Mobile Arm for Disabled People Assistance Manipulability Measure for Redundancy Solve. - Khiar Nait-Chabane; Philippe Hoppenot; Etienne Colle (J. Intell. Robotic Syst., 2006)

Directional manipulability for motion coordination of an assistive mobile arm. - Khiar Nait-Chabane; Philippe Hoppenot; Etienne Colle (ICINCO-RA (2), 2007)

Strategy of approach for seizure of an assistive mobile manipulator. - Khiar Nait-Chabane; Sébastien Delarue; Philippe Hoppenot; Etienne Colle (Robotics Auton. Syst., 2009)