T. .. De, Cas d'utilisation du système de contrôle du site esclave

A. Baerveldt, Cooperation between man and robot: interface and safety, [1992] Proceedings IEEE International Workshop on Robot and Human Communication, pp.183-187, 1992.
DOI : 10.1109/ROMAN.1992.253891

A. Baerveldt, A safety system for close interaction between man and robot. Safety of Computer Control Systems SAFECOMP'92, pp.25-29, 1992.

W. Bargar, A. Bauer, and M. Et-borner, Primary and Revision Total Hip Replacement Using the Robodoc?? System, Clinical Orthopaedics and Related Research, vol.354, 1998.
DOI : 10.1097/00003086-199809000-00011

D. Beevis, R. Bost, B. Döring, E. Nordø, F. Oberman et al., Analysis techniques for man-machine systems design, 1994.

D. Binkley, C++ in safety critical systems Rapport technique NISTIR 5769, National Institute of Standards and Technology, 1995.

F. Bitsch, Requirements on methods and techniques in perspective to approval process for railway systems, Second International Workshop on Integration of Specification Techniques for Applications in Engineering, 2002.

B. Boehm, A spiral model of software development and enhancement, Computer, vol.21, issue.5, pp.61-72, 1988.
DOI : 10.1109/2.59

V. Boitier, Mise en oeuvre et contrôle d'un robot SCARA à deux degrés de liberté, actionné par des muscles artificiels pneumatiques de McKibben, Thèse de doctorat, Institut National des Sciences Appliquées de, 1999.

A. Bondavalli, M. D. Cin, D. Latella, I. Majzik, A. Pataricza et al., Dependability analysis in the early phases of UML based system design, International Journal of Computer Systems -Science & Engineering, vol.16, issue.5, pp.265-275, 2001.

A. Bondavalli, I. Majzik, and I. Et-mura, Automated dependability analysis of UML designs, Proceedings 2nd IEEE International Symposium on Object-Oriented Real-Time Distributed Computing (ISORC'99) (Cat. No.99-61702), pp.139-144, 1999.
DOI : 10.1109/ISORC.1999.776367

A. Bondavalli, I. Majzik, and I. Et-mura, Automatic dependability analysis for supporting design decisions in UML, Proceedings 4th IEEE International Symposium on High-Assurance Systems Engineering, pp.64-71, 1999.
DOI : 10.1109/HASE.1999.809476

G. Booch, Object-oriented analysis and design with applications, 1994.

G. Booch, J. Rumbaugh, and I. Et-jacobson, Unified Modeling Language Users Guide, 1999.

P. Cain, P. Kazanzides, J. Zuhars, B. Mittelstadt, and H. Et-paul, Safety considerations in a surgical robot, Proc. of the 30th Annual Rocky Mountain Bioengineering Symp, pp.291-194, 1993.

L. Caroll, B. Tondu, C. Baron, and J. Et-geffroy, Comparison of two significant development methods applied to the design of real-time robot controllers, SMC'98 Conference Proceedings. 1998 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.98CH36218), pp.3394-3399, 1998.
DOI : 10.1109/ICSMC.1998.726528

L. Carroll, Vers la maîtrise du développement d'un contrôleur temps réel sûr de fonctionnement pour les robots manipulateurs, Thèse de doctorat, Institut National des Sciences Appliquées de, 1999.

L. Carroll, V. Mahout, B. Tondu, and P. Et-lopez, Sliding mode control of a 2 d.o.f. SCARA robot arm actuated by McKibben artificial muscles, Conférence IFAC de Commande des Systèmes Industriels (CIS97), pp.299-304, 1997.

P. Chevalley and P. Et-thévenod-fosse, Automated generation of statistical test cases from UML state diagrams, 25th Annual International Computer Software and Applications Conference. COMPSAC 2001, pp.201-210, 2001.
DOI : 10.1109/CMPSAC.2001.960618

T. Cichocki and J. Et-górski, Failure Mode and Effect Analysis for Safety-Critical Systems with Software Components, Koornneef et M. van der Meulen, pp.382-394, 2000.
DOI : 10.1007/3-540-40891-6_33

P. Cinquin, Gestes médicaux-chirurgicaux assistés par ordinateur, Annales de Radiologie, vol.36, issue.67, pp.386-406, 1993.

P. Cosgriff, Quality assurance of medical software, Journal of Medical Engineering & Technology, vol.13, issue.1, pp.1-10, 1994.
DOI : 10.3109/03091909409030782

E. Coste-manière, L. Adhami, D. Bondyfalat, and G. Et-dowek, Formal methods for safe integration in medical robotics, Proc. of the 2 nd IARP IEEE/RAS joint workshop on Technical Challenge for Dependable Robots in Human Environments, pp.217-227, 2002.

M. Daouk and N. Et-leveson, An approach to human-centered de- sign, Workshop on Human Error and System Development, 2001.

P. Dario, E. Guglielmelli, B. Allotta, and M. Et-carrozza, Robotics for medical applications, IEEE Robotics & Automation Magazine, vol.3, issue.3, pp.44-56, 1996.
DOI : 10.1109/100.540149

G. Daugherty, D. Haverkamp, R. Richard, R. Bradford, and D. Et-statezni, Response to realtime safety critical RFI. Rapport technique orbos, 2000.

B. Davies, Safety of medical robots. ICAR'93, pp.311-313, 1993.

B. Davies, S. Harris, W. Lin, R. Hibberd, R. Middleton et al., Active compliance in robotic surgery--the use of force control as a dynamic constraint, Proceedings of the Institution of Mechanical Engineers, pp.285-292, 1997.
DOI : 10.1243/0954411971534403

E. Degoulange, L. Urbain, P. Caron, S. Boudet, J. Gariepy et al., HIPPOCRATE: an intrinsically safe robot for medical applications, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190), pp.959-964, 1998.
DOI : 10.1109/IROS.1998.727423

Y. Delnondedieu, Un robot à sécurité passive en réponse aux problèmes d'ergonomie et de sécurité en Robotique médicale, Thèse de doctorat, 1997.

B. Dhillon, Robot Reliability and Safety, 1991.

B. Dhillon and O. Et-anude, Robot safety and reliability: A review, Microelectronics Reliability, vol.33, issue.3, pp.413-429, 1993.
DOI : 10.1016/0026-2714(93)90030-3

B. Dhillon and A. Et-fashandi, Safety and reliability assessment techniques in robotics, Robotica, vol.15, issue.6, pp.701-708, 1997.
DOI : 10.1017/S0263574797000829

E. Dombre, P. Poignet, F. Pierrot, G. Duchemin, and L. Et-urbain, Intrinsically safe active robotic systems for medical applications, Proc. of the 1st IARP/IEEE-RAS Joint Workshop on Technical Challenge for Dependable Robots in Human Environments, 2001.

B. Douglass, Safety-critical systems design Rapport technique, i-Logix, Inc, 1998.

B. Douglass, Doing hard time : developping real-time systems with UML, objects, framewoks and patterns. Object Technology Series, 1999.

H. Eriksson and M. Et-penker, Business modeling with UML : business patterns at work, 2000.

S. Eskiizmirliler, N. Forestier, B. Tondu, and C. Et-darlot, A model of the cerebellar pathways applied to the control of a single-joint robot arm actuated by McKibben artificial muscles, Biological Cybernetics, vol.86, issue.5, pp.379-394, 2002.
DOI : 10.1007/s00422-001-0302-1

R. Felciano, Human error : designing for error in medical information systems Invited talk in the journal club « Human Error as a Tool in Design Health Care Information Systems, 1995.

L. L. Ferreira and C. M. Et-rubira, Reflective design patterns to implement fault tolerance, OOPSLA'98 Workshop #13, 1998.

D. Food and . Administration, Medical device use-safety : incorporating human factors engineering into risk management. Rapport technique, U.S. Departement of Health and Human Service, 2000.

H. Gabbar, K. Suzuki, and Y. Et-shimada, Design of plant safety model in plant enterprise engineering environment, Reliability Engineering & System Safety, vol.73, issue.1, pp.35-47, 2001.
DOI : 10.1016/S0951-8320(01)00029-1

E. Gamma, R. Helm, R. Johnson, and J. Et-vlissides, Design patterns : elements of reusable object-oriented software, 1995.

J. Geffroy and G. Et-motet, Sûreté de fonctionnement des systèmes informatiques, 1998.

J. Geffroy and G. Et-motet, Design of Dependable Computing Systems, 2002.
DOI : 10.1007/978-94-015-9884-2

D. Glauser, P. Flury, C. Burckhardt, and M. Et-kassler, Mechanical concept of the neurosurgical robot ???Minerva???, Robotica, vol.11, issue.06, pp.567-575, 1993.
DOI : 10.1159/000100256

H. Gomaa, Designing concurrent, distributed, and real-time applications with UML. Object Technology Series, 2000.

S. Greenhill, The Digit Muscle, Industrial Robot: An International Journal, vol.20, issue.5, pp.29-30, 1993.
DOI : 10.1108/eb004588

J. Górski and B. Et-nowicki, Object oriented safety monitor synthesis. Dans Third International conference on reliability, quality and safety of software intensive systems (EN- CRESS'97), pp.121-133, 1997.

J. Górski, B. Nowicki, and A. Et-wardzinski, Holistic and partial system models in safety analysis, International conference on probabilistic safety assessment, pp.1301-1309, 1996.

A. Guerraz, Etude du télégeste médical non invasif utilisant un transducteur gestuel à retour d'effort, Thèse de doctorat, 2002.

J. Guiochet, La sécurité des robots. Rapport technique 060401, 2001.

J. Guiochet, G. Motet, B. Tondu, and C. Et-baron, La sécurité des systèmes de la robotique médicale, Le travail humain, 2003.

J. Guiochet, B. Tondu, and C. Et-baron, Safety analysis and integration for robotic systems -application to medical robot for tele-echography, Proc. of the IASTED International Conference on Robotics and Applications (RA'01), pp.158-162, 2001.

J. Guiochet, B. Tondu, and C. Et-baron, Integration of UML in human factors analysis for safety of a medical robot for tele-echography, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), 2003.
DOI : 10.1109/IROS.2003.1249651

URL : https://hal.archives-ouvertes.fr/hal-01276631

J. Guiochet and A. Vilchis, Safety analysis of a medical robot for teleechography, Proc. of the 2 nd IARP IEEE/RAS joint workshop on Technical Challenge for Dependable Robots in Human Environments, pp.217-227, 2002.
URL : https://hal.archives-ouvertes.fr/hal-01276607

B. Hannaford and J. Et-winters, Multiple muscle systems : biomechanics and movement organization, chapitre 7, Actuator properties and movement control : biological and technological models, pp.101-120, 1990.
DOI : 10.1007/978-1-4613-9030-5_7

D. Harel, Statecharts: a visual formalism for complex systems, Science of Computer Programming, vol.8, issue.3, pp.231-274, 1987.
DOI : 10.1016/0167-6423(87)90035-9

M. Hitz and G. Et-kappel, Developing with UML -Some pitfalls and workarounds. Dans The Unified Modeling Language, UML'98 -Beyond the Notation. First International Workshop , Selected Papers, pp.9-20, 1618.
DOI : 10.1007/978-3-540-48480-6_2

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.46.7489

K. Ikuta and H. Ishii, Safety Evaluation Method of Design and Control for Human-Care Robots, The International Journal of Robotics Research, vol.22, issue.5, pp.281-297, 2003.
DOI : 10.1177/0278364903022005001

G. Immega, ROMAC muscle powered robots, Proc. RI-SME Conf. Robotics Research, pp.18-21, 1986.

K. Inoue, Rubbertuators and applications for robots, Proceedings of the fourth Int. Symp. on Robotics Research, pp.57-63, 1988.

I. Guide, Aspects liés à la sécurité -Principes directeurs pour les inclure dans les normes, International Organization for Standardization, vol.51, 1999.

I. Jacobson, Object-oriented software engineering : a use case driven approach, 1992.

I. Jacobson, G. Booch, and J. Et-rumbaugh, The Unified Software Development Process, 1999.

P. Jannin, M. Raimbault, X. Morandi, and B. Et-gibaud, Modeling Surgical Procedures for Multimodal Image-Guided Neurosurgery, 2208 de Lecture Notes in Computer Science, pp.139-152, 2001.
DOI : 10.1007/3-540-45468-3_68

P. Johannessen, C. Grante, A. Alminger, U. Eklund, and J. Et-torin, Hazard analysis in object oriented design of dependable systems, Proceedings International Conference on Dependable Systems and Networks, pp.507-512, 2001.
DOI : 10.1109/DSN.2001.941436

W. Johnson, MORT safety assurance systems, 1980.

J. Karlsson, Les ventes de robots sont en plein essor en Europe et en Amérique du nord mais s'effondrent au Japon et en Asie, 1999.

K. Khodabandehloo, Analyses of robot systems using fault and event trees : case studies. Reliability Engineering and System Safety, pp.247-264, 1996.

R. Klafter, T. Chmielewski, and M. Et-negin, Robotic engineering : an integreted approach, 1989.

G. Klute and B. Et-hannaford, Fatigue characteristics of McKibben artificial muscle actuators, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190), pp.1776-1786, 1998.
DOI : 10.1109/IROS.1998.724854

P. Kruchten, The Rational Unified Process -an introduction. Object Technology Series, 1999.

H. Kumamoto, Y. Soto, and K. Et-inoue, Hazard identification and safety assessment of human-robot systems, Engineering Risk and Hazard Assessment, vol.1, pp.61-80, 1986.

U. Laible, T. Bürger, and G. Et-pritschow, A fail-safe dual channel robot control for surgery applications, Proceedings of SAFECOMP01, pp.75-85, 2001.

J. Laprie, Dependability : Basic concepts and terminology in English, 5 de Dependable Computing and Fault Tolerance. Austria, 1992.

J. Laprie, J. Arlat, J. Blanquart, A. Costes, Y. Crouzet et al., Guide de la sûreté de fonctionnement, 1995.

J. Leplat, Erreur humaine, fiabilité humaine dans le travail, 1985.

N. Leveson, Safeware -System safety and computers, 1995.

I. Majzik and A. Et-bondavalli, Automatic dependability modeling of systems described in UML, 9th International Symposium on Software Reliability Engineering (ISS- RE'98) Th. Illgen, pp.4-7, 2000.

S. Manhes, Les patterns métier : extraction dans l'existant logiciel, 1998.

M. Mersiol, C. Mazet, H. Guillerman, and H. Et-waeselynck, Human dependability in complex system : an issue of task consistency and task allocation, International Conference on Probabilistic Safety Assessment and Management (PSAM'4), pp.2693-2698, 1998.

T. Morita, H. Iwata, and S. Et-sugano, Development of human symbiotic robot: WENDY, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), pp.3183-3184, 1999.
DOI : 10.1109/ROBOT.1999.774083

T. Morita and S. Et-sugano, Development of an anthropomorphic force-controlled manipulator WAM-10, 1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97, pp.701-706, 1997.
DOI : 10.1109/ICAR.1997.620258

T. Morita and S. Et-sugano, Double safety measure for human symbiotic manipulator, Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, p.130, 1997.
DOI : 10.1109/AIM.1997.653000

P. Muller, Modélisation objet avec UML. Eyrolles, 2000.

W. Ng and C. Et-tan, On safety enhancements for medical robots, Reliability Engineering & System Safety, vol.54, issue.1, pp.34-45, 1996.
DOI : 10.1016/S0951-8320(96)00091-9

T. Noritsu, T. Tanaka, and T. Et-yamanaka, Application of rubber artificial muscle manipulator as a rehabilitation robot, 5th IEEE Int. Workshop on Robot and Human Communication (ROMAN96), pp.112-117, 1996.

B. Nowicki and J. Et-górski, Object Oriented Safety Analysis of an Extra High Voltage Substation Bay, pp.306-315, 1998.
DOI : 10.1007/3-540-49646-7_24

R. Pack, J. Christopher, and K. Et-kawamura, A Rubbertuator-based structure-climbing inspection robot, Proceedings of International Conference on Robotics and Automation, pp.1869-1874, 1997.
DOI : 10.1109/ROBOT.1997.619060

G. Pai and J. Et-dugan, Automatic synthesis of dynamic fault trees from UML system models, 13th International Symposium on Software Reliability Engineering, 2002. Proceedings., 2002.
DOI : 10.1109/ISSRE.2002.1173261

Z. Pap, I. Majzik, A. Pataricza, and A. Et-szegi, Completeness and consistency analysis of uml statechart specifications, Proc. IEEE Design and Diagnostics of Electronic Circuits and Systems Workshop (DDECS'2001), pp.83-90, 2001.

Y. Papadopoulos and M. Et-maruhn, Model-based automated synthesis of fault trees from matlab-simulink models, Int. Conf. on Distributed Systems and Networks (DSN'2001), pp.77-82, 2001.

Y. Papadopoulos and J. Et-mcdermid, The potential for a generic approach to certification of safety critical systems in the transportation sector, Reliability Engineering & System Safety, vol.63, issue.1, pp.47-66, 1998.
DOI : 10.1016/S0951-8320(98)00015-5

S. Pocock, B. Fields, M. Harrison, and P. Et-wright, THEA -A Reference guide, 2001.

I. Pr, Projet de norme : Dispositifs médicaux -Application de la gestion des risques aux dispositifs médicaux, International Organization for Standardization, 1999.

J. Pransky, ROBODOC ??? surgical robot success story, Industrial Robot: An International Journal, vol.24, issue.3, pp.231-233, 1997.
DOI : 10.1108/01439919710167444

H. Prasad, Safety standards. International Encyclopedia of Robotics : Applications and Automation, pp.1428-1438, 1988.

J. Reason, Human Error, 1990.

H. Reichenspurner, D. Boehm, H. Gulbins, C. Schulze, S. Wildhirt et al., Three-dimensional video and robot-assisted port-access mitral valve operation. The Society of Thoracic Surgeons, pp.1176-82, 2000.

L. Rierson, Object-Oriented Technology (OOT) In Civil Aviation Projects : Certification Concerns. Rapport technique, Federal Aviation Administration, 1999.

J. Rodrigues, What every molder should know about robot safety and maintenance, Plastics technology, vol.39, issue.11, pp.69-72, 1993.

P. Roques and F. Et-vallée, UML en action, Eyrolles, 2002.

J. Rumbaugh, M. Blaha, W. Premerlani, F. Eddy, and W. Et-lorenson, Object oriented modeling and design, 1991.

J. Sackier and Y. Wang, Robotically assisted laparoscopic surgery, Surgical Endoscopy, vol.7, issue.1, pp.63-66, 1994.
DOI : 10.1007/BF02909496

A. Sanchez, Approche non linéaire de la commande en contraction d'un muscle artificiel pneumatique de McKibben, Thèse de doctorat, Institut National des Sciences Appliquées de Toulouse, 2000.

H. Schulte, The characteristics of the McKibben artificial muscle. Dans Appendix H, The Application of External Power in Prosthetics and Orthotics, National Academy of Sciences, pp.94-115, 1961.

B. Selic, Fault tolerance techniques for distributed sys- tems. The Rational Edge : e-zine for the rational community, 2000.

B. Selic, A. Moore, M. Bjorkander, M. Gerhardt, B. Watson et al., Response to the OMG RFP for Schedulability, Performance, and Time. Rapport technique Document version 1.0, Object Management Group, 2000.

A. J. Simons, I. H. Graham, B. Kilov, E. I. Rumpe, and . Simmonds, 30 things that go wrong in object modelling with UML 1.3. Dans Behavioral Specifications of Businesses and Systems, pp.221-242, 1999.

N. Smith-guerin, Contribution à l'aide robotisée au geste chirurgical -Nouvelle approche en ophtalmologie, Thèse de doctorat, Institut National des Sciences Appliquées de, 2000.

J. Tah and V. Et-carr, Towards a framework for project risk knowledge management in the construction supply chain Advances in Engineering Software, pp.835-846, 2001.

B. Tondu, A. Daidié, S. Ippolito, and J. Et-guiochet, A seven d.o.f. robot arm driven by pneumatic artificial muscles for humanoïd robots. Advanced Robotics, 2003.

B. Tondu and P. Et-lopez, The McKibben artificial muscle and its use in actuating robotarms showing similarities with human arm behavior, Industrial Robot, vol.24, issue.6, pp.4432-4339, 1997.

B. Tondu and P. Et-lopez, Modeling and control of McKibben artificial muscle robot actuators, IEEE Control Systems Magazine, vol.20, issue.2, pp.15-38, 2000.
DOI : 10.1109/37.833638

Y. L. Traon, T. Jéron, J. Jézéquel, and P. Et-morel, Efficient OO integration and regression testing, IEEE Transactions on Reliability, pp.12-25, 2000.
URL : https://hal.archives-ouvertes.fr/hal-00776500

J. Troccaz, La robotique médicale en France, Journées Nationales de la Recherche en Robotique, pp.251-255, 1999.

J. Troccaz and Y. Et-delnondedieu, Semi-active guiding systems in surgery. A two-dof prototype of the passive arm with dynamic constraints (PADyC), Mechatronics, vol.6, issue.4, 1996.
DOI : 10.1016/0957-4158(96)00003-7

L. Urbain and J. Et-guiochet, Guide pour l'analyse de sûreté de fonctionnement du programme de Télé-Echographie Robotisé (TER) Rapport Interne Consortium TER, pp.2231-852, 2001.

D. Vial, Etude et commande floue d'actionneurs à muscles artificiels de McKibben à la motorisation de robots-manipulateurs, Thèse de doctorat, Institut National des Sciences Appliquées de, 1997.

A. Vilchis, Télé-échographie Robotisée, Thèse de doctorat, 2003.

A. Vilchis, J. Troccaz, P. Cinquin, F. Courreges, G. Poisson et al., Robotic tele-ultrasound system (TER) : slave robot control, IFAC Conference on Telematics Applications in Automation and Robotics, 2001.

L. Visinsky, J. Cavallero, and I. Et-walker, Robotic fault detection and fault tolerance: A survey, Reliability Engineering & System Safety, vol.46, issue.2, pp.139-158, 1994.
DOI : 10.1016/0951-8320(94)90132-5

A. Wadegaonkar, V. Sunnapwar, and J. Et-modak, Development of a knowledge-based system for robot work-station safety, Proceedings of International Manufacturing Engineering, pp.359-361, 1996.

I. Walker and J. Et-cavallero, Failure mode analysis for a hazardous waste clean-up manipulator. Reliability Engineering and System Safety, pp.277-290, 1996.

J. Worthington and W. Et-burns, Maintenance and repair, robotic. International Encyclopedia of Robotics : Applications and Automation, pp.833-840, 1988.

P. Wright, B. Fields, and M. Et-harrison, Deriving human-error tolerance requirements from tasks, Proceedings of IEEE International Conference on Requirements Engineering, pp.462-467, 1994.
DOI : 10.1109/ICRE.1994.292393

C. Wu, Compliance. International Encyclopedia of Robotics : Applications and Automation, pp.192-202, 1988.

S. Yacoub, H. Ammar, and T. Et-robinson, A methodology for architectural-level risk analysis, 11th International Symposium on Software Reliability Engineering (ISS- RE'2000), pp.210-221, 2000.

Y. Yamada, Y. Hirasawa, S. Huang, and Y. Et-umetani, Fail-safe human/robot contact in the safety space, Proceedings 5th IEEE International Workshop on Robot and Human Communication. RO-MAN'96 TSUKUBA, pp.59-64, 1996.
DOI : 10.1109/ROMAN.1996.568748