Robotics, Springer 25-34.

Articles in Peer Reviewed Journals and Conferences (* indicates equal contribution)

• S. Victor, B. Yun, C.A.R. Mamadou Toura, E. Indino, M. Croitoru, G. Ganesh (2026). A Socially aware robot for reward, effort, and risk distribution. in Human Robot Interaction. In print.

• E. Brigaud, R. Carron, R. Anders, S. C. M. Shing, M. Croitoru, G. Ganesh, N. Blanc (2026) Are the moral responses attributed to robots closer to those of humans when they express emotions? A psychological study. Journal of Psychology and AI, in print.

• E. Guzel, S. Victor, M. El Zeeny, M. Mischinger, M. Schmeja, G. Ganesh (2025). An Approach to Design Human-in-the-Loop Safety-critical Driving Scenario Simulations via Virtual Reality. Invited article in the AI4CCAM workshop, IEEE Intelligent Vehicles. Cluj Napoca, Romania.

• A. Dechaux, M. Kitazaki, J. Lagarde and G. Ganesh. (2024) « Design and Evaluation of a Prototype Tactile Scanner for Active Sensing of Proximal Objects, » 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, 2024, pp. 9241-9247, doi: 10.1109/IROS58592.2024.10801696.

• S. Victor, G. Ganesh, M. Croitoru (2024). Enhancing JAAD with Knowledge Graphs for Improved Pedestrian Crossing Predictions. In: Cabrera, I.P., Ferré, S., Obiedkov, S. (eds) Conceptual Knowledge Structures. CONCEPTS 2024. Lecture Notes in Computer Science, vol 14914. Springer, Cham. https://doi.org/10.1007/978-3-031-67868-

• M. Kitazaki, R. Onodera, J. Kataoka, Y. Inoue, Y. Iwasaki, G. Ganesh (2024). Owl-Vision: Augmentation of Visual Field by Virtual Amplification of Head Rotation. In Proceedings of the Augmented Humans International Conference 2024 (AHs ’24). Association for Computing Machinery, New York, NY, USA, 275–277. https://doi.org/10.1145/3652920.3653048.

• A. Takagi, C. Bagnato, A. Melendez-Calderon, N. Jarrasse, G. Ganesh, E. Burdet (2023). Competition increases the effort put into a physical interaction task. IEEE Trans Haptics. 2023 Oct-Dec;16(4):719-725. doi: 10.1109/TOH.2023.3306794. 

• N. Nishida, Y. Iwasaki, G. Ganesh, H. Iwata (2022). A Study towards Embodied Supernumerary Limbs- Effects of Embodiment Induction on Reducing Attention Demand and Improving Performance Poster at the IROS XR and Robotics Workshop. Best Poster Award.

• KP. Tee, S. Cheong, J. Li, G. Ganesh (2022).
  A Framework for tool cognition in robots without prior tool learning or observation. Nature Mach Intell 4, 533–543 (2022). https://doi.org/10.1038/s42256-022-00500-9.

• G. Ganesh, Y. Miyawaki (2021).
  ロボットは我々の身体の一部になりえるのか？Can we perceive robots as parts of our body?
  Japanese Journal of Robotics and Mechatronics, 39(8):693-700. https://doi.org/10.7210/jrsj.39.693

• N. Yoshimura, K. Umetsu, A. Tonin, Y. Maruyama, K. Harada, A. Rana, G. Ganesh, U. Chaudhary, Y. Koike, N. Birbaumer (2021).
  Binary semantic classification using cortical activation with Pavlovian- conditioned vestibular responses in healthy and locked-in individuals,
  Cerebral Cortex Communications. tgab046, https://doi.org/10.1093/texcom/tgab046

•  G. Gourmelen, B. Navarro, A. Cherubini, G. Ganesh (2021).
  Human guided trajectory and impedance adaptation for tele−operated physical assistance.
  IEEE International conference on intelligent robots and systems, IROS 2021. Preprint on hal−03001342t.

• Y. Shi, G. Ganesh, H. Ando, Y. Koike, E. Yoshida, N. Yoshimura (2021).
  Decoding motor imagery based on prediction errors and channel optimization.
  International Journal of Neural Systems. 31(11):2150034. doi: 10.1142/S0129065721500349.

• K. Sakurada, G. Ganesh, W. Yu (2021).
  A novel tactile feedback system with online texture decoding and direct−texture−feedback.
  IEEE International Conference on Robotics and Automation, ICRA  2018. Preprint on hal−03042579t.

• A. Maekawa, S. Kasahara, H. Saito, D. Uriu, G. Ganesh, M. Inami (2020).
  That tight game: implicit force intervention in inter-personal physical interactions on playing tug of war.
  IEEE ACM SIGGRAPH 2020 Emerging Technologies. https://doi.org/10.1145/3388534.3407301 

• D. Heraiz-Bekkis, G. Ganesh, E. Yoshida, N, Yamanobe (2020).
  Robot movement uncertainty determines human discomfort in co-worker scenarios.
  IEEE International Conference on  International Conference on Control, Automation and Robotics, ICCAR 2020, Singapore, April 2020.

• G. Gourmelen, A. Verhulst, T. Sasaki, B. Navarro, G. Ganesh, M. Inami (2019).
  Co-Limbs: An Intuitive  Collaborative Control for Wearable Robotic Arms.
  The 12th ACM SIGGRAPH Conference and Exhibition on Computer Graphics & interactive Techniques in Asia, Brisbane, November 2019.

• Z. Abderrahmane, G. Ganesh, A. Crosnier, A. Cherubini (2019).
  A Deep Learning Framework for Tactile Recognition of Known as well as Novel Objects.
   IEEE Trans. Industrial Informatics. doi: 10.1109/TII.2019.2898264

• Y. Li*, G. Ganesh*, N. Jarrassé*, S. Haddadin, A. Albu-Schäffer, E. Burdet (2018).
  Force, Impedance and Trajectory Learning for Contact Tooling and Haptic Identification.
   IEEE Transactions on Robotics. 34 (5):1170 – 1182.

• A. Vasalya, G. Ganesh, A. Kheddar (2018).
  More than just co-workers: Presence of humanoid robot co-worker influences human performance.
  PLOS ONE. https://doi.org/10.1371/journal.pone.0206698.

• K. Sakurada, G. Ganesh, W. Yu, K. Kita (2018).
  Accurate decoding of material textures using a finger mounted accelerometer.
  IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2018.

• Z. Abderrahmane, G. Ganesh, A. Crosnier, A. Cherubini (2018).
  Visuo-Tactile Recognition of Daily-Life Objects Never Seen or Touched Before.
  International Conference on Control, Automation, Robotics and Vision, ICARCV 2018.

• A. Vasalya, G. Ganesh, A. Kheddar (2018).
  Distinct motor contagions during and after observation of actions by a humanoid co-worker.
  IEEE International Conference on Robot and Man, ROMAN 2018.

• K.P. Tee, J. Li, L.T.P. Chen, K.W. Wan, G. Ganesh (2018).
  Towards Emergence of Tool Use in Robots: Automatic Tool Recognition and Use without Prior Tool Learning.
  IEEE International Conference on Robotics and Automation, ICRA  2018.

• S. Kato, N. Yamanobe, G. Venture, G. Ganesh (2018).
  Humans can predict where their partner would make a handover.
  ‘Late breaking report’ at the International Conference on Human Robot Interaction, HRI 2018.

• G. Ganesh, K. Nakamura,S. Saetia,AM. Tobar,E. Yoshida,H. Ando,N. Yoshimura,Y. Koike (2018).
  Utilizing sensory prediction errors for movement intention decoding: a new methodology.
  Science Advances Vol. 4, no. 5, eaaq0183 DOI: 10.1126/sciadv.aaq0183

• Z. Abderrahmane, G. Ganesh, A. Crosnier, A. Cherubini (2018).
  Haptic Zero-Shot Learning: Recognition of Objects Never Touched Before.
  Robotics and Autonomous Systems, 105-11:25.

• L. Aymerich-Franch, D. Petit, G. Ganesh, A. Kheddar (2017).
  Object touch by a humanoid robot avatar induces haptic sensation in the real hand.
  Journal of Computer Mediated Communication. 22(4):215:230.

• A. Takagi*, G. Ganesh*,T. Yoshioka, M. Kawato, E. Burdet (2017).
  Physically interacting individuals estimate the partner’s goal to enhance their movements.
  Nature Human Behavior. doi:10.1038/s41562-017-0054. {press pick up by CNRS Journal}

• J. Vogel, N. Takemura, H. Hoeppner, P. van der Smagt, G. Ganesh (2017).
  Hitting the sweet spot: Automatic optimization of energy transfer during tool held hits.
  IEEE International Conference on Robotics and Automation, ICRA 2017.

• L. Aymerich-Franch, D. Petit, G. Ganesh, A. Kheddar (2017).
  Touch by an embodied humanoid robot induces haptic sensation from vision alone.
  Journal of Computer mediated Communication, 22 (2017) 215–230.

• Aymerich-Franch, D. Petit, A. Kheddar, G. Ganesh (2016).
  In a robot’s body: Illusory bi-location of the self during artificial body reduplication.
  International Communication Association Annual Conference 2016.

• L. Aymerich-Franch, D. Petit, G. Ganesh, A. Kheddar (2015).
  Embodiment of a humanoid robot avatar is preserved during partial and delayed control.
  IEEE International Workshop on Advanced Robotics and its Social Impacts, ARSO 2015

• T. Pistohl, D. Joshi, G. Ganesh, A. Jackson K. Nazarpour (2014).
  Artificial Proprioceptive Feedback for Myoelectric Prosthesis Control.
  IEEE Transactions on Neural Systems & Rehabilitation Engineering. 23(3):498-507.

• B. Vanderborght, A. Albu-Schaeffer, A. Bicchi, E. Burdet, D. Caldwell, R. Carloni, M. Catalano, G.Ganesh, M. Garabini, G. Grioli, S. Haddadin, A. Jafari, M. Laffranchi, D. Lefeber, F. Petit, S. Stramigioli, N. Tsagarakis, M. Van Damme, R. Van Ham, L. Visser, S. Wolf (2013).
  Variable Impedance Actuators: a Review.
  Elsevier Robotics and Autonomous systems. 61(12):1601-1614.

• T. Pistohl, A. Jackson, G. Ganesh, D. Joshi, K. Nazarpour (2013).
  Artificial Proprioception for Myoelectric Control.
  IEEE Engineering in Medicine and Biology Conference EMBC, 2013.

• Vanderborght, A. Albu-Schaeffer, A. Bicchi, E. Burdet, D. Caldwell, R. Carloni, M. Catalano, G.Ganesh, M. Garabini, G. Grioli, S. Haddadin, A. Jafari, M. Laffranchi, D. Lefeber, F. Petit, S. Stramigioli, N. Tsagarakis, M. Van Damme, R. Van Ham, L. Visser, S. Wolf (2012).
  Variable Impedance Actuators: Moving the Robots of Tomorrow.
  Video at IEEE International conference on intelligent robots and systems, IROS 2012. {Best video award}

• G. Ganesh, N. Jarrasse, S. Hadaddin, A. Albu-Schaeffer, E. Burdet (2012).
  A Versatile Biomimetic Controller for contact tooling and haptic exploration.
  IEEE International Conference on Robotics and Automation, ICRA 2012.

• CG. Yang*, G. Ganesh*, S. Haddadin, S. Perusal, A. Albu-Schäffer, E. Burdet (2011).
  Human-like adaptation of force and impedance in stable and unstable Interactions.
  IEEE Transaction on Robotics. 99: 1-13. {Best Paper in 2011 award}

• Melendez-Calderon, V. Komisar, G. Ganesh, E. Burdet (2011).
  Classification of strategies for disturbance attenuation in human-human collaborative tasks.
  IEEE Engineering in Medicine and Biology Conference EMBC, 2011.

• G. Ganesh, A. Albu-Schäffer, M. Haruno, M. Kawato, E. Burdet (2011).
  Force, Impedance and Trajectory Adaptation: by Humans, for Robots.
  Invited poster at GCOE Cognitive Neuroscience Robotics, May 2011.

• E. Su, G. Ganesh, CF. Yeong, CL. Teo, WT. Ang, E. Burdet (2011).
  Effect of grip force and training in unstable dynamics on micromanipulation accuracy.
  IEEE Transactions on Haptics 4(3): 167-74.

• Malendez-Calderon, V. Komisar, G. Ganesh, E. Burdet (2011).
  Mechanisms of collaboration in human-human interactive tasks.
  Poster at Neural Control of Movement, NCM, April 2011.

• E. Burdet, G. Ganesh, C.G. Yang, A. Albu-Schäffer (2010).
  Interaction Force, Impedance and Trajectory Adaptation: by Humans, for Robots.
  International Symposium for Experimental Robotics, ISER, 2010.

• T. Lemmin*, G. Ganesh*, R. Gassert, E. Burdet, M. Kawato, M. Haruno (2010).
  Model based attenuation of movement artifacts in fMRI.
  J. Neuroscience Methods. 192(1): 58-69.

• G. Ganesh, A. Albu-Schäffer, M. Haruno, M. Kawato, E. Burdet (2010).
  Biomimetic motor behavior for simultaneous adaptation of force, impedance and trajectory in interaction tasks.
  IEEE International Conference on Robotics and Automation, ICRA 2010.

• E. Su, G. Ganesh, C. F. Yeong, E. Burdet (2010).
  Accurate Micromanipulation induced by Performing in Unstable Dynamics. IEEE International Symposium on Robotics and human Interactive Communication, RO-MAN, 2010.

• G. Ganesh, D. Franklin, R. Gassert, H. Imamizu, M. Kawato (2007).
  Accurate online feedback of surface EMG measurements during fMRI.
  J. Neurophysiology. 97: 912-20.

• Chapuis, R. Gassert, G. Ganesh, E. Burdet, H. Bleuler (2006).
  Investigation of a cable transmission for the actuation of MR compatible haptic interfaces.
  IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2006.

• R. Gassert, L. Dovat, G. Ganesh, E. Burdet, H. Bleuler (2006).
  A 2-DOF fMRI compatible haptic interface to investigate the neural control of arm movements.
  IEEE International Conference on Robotics and Automation ICRA, 2006.

• Dovat, R. Gassert, D. Chapuis, G. Ganesh, E. Burdet, H. Bleuler (2005).
  A haptic interface based on potential mechanical energy to investigate human motor control using fMRI.
  IEEE Engineering in Medicine and Biology Conference EMBC,2005

• R. Gassert, L. Dovat, G. Ganesh, E. Burdet, H. Imamizu, H. Bleuler (2005).
  Multi-Joint arm movements to investigate motor control with fMRI.
  IEEE Engineering in Medicine and Biology Conference EMBC, 2005.

• E. Burdet, R. Gassert, G.Ganesh, D. Chapuis, H. Bleuler (2004).
  fMRI compatible haptic interfaces to investigate human motor control.
  International Symposium on Experimental Robotics, ISER 2004.

• G. Ganesh, R. Gassert, H. Bleuler, and E (2004).
  Dynamics and control of an mri compatible master-slave system with hydrostatic transmission.
  IEEE International Conference on Robotics and Automation ICRA 04, pages 1288–1294, 2004.