A new design for the BirthSIM simulator to improve realism. - Nicolas Herzig; Richard Moreau; Tanneguy Redarce (EMBC, 2014)

Non linear position and closed loop stiffness control for a pneumatic actuated haptic interface: the BirthSIM. - Nicolas Herzig; Richard Moreau; Tanneguy Redarce; Frederic Abry; Xavier Brun (IROS, 2015)

Stiffness control of pneumatic actuators to simulate human tissues behavior on medical haptic simulators. - Nicolas Herzig; Richard Moreau; Arnaud Lelevé; Minh Tu Pham (AIM, 2016)

3D haptic rendering of tissues for epidural needle insertion using an electro-pneumatic 7 degrees of freedom device. - Pierre-Jean Ales; Nicolas Herzig; Arnaud Lelevé; Richard Moreau; Christian Bauer 005 (IROS, 2016)

Granular Jamming Based Controllable Organ Design for Abdominal Palpation. - Liang He 007; Nicolas Herzig; Simon de Lusignan; D. P. Thrishantha Nanayakkara (EMBC, 2018)

A Variable Stiffness Robotic Probe for Soft Tissue Palpation. - Nicolas Herzig; Perla Maiolino; Fumiya Iida; D. P. Thrishantha Nanayakkara (IEEE Robotics Autom. Lett., 2018)

A Method to Guide Local Physical Adaptations in a Robot Based on Phase Portraits. - Saina Akhond; Nicolas Herzig; Hasitha Wegiriya; D. P. Thrishantha Nanayakkara (IEEE Access, 2019)

Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired Hoof. - Sara-Adela Abad; Nicolas Herzig; S. M. Hadi Sadati; D. P. Thrishantha Nanayakkara (IEEE Trans. Robotics, 2019)

Stiffness Imaging With a Continuum Appendage: Real-Time Shape and Tip Force Estimation From Base Load Readings. - S. M. Hadi Sadati; Ali Shiva; Nicolas Herzig; D. Caleb Rucker; Helmut Hauser; Ian D. Walker; Christos Bergeles; Kaspar Althoefer; D. P. Thrishantha Nanayakkara (IEEE Robotics Autom. Lett., 2020)

Model and Validation of a Highly Extensible and Tough Actuator based on a Ballooning Membrane. - Nicolas Herzig; Joanna Jones; Eduardo R. Perez-Guagnelli; Dana D. Damian (ICRA, 2021)

A State-Dependent Damping Method to Reduce Collision Force and Its Variability. - Elham Hamid; Nicolas Herzig; Sara-Adela Abad; Thrishantha Nanayakkara (IEEE Robotics Autom. Lett., 2021)

An Abdominal Phantom With Tunable Stiffness Nodules and Force Sensing Capability for Palpation Training. - Liang He 007; Nicolas Herzig; Simon de Lusignan; Luca Scimeca; Perla Maiolino; Fumiya Iida; Thrishantha Nanayakkara (IEEE Trans. Robotics, 2021)

Human-Robot Collaboration for Unknown Flexible Surface Exploration and Treatment Based on Mesh Iterative Learning Control. - Jingkang Xia; Kithmi N. D. Widanage; Ruiqing Zhang; Rizuwana Parween; Hareesh Godaba; Nicolas Herzig; Romeo Glovnea; Deqing Huang; Yanan Li 001 (IROS, 2023)

Modelling the inflation of an elastic membrane with a load. - Ge Shi 005; Azadeh Shariati; Jialei Shi; Nicolas Herzig; Sara-Adela Abad; Helge A. Wurdemann (RoboSoft, 2023)

Variable Stiffness Multi-joint Mechanism: Design, Model and Validation. - Benedict Fletcher; Romeo Glovnea; Nicolas Herzig (ICCMA, 2024)