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)

• 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. 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. Preprint on Hal.

• 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.