Publications de Maud Marchal

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Thèses

M. Marchal. 3D Multimodal Interaction with Physically-based Virtual Environments. Habilitation à diriger des recherches de l'Université de Rennes 1, Novembre 2014.
M. Marchal. Modélisation des tissus mous dans leur environnement pour l'aide aux gestes médico-chirurgicaux. Thèse de l'Université Joseph-Fourier - Grenoble I, Décembre 2006.

Articles de journaux

P.-A. Cabaret, T. Howard, G. Gicquel, C. Pacchierotti, M. Babel, M. Marchal. Does Multi-Actuator Vibrotactile Feedback Within Tangible Objects Enrich VR Manipulation?. IEEE Transactions on Visualization and Computer Graphics, 2024.
E. Normand, C. Pacchierotti, E. Marchand, M. Marchal. Visuo-Haptic Rendering of the Hand during 3D Manipulation in Augmented Reality. IEEE Transactions on Haptics (ToH), Special Issue: Haptics in the Metaverse, To appear, 2024.
L. Mulot, T. Howard, C. Pacchierotti, M. Marchal. Ultrasound Mid-Air Haptics for Hand Guidance in Virtual Reality. IEEE Trans. on Haptics (ToH), 16(4):497-503, Octobre 2023.
I. Lacôte, C. Pacchierotti, M. Babel, D. Gueorguiev, M. Marchal. Investigating the Haptic Perception of Directional Information Within a Handle. IEEE Trans. on Haptics (ToH), 16(4):680-686, Octobre 2023.
T. Howard, G. Gicquel, C. Pacchierotti, M. Marchal. Can we effectively combine tangibles and ultrasound mid-air haptics? A study of acoustically transparent tangible surfaces. IEEE Trans. on Haptics (ToH), 16(4):477-483, Octobre 2023.
L. Mulot, T. Howard, C. Pacchierotti, M. Marchal. Improving the Perception of Mid-Air Tactile Shapes With Spatio-Temporally-Modulated Tactile Pointers. ACM Transactions on Applied Perception, Also presented at the SAP conference in Los Angeles, USA, 20(4):1-16, Octobre 2023.
S. Vizcay, P. Kourtesis, F. Argelaguet, C. Pacchierotti, M. Marchal. Design, evaluation and calibration of wearable electrotactile interfaces for enhancing contact information in virtual reality. Computers and Graphics, 111:199-212, Avril 2023.
T. Howard, K. Driller, W. Frier, C. Pacchierotti, M. Marchal, J. Hartcher-O'Brien. Gap detection in pairs of ultrasound mid-air vibrotactile stimuli. ACM Transactions on Applied Perception, 20(1):1-18, Novembre 2022.
P. Kourtesis, S. Vizcay, M. Marchal, C. Pacchierotti, F. Argelaguet. Action-Specific Perception & Performance on a Fitts's Law Task in Virtual Reality: The Role of Haptic Feedback. IEEE Transactions on Visualization and Computer Graphics, 28(11):3715-3726, Novembre 2022.
A. Bernardin, E. Coevoet, P. Kry, S. Andrews, C. Duriez, M. Marchal. Constraint-Based Simulation of Passive Suction Cups. ACM Trans. on Graphics, 42(1), Septembre 2022.
H. Brument, G. Bruder, M. Marchal, A.-H. Olivier, F. Argelaguet. Understanding, Modeling and Simulating Unintended Positional Drift during Repetitive Steering Navigation Tasks in Virtual Reality. IEEE Transactions on Visualization and Computer Graphics, 27(11):4300-4310, Novembre 2021.
X. De Tinguy, C. Pacchierotti, A. Lécuyer, M. Marchal. Capacitive Sensing for Improving Contact Rendering with Tangible Objects in VR. IEEE Trans. on Visualization and Computer Graphics, 27(4):2481-2487, Avril 2021.
V. Mercado, M. Marchal, A. Lécuyer. ENTROPiA: Towards Infinite Surface Haptic Displays in Virtual Reality Using Encountered-Type Rotating Props. IEEE Trans. on Visualization and Computer Graphics, 27(3):2237-2243, Mars 2021.
V. Mercado, M. Marchal, A. Lécuyer. ENTROPiA: Towards Infinite Surface Haptic Displays in Virtual Reality Using Encountered-Type Rotating Props. IEEE Trans. on Visualization and Computer Graphics, 27(3):2237-2243, Mars 2021.
R. Lageau, A. Krupa, M. Marchal. Automatic Shape Control of Deformable Wires based on Model-Free Visual Servoing. IEEE Robotics and Automation Letters (also presented at IROS'20), 5(4):5252-5259, Octobre 2020.
T. Howard, M. Marchal, A. Lécuyer, C. Pacchierotti. PUMAH : Pan-tilt Ultrasound Mid-Air Haptics for larger interaction workspace in virtual reality. IEEE Trans. on Haptics, 13(1):38-44, Janvier 2020.
S. Villa Salazar, C. Pacchierotti, X. De Tinguy, A. Maciel, M. Marchal. Altering the Stiffness, Friction, and Shape Perception of Tangible Objects in Virtual Reality Using Wearable Haptics. IEEE Trans. on Haptics, 13(1):167-174, Janvier 2020.
V. De Luca, J. Banerjee, A. Hallack, S. Kondo, M. Makhinya, D. Nouri, L. Royer, A. Cifor, G. Dardenne, O. Goksel, M. Gooding, C. Klink, A. Krupa, A. Le Bras, M. Marchal, A. Moelker, W. Niessen, B. Papiez, A. Rothberg, J. Schnabel, T. van Walsum, E. Harris, M. Lediju Bell, C. Tanner. Evaluation of 2D and 3D ultrasound tracking algorithms and impact on ultrasound-guided liver radiotherapy margins. Medical Physics, 45(11):4986-5003, Novembre 2018.
Y. Gaffary, F. Argelaguet Sanz, M. Marchal, A. Girard, F. Gosselin, M. Emily, A. Lécuyer. Toward Haptic Communication: Tactile Alphabets Based on Fingertip Skin Stretch. IEEE Trans. on Haptics (ToH), 11(4):636-645, Juillet 2018.
Y. Gaffary, B. Le Gouis, M. Marchal, F. Argelaguet Sanz, A. Lécuyer, B. Arnaldi. AR Feels ``Softer'' than VR: Haptic Perception of Stiffness in Augmented versus Virtual Reality. IEEE Trans. on Visualization and Computer Graphics, 23(11):2372-2377, Novembre 2017.
L. Royer, A. Krupa, G. Dardenne, A. Le Bras, E. Marchand, M. Marchal. Real-time Target Tracking of Soft Tissues in 3D Ultrasound Images Based on Robust Visual Information and Mechanical Simulation. Medical Image Analysis, 35:582-598, Janvier 2017.
M. Achibet, A. Girard, M. Marchal, A. Lécuyer. Leveraging Passive Haptic Feedback in Virtual Environments with the Elastic-Arm Approach. Presence: Teleoperators and Virtual Environments, 25(1):17-32, 2016.
A. Girard, M. Marchal, F. Gosselin, A. Chabrier, F. Louveau, A. Lécuyer. HapTip: Displaying Haptic Shear Forces at the Fingertips for Multi-Finger Interaction in Virtual Environments. Frontiers in Robotics and AI, 2016.
V. Karakkat-Narayanan, F. Pasteau, M. Marchal, A. Krupa, M. Babel. Vision-based adaptive assistance and haptic guidance for safe wheelchair corridor following. Computer Vision and Image Understanding, CVIU, SI on Assistive Robotics and CV, pages 171-185, Août 2016.
C. Essert, S. Fernandez-Vidal, A. Capobianco, C. Haegelen, C. Karachi, E. Bardinet, M. Marchal, P. Jannin. Statistical study of parameters for deep brain stimulation automatic preoperative planning of electrodes trajectories.. Int. Journal of Computer Assisted Radiology and Surgery, 10(12):1973-1983, Juillet 2015.
A. Talvas, M. Marchal, C. Duriez, M.A. Otaduy. Aggregate Constraints for Virtual Manipulation with Soft Fingers. IEEE Trans. on Visualization and Computer Graphics, 21(4), Janvier 2015.
E. Chapoulie, M. Marchal, E. Dimara, M. Roussou, J.-C. Lombardo, G. Drettakis. Evaluation of Direct Manipulation using Finger Tracking for Complex Tasks in an Immersive Cube. Virtual Reality, 18(3):203-217, Septembre 2014.
D.A. Gómez J\'auregui, F. Argelaguet Sanz, A.-H. Olivier, M. Marchal, F. Multon, A. Lécuyer. Toward ''Pseudo-Haptic Avatars'': Modifying the Visual Animation of Self-Avatar Can Simulate the Perception of Weight Lifting. IEEE Trans. on Visualization and Computer Graphics, 20(4):654-661, Avril 2014.
A. Talvas, M. Marchal, A. Lécuyer. A Survey on Bimanual Haptic Interaction. IEEE Trans. on Haptics (ToH), Avril 2014.
L. Glondu, S.C. Schvartzman, M. Marchal, G. Dumont, M.A. Otaduy. Fast Collision Detection for Fracturing Rigid Bodies. IEEE Trans. on Visualization and Computer Graphics, 20(1):30-41, Janvier 2014.
G. Cirio, A.-H. Olivier, M. Marchal, J. Pettré. Kinematic Evaluation of Virtual Walking Trajectories. IEEE Trans. on Visualization and Computer Graphics, 19:671-680, 2013.
A. Lécuyer, L. G, M. Marchal. Toward Adaptive VR Simulators Combining Visual, Haptic, and Brain-Computer Interfaces. IEEE Computer Graphics and Applications, 33(5):18-23, Septembre 2013.
F. Argelaguet Sanz, D.A. Gómez J\'auregui, M. Marchal, A. Lécuyer. Elastic Images: Perceiving Local Elasticity of Images Through a Novel Pseudo-Haptic Deformation Effect. ACM Trans. on Applied Perception, 10(3):17-17, Août 2013.
L. Terziman, M. Marchal, F. Multon, B. Arnaldi, A. Lécuyer. Personified and multistate camera motions for first-person navigation in desktop virtual reality. IEEE Trans. on Visualization and Computer Graphics, 19(4):652-661, Mars 2013.
T. Regia-Corte, M. Marchal, G. Cirio, A. Lécuyer. Perceiving affordances in virtual reality: influence of person and environmental properties in perception of standing on virtual grounds. Virtual Reality, 17(1):17-28, Mars 2013.
G. Cirio, M. Marchal, A. Lécuyer, J. Cooperstock. Vibrotactile Rendering of Splashing Fluids. IEEE Trans. on Haptics (ToH), 6(1):117-122, Janvier 2013.
L. Glondu, M. Marchal, G. Dumont. Real-Time Simulation of Brittle Fracture using Modal Analysis. IEEE Trans. on Visualization and Computer Graphics, 19(2):201-209, Août 2012.
G. Cirio, P. Vangorp, E. Chapoulie, M. Marchal, A. Lécuyer, G. Drettakis. Walking in a Cube: Novel Metaphors for Safely Navigating Large Virtual Environments in Restricted Real Workspaces. IEEE Trans. on Visualization and Computer Graphics, 18(4):546-554, Avril 2012.
L. Glondu, L. Muguercia, M. Marchal, C. Bosch, H. Rushmeier, G. Dumont, G. Drettakis. Example-Based Fractured Appearance. Computer Graphics Forum, 31(4):1547-1556, Février 2012.
Sean J.-S. Chen, P. Hellier, M. Marchal, J.-Y. Gauvrit, R. Carpentier, X. Morandi, D.L. Collins. An anthropomorphic polyvinyl alcohol brain phantom based on Colin27 for use in multimodal imaging. Medical Physics, 39(1):554-561, Janvier 2012.
G. Cirio, M. Marchal, S. Hillaire, A. Lécuyer. Six Degrees-of-Freedom Haptic Interaction with Fluids. IEEE Trans. on Visualization and Computer Graphics, 17(11):1714-1727, Décembre 2011.
J. Allard, M. Marchal, S. Cotin. Fiber-based Fracture Model for Simulating Soft Tissue Tearing. Studies in Health Technology and Informatics, 142:13-18, 2009.
J. Troccaz, M. Baumann, P. Berkelman, P. Cinquin, V. Daanen, A. Leroy, M. Marchal, Y. Payan, E. Proma, S. Voros, S. Bart, M. Bolla, E. Chartier-Kastler, J.-L. Descotes, A. Dusserre, J.-Y. Giraud, J.-A. Long, R Moalic, P. Mozer. Medical image computing and computer-aided medical interventions applied to soft tissues. Work in progress in urology. Proceedings of the IEEE, 94(9):1665-1677, Septembre 2006.
M. Nesme, M. Marchal, E. Proma, M. Chabanas, Y. Payan, F. Faure. Physically realistic interactive simulation for biological soft tissues. Recent Research Developments in Biomechanics, 2:1-22, 2005.

Chapitres de livres

T. Howard, M. Marchal, C. Pacchierotti. Ultrasound Mid-Air Tactile Feedback for Immersive Virtual Reality Interaction. In Ultrasound Mid-Air Haptics for Touchless Interfaces, Georgiou et al. (ed.), pp. 147-183, Human-Computer Interaction Series, Springer International Publishing, Septembre 2022.
X. De Tinguy, T. Howard, C. Pacchierotti, M. Marchal, A. Lécuyer. WeATaViX: WEarable Actuated TAngibles forVIrtual reality eXperiences. In Haptics: Science, Technology, Applications, Vol. 12272, pp. 262-270, 12th International Conference EuroHaptics 2020, Leiden, The Netherlands, September 6-9, 2020, Proceedings, Septembre 2020.
M. Marchal, G. Gallagher, A. Lécuyer, C. Pacchierotti. Can Stiffness Sensations be Rendered in VirtualReality Using Mid-air Ultrasound Haptic Technologies?. In Haptics: Science, Technology, Applications, Vol. 12272, pp. 297-306, 12th International Conference, EuroHaptics 2020, Leiden, The Netherlands, September 6-9, 2020, Septembre 2020.
F. Argelaguet Sanz, B. Arnaldi, J.-M. Burkhardt, G. Casiez, S. Donikian, F. Gosselin, X. Granier, Patrick Le Callet, V. Lepetit, M. Marchal, Guillaume Moreau, J. Perret, T. Vigier. Complexity and Scientific Challenges. In Virtual Reality and Augmented Reality - Myths and Realities, B. Arnaldi, P. Guitton, G. Moreau (eds.), Vol. chapitre 3, pp. 123-216, ISTE - Wiley, Mars 2018.
T. Hachisu, G. Cirio, M. Marchal, A. Lécuyer, H. Kajimoto. Visual Vibrations to Simulate Taps on Different Materials. In Haptic Interaction - Perception, Devices and Applications, Vol. 277 of the series Lecture Notes in Electrical Engineering, pp. 297-303, Springer, Juin 2015.
A. Talvas, M. Marchal, G. Cirio, A. Lécuyer. 3D Interaction Techniques for Bimanual Haptics in Virtual Environments. In Multi-finger Haptic Interaction, pp. 31-53, Springer, Juin 2013.
M. Marchal, G. Cirio, Y. Visell, F. Fontana, S. Serafin, J. Cooperstock, A. Lécuyer. Multimodal Rendering of Walking over Virtual Grounds. In Human Walking in Virtual Environments, pp. 263-295, Springer New York, Mars 2013.
G. Cirio, Y. Visell, M. Marchal, A. Lécuyer. Multisensory and Haptic Rendering of Complex Virtual Grounds. In Walking with the Senses, Y. Visell, F. Fontana (eds.), Logos Verlag, Octobre 2012.
M. Marchal, A. Lécuyer, G. Cirio, L. Bonnet, M. Emily. Pseudo-haptic Walking. In Walking with the Senses, Y. Visell, F. Fontana (eds.), Logos Verlag, Octobre 2012.
L. Terziman, G. Cirio, M. Marchal, A. Lécuyer. Novel Interactive Techniques for Walking in Virtual Reality. In Walking with the Senses, Y. Visell, F. Fontana (eds.), Logos Verlag, Octobre 2012.
M. Marchal, J. Allard, C. Duriez, S. Cotin. Towards a framework for assessing deformable models in medical simulation. In ISBMS '08 - Int. Symposium on Biomedical Simulation - 2008, F. Bello, P.J. Edwards (eds.), Vol. 5104, pp. 176-184, Lecture Notes in Computer Science, Springer Berlin Heidelberg, 2008.
J.-J. Banihachemi, E. Boidard, J.-L. Bosson, L. Bressollette, I. Bricault, P. Cinquin, G.R. Ferretti, M. Marchal, T. Martinelli, A. Moreau-Gaudry, F. Pelissier, C. Roux, D. Sgaglia, P. Thorel, J. Troccaz, A. Vilchis. TER: A Robot for Remote Ultrasonic Examination: Experimental Evaluations.. In Telesurgery, J. Marescaux S. Kumar (ed.), pp. 91-99, Springer Verlag, Janvier 2008.

Conférences internationales

E. Normand, C. Pacchierotti, E. Marchand, M. Marchal. Augmenting the Texture Perception of Tangible Surfaces in Augmented Reality using Vibrotactile Haptics. In Eurohaptics 2024 Conference, Lille, France, Juillet 2024.
I. Lacôte, P.-A. Cabaret, C. Pacchierotti, M. Babel, D. Gueorguiev, M. Marchal. Do Vibrotactile Patterns on both Hands Improve Guided Navigation with a Walker?. In Eurohaptics 2024, Lille, France, Juin 2024.
P.-A. Cabaret, A. Bout, M. Manzano, S. Guégan, C. Pacchierotti, M. Babel, M. Marchal. Multi-actuator Haptic Handle Using Soft Material for Vibration Isolation. In Eurohaptics 2024, Springer (ed.), Lille, France, Juin 2024.
P.-A. Cabaret, C. Pacchierotti, M. Babel, M. Marchal. Design of Haptic Rendering Techniques for Navigating with a Multi-Actuator Vibrotactile Handle. In Eurohaptics 2024, Springer (ed.), Lille, France, Juin 2024.
F. Makiyeh, F. Chaumette, M. Marchal, A. Krupa. Shape Servoing of a Soft Object Using Fourier Series and a Physics-based Model. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'23, Pages 6356-6363, Detroit, USA, Octobre 2023.
L. Kuang, F. Chinello, P. Robuffo Giordano, M. Marchal, C. Pacchierotti. Haptic Mushroom: a 3-DoF shape-changing encounter-type haptic device with interchangeable end-effectors. In WHC 2023 - IEEE World Haptics Conference, Delft, Netherlands, Juillet 2023.
F. Makiyeh, M. Marchal, F. Chaumette, A. Krupa. Indirect Positioning of a 3D Point on a Soft Object Using RGB-D Visual Servoing and a Mass-Spring Model. In Int.Conf. on Control, Automation, Robotics and Vision, ICARCV'22, Singapore, Décembre 2022.
S. Vizcay, P. Kourtesis, F. Argelaguet, C. Pacchierotti, M. Marchal. Design and Evaluation of Electrotactile Rendering Effects for Finger-Based Interactions in Virtual Reality. In VRST - 28th ACM Symposium on Virtual Reality Software and Technology, Tsukuba, Japan, Novembre 2022.
L. Kuang, M. Marchal, M. Aggravi, P. Robuffo Giordano, C. Pacchierotti. Design of a 2-DoF Haptic Device for Motion Guidance. In EuroHaptics 2022 - International conference on Haptics: Science, Technology, Applications, Pages 1-8, Hamburg, Germany, Mai 2022.
S. Vizcay, P. Kourtesis, F. Argelaguet Sanz, C. Pacchierotti, M. Marchal. Electrotactile Patterns for Single Finger Interactions in VR. In EuroHaptics 2022 - International Conference on Haptics: Science, Technology, Applications, Hamburg, Germany, Mai 2022.
P.-A. Cabaret, T. Howard, C. Pacchierotti, M. Babel, M. Marchal. Perception of spatialized vibrotactile impacts in a hand-held tangible for Virtual Reality. In EuroHaptics 2022 - International conference on haptic science and technology, Applications, Hamburg, Germany, Mai 2022.
I. Lacôte, D. Gueorguiev, C. Pacchierotti, M. Babel, M. Marchal. Speed Discrimination in the Apparent Haptic Motion Illusion. In EuroHaptics 2022 - International Conference on Haptics: Science, Technology, Applications, Hamburg, Germany, Mai 2022.
L. Kuang, M. Marchal, P. Robuffo Giordano, C. Pacchierotti. Rolling Handle for Hand Motion Guidance and Teleoperation. In EuroHaptics 2022 - International Conference on Haptics: Science, Technology, Applications, Hamburg, Germany, Mai 2022.
I. Lacôte, C. Pacchierotti, M. Babel, M. Marchal, D. Gueorguiev. ''Tap Stimulation'': An Alternative To Vibrations To Convey The Apparent Haptic Motion Illusion. In IEEE Haptics Symposium, HAPTICS 2022, Santa Barbara, United States, Mars 2022.
S. Vizcay, P. Kourtesis, F. Argelaguet Sanz, C. Pacchierotti, M. Marchal. Electrotactile Feedback For Enhancing Contact Information in Virtual Reality. In ICAT-EGVE 2021 - Int. Conf. on Artificial Reality and Telexistence and Eurographics Symposium on Virtual Environments, Sankt Augustin, Germany, Septembre 2021.
L. Mulot, G. Gicquel, Q. Zanini, W. Frier, M. Marchal, C. Pacchierotti, T. Howard. DOLPHIN: A Framework for the Design and Perceptual Evaluation of Ultrasound Mid-Air Haptic Stimuli. In ACM Symposium on Applied Perception, SAP'21, Rennes, France, Septembre 2021.
H. Brument, A.-H. Olivier, M. Marchal, F. Argelaguet. Does the Control Law Matter? Characterization and Evaluation of Control Laws for Virtual Steering Navigation. In ICAT-EGVE 2020 - Int. Conf. on Artificial Reality and Telexistence & Eurographics Symposium on Virtual Environments, Pages 1-10, Florida, United States, Décembre 2020.
H. Brument, M. Marchal, A.-H. Olivier, F. Argelaguet Sanz. Influence of Dynamic Field of View Restrictions on Rotation Gain Perception in Virtual Environments. In EuroVR 2020 - 17th EuroVR Int. Conf., Pages 20-40, Valencia, Spain, Novembre 2020.
A. Suarez-Hernandez, T. Gaugry, J. Segovia-Aguas, A. Bernardin, C. Torras, M. Marchal, G. Alenyà. Leveraging Multiple Environments for Learning and Decision Making: a Dismantling Use Case. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'20, Pages 6902-6908, Las Vegas (Virtual), United States, Octobre 2020.
A. Su\'arez-Hern\'andez, T. Gaugry, J. Segovia-Aguas, A. Bernardin, Carme Torras, M. Marchal, G. Alenyà. Leveraging Multiple Environments for Learning and Decision Making: a Dismantling Use Case. In IROS 2020 - IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Pages 6902-6908, Las Vegas / Virtual, United States, Octobre 2020.
A. Sengupta, R. Lagneau, A. Krupa, E. Marchand, M. Marchal. Simultaneous Tracking and Elasticity Parameter Estimation of Deformable Objects. In IEEE Int. Conf. on Robotics and Automation, ICRA'20, Pages 10038-10044, Paris, France, Juin 2020.
R. Lagneau, A. Krupa, M. Marchal. Active Deformation through Visual Servoing of Soft Objects. In IEEE Int. Conf. on Robotics and Automation, ICRA'20, Pages 8978-8984, Paris, France, Juin 2020.
V. Mercado, M. Marchal, A. Lécuyer. Design and Evaluation of Interaction Techniques Dedicated to Integrate Encountered-Type Haptic Displays in Virtual Environments. In VRW 2020 - IEEE Conference on Virtual Reality and 3D User Interfaces and Worshops, Pages 230-238, Atlanta / Virtual, United States, Mars 2020.
V. Mercado, M. Marchal, A. Lécuyer. Design and Evaluation of Interaction Techniques Dedicated to Integrate Encountered-Type Haptic Displays in Virtual Environments. In VR 2020 - IEEE Conf. on Virtual Reality and 3D User Interfaces, Pages 230-238, Atlanta / Virtual, United States, Mars 2020.
A. Bernardin, C. Duriez, M. Marchal. An Interactive Physically-based Model for Active Suction Phenomenon Simulation. In SWS19 - SOFA Week Symposium, Paris, France, Novembre 2019.
H. Gurnel, M. Marchal, L. Launay, L. Beuzit, A. Krupa. Design of haptic guides for pre-positioning assistance of a comanipulated needle. In IEEE International Conference on Systems, Man, and Cybernetics, SMC'19, Bari, Italy, Octobre 2019.
X. De Tinguy, C. Pacchierotti, M. Emily, M. Chevalier, A. Guignardat, M. Guillaudeux, C. Six, A. Lécuyer, M. Marchal. How different tangible and virtual objects can be while still feeling the same?. In Proc. IEEE World Haptics, WHC, Tokyo, Japan, Juillet 2019.
T. Howard, G. Gallagher, A. Lécuyer, C. Pacchierotti, M. Marchal. Investigating the recognition of local shapes using mid-air ultrasound haptics. In IEEE World Haptics, WHC, Tokyo, Japan, Juillet 2019.
H. Gurnel, M. Marchal, L. Launay, L. Beuzit, A. Krupa. Preliminary evaluation of haptic guidance for pre-positioning a comanipulated needle. In SURGETICA 2019, Rennes, France, Juin 2019.
X. De Tinguy, C. Pacchierotti, M. Marchal, A. Lécuyer. Toward Universal Tangible Objects: Optimizing Haptic Pinching Sensations in 3D Interaction. In IEEE Conference on Virtual Reality and 3D User Interfaces, VR'2019, Osaka, Japan, Mars 2019.
H. Brument, R. Fribourg, G. Gallagher, T. Howard, F. Lécuyer, T. Luong, V. Mercado, E. Peillard, X. De Tinguy, M. Marchal. Pyramid Escape: Design of Novel Passive Haptics Interactions for an Immersive and Modular Scenario. In VR 2019 - 26th IEEE Conf. on Virtual Reality and 3D User Interfaces, Pages 1409-1410, Osaka, Japan, Mars 2019.
R. Terrier, F. Argelaguet Sanz, J.-M. Normand, M. Marchal. Evaluation of AR Inconsistencies on AR Placement Tasks: A VR Simulation Study. In EuroVR 2018 - Int. Conf. on Virtual Reality and Augmented Reality, LNCS, Volume 11162, Pages 190-210, London, United Kingdom, Octobre 2018.
X. De Tinguy, C. Pacchierotti, M. Marchal, A. Lecuyer. Enhancing the Stiffness Perception of Tangible Objects in Mixed Reality Using Wearable Haptics. In IEEE Virtual Reality , Reutlingen, Germany, Mars 2018.
B. Le Gouis, F. LehE.ey, M. Marchal, B. Arnaldi, V. Gouranton, A. Lécuyer. Haptic Rendering of FEM-based Tearing Simulation using Clusterized Collision Detection. In WHC 2017 - IEEE World Haptics Conf., Pages 406-411, Munich, Germany, Juin 2017.
B. Le Gouis, M. Marchal, A. Lécuyer, B. Arnaldi. Elasticity-based Clustering for Haptic Interaction with Heterogeneous Deformable Objects. In VRIPHYS2017 - 13th Eurographics Workshop on Virtual Reality Interaction and Physical Simulation, Pages 75-83, LY, France, Avril 2017.
M. Achibet, B. Le Gouis, M. Marchal, P.-A. Leziart, F. Argelaguet Sanz, A. Girard, A. Lécuyer, H. Kajimoto. FlexiFingers: Multi-Finger Interaction in VR Combining Passive Haptics and Pseudo-Haptics. In IEEE Symposium on 3D User Interfaces, Los Angeles, United States, Mars 2017.
G. Andrade, F. Nouviale, J. Ardouin, E. Marchand, M. Marchal, A. Lecuyer. Enjoy 360o Panoramic Vision with the FlyVIZ. In SIGGRAPH 2016 Emerging Technologies, Anaheim, CA, Août 2016.
Y. Gaffary, M. Marchal, A. Girard, M. Pellan, A. Asselin, B. Peigné, M. Emily, F. Gosselin, A. Chabrier, A. Lécuyer. Studying One and Two-Finger Perception of Tactile Directional Cues. In 10th Int. Conf. on Haptics - Perception, Devices, Control, and Applications (EuroHaptics), F. Bello, H. Kajimoto, Y. Visell (eds.), Haptics: Perception, Devices, Control, and Applications. 10th Int. Conf, EuroHaptics 2016, London, UK, July 4-7, 2016, Proceedings, Part II, ISBN: 978-3-319-42324-1 ; 978-3-319-42323-4, Volume 9775, Pages 396-405, Londres, United Kingdom, Juillet 2016.
M. Achibet, G. Casiez, M. Marchal. DesktopGlove: a Multi-finger Force Feedback Interface Separating Degrees of Freedom Between Hands. In 3DUI'16, the 11th Symposium on 3D User Interfaces, Pages 3-12, Greenville, United States, Mars 2016.
L. Royer, G. Dardenne, A. Le Bras, M. Marchal, A. Krupa. Tracking of Non-rigid Targets in 3D US Images: Results on CLUST 2015. In Proceedings of MICCAI 2015 Challenge on Liver Ultrasound Tracking, Munich, Germany, Octobre 2015.
M. Achibet, A. Girard, M. Marchal, A. Lécuyer. Elastic-Arm: A Novel Human-Scale Passive Haptic Approach for Augmenting Interaction and Perception in Virtual Environments. In Proceedings of Journées de l'Association Fran\c caise de la Réalité Virtuelle, Bordeaux, France, Octobre 2015.
L. Royer, M. Marchal, A. Le Bras, G. Dardenne, A. Krupa. Real-time tracking of deformable target in 3D ultrasound images. In IEEE Int. Conf. on Robotics and Automation, ICRA'15, Pages 2430-2435, Seattle, WA, Mai 2015.
M. Achibet, G. Casiez, A. Lécuyer, M. Marchal. THING: Introducing a Tablet-based Interaction Technique for Controlling 3D Hand Models. In In Proceedings of CHI'15, the 33th Conf. on Human Factors in Computing Systems, Pages 317-326, Seoul, South Korea, Avril 2015.
M. Achibet, A. Girard, A. Talvas, M. Marchal, A. Lécuyer. Elastic-Arm: Human-scale passive haptic feedback for augmenting interaction and perception in virtual environments. In Proceedings of IEEE Virtual Reality Conf., Pages 63-68, Arles, France, Mars 2015.
J. Mercier-Ganady, M. Marchal, A. Lécuyer. B-C-invisibility power: introducing optical camouflage based on mental activity in augmented reality. In Proceedings of the 6th ACM Augmented Human Int. Conf., Pages 97-100, Singapour, Singapore, Mars 2015.
J. Mercier-Ganady, M. Marchal, A. Lécuyer. The mind-window: brain activity visualization using tablet-based AR and EEG for multiple users. In Proceedings of the 6th ACM Augmented Human Int. Conf., Singapour, Singapore, Mars 2015.
L. Royer, M. Marchal, A. Le Bras, G. Dardenne, A. Krupa. Tracking of Deformable Target in 2D Ultrasound Images. In SPIE Medical Imaging Conference, Orlando, USA, Février 2015.
J. Ardouin, A. Lecuyer, M. Marchal, E. Marchand. Stereoscopic Rendering of Virtual Environments with Wide Field-of-Views up to 360o. In IEEE Virtual Reality Conference, VR 2014, Pages 3-8, Minneapolis, Minnesota, Mars 2014.
J. Mercier-Ganady, F. Lotte, E. Loup-Escande, M. Marchal, A. Lécuyer. The Mind-Mirror: See Your Brain in Action in Your Head Using EEG and Augmented Reality. In IEEE Virtual Reality (VR), Minneapolis, United States, Mars 2014.
M. Le Chénéchal, M. Marchal, B. Arnaldi. Poster: Bimanual design of deformable objects thanks to the multi-tool visual metaphor. In IEEE Symposium on 3D User Interfaces, Minneapolis, United States, Mars 2014.
M. Achibet, M. Marchal, F. Argelaguet Sanz, A. Lécuyer. The Virtual Mitten: A novel interaction paradigm for visuo-haptic manipulation of objects using grip force. In IEEE Symposium on 3D User Interfaces, Pages 59-66, Minneapolis, United States, Mars 2014.
J. Mercier-Ganady, E. Loup-Escande, L. G, C. Busson, M. Marchal, A. Lécuyer. Can we use a Brain-Computer Interface and manipulate a mouse at the same time?. In Journées de l'Association Fran\c caise de Réalité Virtuelle, Laval, France, Octobre 2013.
J. Mercier-Ganady, E. Loup-Escande, L. G, C. Busson, M. Marchal, A. Lécuyer. Can we use a brain-computer interface and manipulate a mouse at the same time?. In Proceedings of ACM Symposium on Virtual Reality Software and Technology, Pages 69-72, Singapore, Singapore, Octobre 2013.
P. Chatelain, A. Krupa, M. Marchal. Real-time needle detection and tracking using a visually servoed 3D ultrasound probe. In IEEE Int. Conf. on Robotics and Automation, ICRA'13, Pages 1668-1673, Karlsruhe, Allemagne, Mai 2013.
G. Cirio, M. Marchal, M.A. Otaduy, A. Lécuyer. Six-DoF Haptic Interaction with Fluids, Solids, and their Transitions. In IEEE Worldhaptics Conf., Daejeon, South Korea, Avril 2013.
J. Ardouin, A. Lecuyer, M. Marchal, E. Marchand. Navigating in Virtual Environments with 360o Omnidirectional Rendering. In IEEE Symp. on 3D User Interfaces, 3DUI 2013, Pages 95-98, Orlando, USA, Mars 2013.
A. Talvas, M. Marchal, A. Lécuyer. The God-Finger Method for Improving 3D Interaction with Virtual Objects through Simulation of Contact Area. In IEEE Symposium on 3D User Interfaces, Pages 111-114, Orlando, United States, Mars 2013.
J. Ardouin, A. Lecuyer, M. Marchal, C. Riant, E. Marchand. ``FlyVIZ'': A Novel Display Device to Provide Humans with 360o Vision by Coupling Catadioptric Camera with HMD. In ACM Symp. on Virtual Reality Software and Technology, VRST'12, Pages 41-44, Toronto, Canada, Décembre 2012.
L. Glondu, S.C. Schvartzman, M. Marchal, G. Dumont, M.A. Otaduy. Efficient Collision Detection for Brittle Fracture. In ACM SIGGRAPH/Eurographics Symposium on Computer Animation, Lausanne, Switzerland, Juillet 2012.
A. Talvas, M. Marchal, C. Nicolas, G. Cirio, M. Emily, A. Lécuyer. Novel Interactive Techniques for Bimanual Manipulation of 3D Objects with Two 3DoF Haptic Interfaces. In Eurohaptics, Tampere, Finland, Juin 2012.
F. Argelaguet Sanz, D.A. Gómez J\'auregui, M. Marchal, A. Lécuyer. A Novel Approach for Pseudo-Haptic Textures Based on Curvature Information. In EuroHaptics 2012, Tampere, Finland, Juin 2012.
L. G, M. Marchal, L. Glondu, A. Lécuyer. Combining Brain-Computer Interfaces and Haptics: Detecting Mental Workload to Adapt Haptic Assistance. In EuroHaptics, P. Isokoski, J. Springare (eds.), Lecture Notes in Computer Science, Tampere, Finland, Juin 2012.
L. Terziman, M. Marchal, F. Multon, B. Arnaldi, A. Lécuyer. The King-Kong Effects: Improving Sensation of Walking in VR with Visual and Tactile Vibrations at each Step. In IEEE Symposium on 3D User Interfaces, Orange County, CA, United States, Mars 2012.
L. Glondu, B. Legouis, M. Marchal, G. Dumont. Precomputed Shape Database for Real-Time Physically-Based Simulation. In Workshop on Virtual Reality Interaction and Physical Simulation - VRIPHYS 2011, LY, France, Décembre 2011.
J. Pettré, M. Marchal, O. Siret, J.-B. de la Rivière, A. Lécuyer. Joyman: an Immersive and Entertaining Interface for Virtual Locomotion. In ACM SIGGRAPH Asia Emerging Technologies, Hong-Kong, Hong Kong SAR China, Décembre 2011.
T. Hachisu, G. Cirio, M. Marchal, A. Lécuyer, H. Kajimoto. Virtual Chromatic Percussions Simulated by Pseudo-Haptic and Vibrotactile Feedback. In ACM Int. Conf. on Advances on Computer Entertainment Technology, Lisbon, Portugal, Novembre 2011.
L. Glondu, M. Marchal, G. Dumont. Simulation physique de fracture d'objets fragiles en temps réel. In Journées de l'association fran\c caise d'informatique graphique, Biarritz, France, Octobre 2011.
A. Lécuyer, M. Marchal, A. Hamelin, D. Wolinski, F. Fontana, M. Civolani, S. Papetti, S. Serafin. ''Shoes-Your-Style'': Changing Sound of Footsteps to Create New Walking Experiences. In Workshop on Sound and Music Computing for Human-Computer Interaction (CHItaly), Alghero, Italy, Septembre 2011.
L. Terziman, M. Marchal, F. Multon, B. Arnaldi, A. Lécuyer. Comparing Virtual Trajectories Made in Slalom Using Walking-In-Place and Joystick Techniques. In EuroVR / EGVE Joint Virtual Reality Conf., Nottingham, United Kingdom, Septembre 2011.
G. Cirio, M. Marchal, S. Hillaire, A. Lécuyer. The Virtual Crepe Factory: 6DoF Haptic Interaction with Fluids. In SIGGRAPH Emerging Technologies, Vancouver, Canada, Août 2011.
F. Fontana, F. Morreale, T. Regia-Corte, A. Lécuyer, M. Marchal. Auditory recognition of floor surfaces by temporal and spectral cues of walking. In 17th Int. Conf. on Auditory Display, Budapest, Hungary, Juin 2011.
J. Ardouin, A. Lécuyer, M. Marchal, E. Marchand. Design and Evaluation of Methods to Prevent Frame Cancellation in Real-Time Stereoscopic Rendering. In IEEE Symposium on 3D User Interfaces, 3DUI 2011, Pages 95-98, Singapoure, Mars 2011.
T. Hachisu, G. Cirio, M. Marchal, A. Lécuyer, H. Kajimoto. Pseudo-haptic feedback augmented with visual and tactile vibrations. In Int. Symposium on VR Innovations, Singapour, Singapore, Mars 2011.
M. Marchal, J. Pettré, A. Lécuyer. Joyman: a Human-Scale Joystick for Navigating in Virtual Worlds. In IEEE Symposium on 3D User Interfaces 2011 (3DUI), Singapour, Singapore, Mars 2011.
G. Cirio, M. Marchal, A. Le Gentil, A. Lécuyer. Tap, squeeze and stir the virtual world: Touching the different states of matter through 6DoF haptic interaction. In IEEE Virtual Reality Conf., Pages 123-126, Singapore, Singapore, Mars 2011.
L. Terziman, M. Marchal, M. Emily, F. Multon, B. Arnaldi, A. Lécuyer. Shake-Your-Head: Revisiting Walking-In-Place for Desktop Virtual Reality. In ACM Symposium on Virtual Reality Software and Technology, Pages 27-34, Hong Kong, Hong Kong SAR China, 2010.
L. Glondu, M. Marchal, G. Dumont. Accurate Haptic Rendering of Frictionnal Contacts between many Rigid Bodies : Principle of the Haptic Sub-World. In Journées de l'association fran\c caise de réalité virtuelle, lY, France, Décembre 2010.
L. Turchet, M. Marchal, A. Lécuyer, S. Serafin, R. Nordahl. Influence of Auditory and Visual Feedback for Perceiving Walking over Bumps and Holes in Desktop VR. In ACM Symposium on Virtual Reality Software and Technology, Hong-Kong, China, Novembre 2010.
S. Chen, P. Hellier, J.-Y. Gauvrit, M. Marchal, X. Morandi, D.L. Collins. An Anthropomorphic Polyvinyl Alcohol Triple-Modality Brain Phantom based on Colin27. In MICCAI 2010, springer (ed.), LNCS, Volume 6362, Pages 92-100, Pekin, China, Septembre 2010.
L. Glondu, M. Marchal, G. Dumont. A New Coupling Scheme for Haptic Rendering of Rigid Bodies Interactions based on a Haptic Sub-World using a Contact Graph. In EuroHaptics 2010, Amsterdam, Netherlands, Juillet 2010.
L. Glondu, M. Marchal, G. Dumont. Evaluation of Physical Simulation Libraries for Haptic Rendering of Contacts between Rigid Bodies. In ASME 2010 World Conf. on Innovative Virtual Reality (WINVR2010), Ames, United States, Mai 2010.
M. Marchal, A. Lécuyer, G. Cirio, L. Bonnet, M. Emily. Walking Up and Down in Immersive Virtual Worlds: Novel Interactive Techniques Based on Visual Feedback. In IEEE Symposium on 3D User Interface, Pages 19-26, Waltham, United States, Mars 2010.
T. Regia-Corte, M. Marchal, A. Lécuyer. Can You Stand on Virtual Grounds? A Study on Postural Affordances in Virtual Reality. In IEEE Int. Conf. on Virtual Reality, Pages 207-210, Waltham, United States, Mars 2010.
L. Glondu, M. Marchal, G. Dumont. A Sub-world Coupling Scheme for Haptic Rendering of Physically-based Rigid Bodies Simulation. In Sixth Eurographics Workshop in Virtual Reality, Interactions and Physical Simulations (VRIPHYS09), H. Prautzsch, A. Schmitt, J. Bender, M. Teschner (eds.), Pages 67-76, Karlsruhe, Germany, Novembre 2009.
G. Cirio, M. Marchal, T. Regia-Corte, A. Lécuyer. The Magic Barrier Tape: a Novel Metaphor for Infinite Navigation in Virtual Worlds with a Restricted Walking Workspace. In ACM Symposium on Virtual Reality Software and Technology, Pages 155-162, Kyoto, Japan, Novembre 2009.
C. Duriez, C. Guébert, M. Marchal, S. Cotin, L. Grisoni. Interactive Simulation of Flexible Needle Insertions Based on Constraint Models. In Int. Conf. on Medical Image Computing and Computer Assisted Intervention, Pages 291-299, Londres, United Kingdom, Septembre 2009.
J. Dequidt, M. Marchal, C. Duriez, E. Kerrien, S. Cotin. Interactive Simulation of Embolization Coils: Modeling and Experimental Validation. In Medical Imaging Computing and Computer Assisted Intervention -MICCAI'08, Lecture Notes in Computer Science, Volume 5241, Pages 695-702, New York City, United States, Septembre 2008.
M. Marchal, E. Proma, J. Troccaz. Comparisons of Needle Insertion in Brachytherapy Protocols using a Soft Tissue Discrete Model. In Surgetica 2007, P. Merloz J. Troccaz (ed.), Pages 153-160, Chambéry, France, Septembre 2007.
M. Marchal, E. Proma, J. Troccaz. Simulating Prostate Surgical Procedures with a Discrete Soft Tissue Model. In Third Eurographics Workshop in Virtual Reality Interactions and Physical Simulation, I. Navazo C. Mendoza (ed.), Pages 109-118, Madrid, Spain, Novembre 2006.
M. Marchal, P. Provent, F. Ruyer, P. Djoharian, F. Neyret. Computer-assisted Teaching in Class Situation: a High-school Math Lab on Vectors. In Edutainment, P. Zhigeng, A. Ruth, D. Holger, J. Xiaogang, G. Stefan, Li. L. (eds.), published as a volume in Lecture Notes in Computer Science, Volume 3942, Pages 281-290, Hangzhou, China, Avril 2006.
M. Marchal, M. Chabanas, Y. Payan, C. Marecaux, P. Swider, F. Boutault, E. Proma, J. Troccaz. Comparison of Different Soft Tissue Modeling Methods with post-operative CT Sacn in Maxillofacial Surgery. In 7th Int. Symposium on Computer Methods in Biomechanics and Biomedical Engineering, Antibes, France, Mars 2006.
M. Marchal, M. Chabanas, Y. Payan, C. Marecaux, P. Swider, F. Boutault, E. Proma, J. Troccaz. Comparison of different soft tissue modeling methods with post-operative CT scan in maxillofacial surgery. In 7th Int. Symposium on Computer Methods in Biomechanics and Biomedical Engineering, CMBBE06, Antibes, France, Mars 2006.
M. Marchal, E. Proma, J. Troccaz. A Discrete Soft Tissue Model for Complex Anatomical Environment Simulations. In Medicine Meets Virtual Reality 14, J. Westwood (ed.), Volume 119, Pages 0-366, Long Beach, California, United States, Janvier 2006.
M. Marchal, E. Proma, J. Troccaz. Simulating Complex Organ Interactions: Evaluation of a Soft Tissue Discrete Model. In Int. Symposium on Visual Computing, G. Bebis et al. (ed.), Volume LNCS 3804, Pages 175-182, Lake Tahoe, Nevada, United States, Décembre 2005.
M. Marchal, J. Troccaz. A One-DOF Free-Hand Haptic Device for Robotic Tele-Echography. In Medicine Meets Virtual Reality 12, J. Westwood (ed.), Volume 98, Pages 232-233, Newport Beach, California, United States, Janvier 2004.

Rapports de recherche

E. Chapoulie, M. Marchal, E. Dimara, M. Roussou, J.-C. Lombardo, G. Drettakis. Evaluation of Direct Manipulation using Finger Tracking for Complex Tasks in an Immersive Cube. Technical Report INRIA, No 0, Septembre 2013.

Divers

L. Mulot, T. Howard, C. Pacchierotti, M. Marchal. Can We Increase the Perceived Intensity of Mid-Air Haptic Shapes Rendered With Dynamic Tactile Pointers?. IEEE World Haptics conference (Work-in-Progress paper), Delft, Netherlands, Juillet 2023.
I. Lacôte, C. Pacchierotti, M. Babel, M. Marchal, D. Gueorguiev. Generating apparent haptic motion for assistive devices. IEEE World Haptics Conference, WHC 2021, Montréal / Virtual, Canada, Juillet 2021.
T. Howard, G. Gicquel, M. Marchal, A. Lécuyer, C. Pacchierotti. PUMAH : Pan-tilt Ultrasound Mid-Air Haptics. IEEE World Haptics Conference, WHC 2021, Montréal / Virtual, Canada, Juillet 2021.
T. Howard, X. De Tinguy, G. Gicquel, M. Marchal, A. Lécuyer, C. Pacchierotti. WeATaViX: Wearable Actuated Tangibles for Virtual Reality Experiences. IEEE World Haptics Conference, WHC 2021, Montréal / Virtual, Canada, Juillet 2021.
L. Mulot, G. Gicquel, W. Frier, M. Marchal, C. Pacchierotti, T. Howard. Curvature Discrimination for Dynamic Ultrasound Mid-Air Haptic Stimuli. IEEE World Haptics Conference, WHC 2021, Montréal / Virtual, Canada, Juillet 2021.
L. Royer, M. Marchal, A. Le Bras, G. Dardenne, A. Krupa. Interactive Tracking of Soft Tissues in 2D Ultrasound Images. SURGETICA 2014, Chambery, France, Décembre 2014.

Thèses encadrées

L. Smolentsev. Shape visual servoing of a suspended cablel. Thèse de l'Université de Rennes, Mars 2024.
F. Makiyeh. Vision-based shape servoing of soft objects using a mass-spring model. Thèse de l'Université de Rennes, Décembre 2023.
R. Lagneau. Shape control of deformable objects by adaptive visual servoing. Thèse de l'INSA Rennes, Décembre 2020.
L. Royer. Real-time tracking of deformable targets in 3D ultrasound sequences. Thèse de l'INSA de Rennes, Décembre 2016.
J. Ardouin. Contribution to the study of visualization of real and virtual environments with an extended field-of-view. Thèse de l'INSA de Rennes, Décembre 2014.

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