.. Modélisation-du-suivi-de-trajectoire-en-effort-reconstruit, 124 4.6.6 Validation du modèle pour le suivi de trajectoire en effort reconstruit, p.125

. Benozio, La "machine" de Madame Du Coudray -ou l'art des accouchements au XVIIIe siècle. Coédition Points de vues, 2004.

. Boissonnat, . Geiger, J. D. Boissonnat, and B. Geiger, 3D simulation of delivery, Proceedings Visualization '93, pp.416-419, 1993.
DOI : 10.1109/VISUAL.1993.398903

X. Brun, Commandes linéaires et non linéaires en électropneumatique . Méthodologies et Applications, 1999.

F. Burdeau, Histoire de l'administration francaise. Domat droit public. Montchrestien, 2 ème edition, 1994.

. Cao, Task and motion analyses in endoscopic surgery, ASME IMECE Symposium on haptic interfaces for virtual environement and teleoperator system, pp.583-590, 1996.

H. Delingette, Simulation d'interventions chirurgicales, Deuxième Journées de la Recherche en Robotique (JNRR'99), pp.109-118, 1999.
URL : https://hal.archives-ouvertes.fr/inria-00615821

. Dittmar, Forceps obstétrical à matrices de capteurs, Brevet, p.309570, 2003.

J. O. Drife, Choice and instrumental delivery, BJOG: An International Journal of Obstetrics and Gynaecology, vol.52, issue.7, pp.608-611, 1996.
DOI : 10.1056/NEJM199312233292601

J. Duong, Étude des documents imprimés : Approche statistique et contribution méthodologique, 2005.

O. Dupuis, Apport du forceps instrumenté dans la sécurité de l'extraction instrumentale, 2005.

. Dupuis, Rapidit?? d???extraction respective des c??sariennes et des forceps r??alis??s en urgence, Journal de Gyn??cologie Obst??trique et Biologie de la Reproduction, vol.34, issue.8, pp.34789-794, 2005.
DOI : 10.1016/S0368-2315(05)82955-2

. Dupuis, Les forceps hier, aujourd'hui et??demain. Une nouvelle classification des??forceps, Gyn??cologie Obst??trique & Fertilit??, vol.33, issue.12, pp.980-985, 2005.
DOI : 10.1016/j.gyobfe.2005.06.024
URL : https://hal.archives-ouvertes.fr/hal-00413695

. Dupuis, A new obstetric forceps for the training of junior doctors: A comparison of the spatial dispersion of forceps blade trajectories between junior and senior obstetricians, American Journal of Obstetrics and Gynecology, vol.194, issue.6, pp.1941524-1531, 2006.
DOI : 10.1016/j.ajog.2006.01.013
URL : https://hal.archives-ouvertes.fr/hal-00427947

. Dupuis, Comparison of ???instrument-associated??? and ???spontaneous??? obstetric depressed skull fractures in a cohort of 68 neonates, American Journal of Obstetrics and Gynecology, vol.192, issue.1, pp.165-170, 2005.
DOI : 10.1016/j.ajog.2004.06.035

. Dupuis, Operative vaginal delivery rate and neonatal associated complications in 2002 in the AURORE hospital network, Gynécologie Obstétrique et Fertilité, issue.11, pp.31920-926, 2003.

. Dupuis, Birth simulator: Reliability of transvaginal assessment of fetal head station as defined by the American College of Obstetricians and Gynecologists classification, American Journal of Obstetrics and Gynecology, vol.192, issue.3, pp.868-874, 2005.
DOI : 10.1016/j.ajog.2004.09.028
URL : https://hal.archives-ouvertes.fr/hal-00179668

. Eggert, Interactive education system for teaching patient care, 2003.

. Fleming, Introduction of a metric forceps, American Journal of Obstetrics and Gynecology, vol.78, issue.1, pp.125-133, 1959.
DOI : 10.1016/0002-9378(59)90652-0

. Forster, Clinical use of the birth simulation program "anapelvis 2.0" for prediction of feto-maternal disproportion]. Zentralblatt fur gynecakologie, pp.123465-468, 2001.

. Gautier, . Poignet, M. Gautier, and P. Poignet, Identification non linéaire continue en boucle fermé des paramètres physiques de systèmes mécatroniques par modèle inverse et moindres carrés d'erreur d'entrée, Journées Identifications et Modélisation Expérimentale (JIME'01), Vandoevre-lès, 2001.

. Gonik, Objective evaluation of the shoulder dystocia phenomenon : effect of maternal pelvic orientation on force reduction, Obstetrics and Gynecology, vol.74, pp.44-48, 1989.

F. Grandidier, Un nouvel algorithme de sélection de caractéristiques -Application à la lecture automatique de l'écriture manuscrite, 2003.

. Graves, . Savannah, J. O. Graves, and G. Savannah, Educational apparatus for teaching obstetrics and midwifery, 1951.

A. Gray, Modern Differential Geometry of Curves and Surfaces with Mathematica, Boca Raton, vol.8, issue.2, pp.184-192, 1997.

. Grunert, Elephant -an anatomical electronic phantom as simulationsystem for otologic surgery, 28th Annual International Conference of the IEEE Engineering in Medicine and Biology SocietyEMBC '06), pp.4408-4411, 2006.
URL : https://hal.archives-ouvertes.fr/inserm-00332755

A. Guerraz, Etude du télégeste médical non invasif utilisant un transducteur gestuel à retour d'efforts, 2002.

. Hoskins, Truck Driving Simulator Effectiveness, Design Engineering, 2002.
DOI : 10.1115/IMECE2002-32964

. Jardin, Design of a medical simulator for subcutaneous contraceptive implant insertion, 2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.1746-1749, 2007.
DOI : 10.1109/IEMBS.2007.4352648
URL : https://hal.archives-ouvertes.fr/hal-00402452

H. Jebar, Design of pneumatic actuator systems, 1977.

. Johanson, . Menon, R. B. Johanson, and B. K. Menon, Vacuum extraction versus forceps for assisted vaginal delivery. Cochrane database of systematic reviews, p.224, 2000.

P. Kamina, Anatomie gynécologique et obstétricale. Paris : Maloine , 4 ème edition, 1984.

I. A. Kapandji, Physiologie Articulaire -Fascicule III : Tronc et Rachis. Maloine, 5 ème edition, 2003.

. Karouia, A novel design of endoscopic surgery training simulator, 35 th International Symposium on Robotics, p.66, 2004.

S. Kelly, J. V. Kelly, and G. Sines, An assessment of the compression and traction forces of obstetrical forceps, American Journal of Obstetrics and Gynecology, vol.96, issue.4, pp.521-537, 1966.
DOI : 10.1016/S0002-9378(16)34690-7

. Kheddar, Preliminary design of a childbirth simulator haptic feedback, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), pp.3270-3275, 2004.
DOI : 10.1109/IROS.2004.1389921

. Kim, Simulating complicated human birth for research and training, The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.701-725, 2004.
DOI : 10.1109/IEMBS.2004.1403790

. Kim, A biofidelic birthing simulator, IEEE Engineering in Medicine and Biology Magazine, vol.24, issue.6, pp.2434-2473, 2005.
DOI : 10.1109/MEMB.2005.1549728

C. Kim, I. Kim, and S. Chien, Analysis of 3?D hand trajectory gestures using stroke-based composite hidden markov models, Applied Intelligence, vol.15, issue.2, pp.131-143, 2001.
DOI : 10.1023/A:1011231305559

. Knapp, . Eads, C. F. Knapp, and G. S. Eads, Dynamic childbirth simulator for teaching maternity patient care, p.709, 1974.

. Kozak, . Weeks, L. J. Kozak, and J. D. Weeks, U.S. trends in obstetric procedures, Birth, issue.3, pp.29157-161, 1990.

J. B. Kuipers, Quaternions and rotations sequences : A primer with applications to orbits, Aerospace, and virtual reality, 1999.
DOI : 10.7546/giq-1-2000-127-143

R. Lapeer, A mechanical contact model for the simulation of obstetric forceps delivery in a virtual/augmented environment, 13 th Annual Medicine Meets Virtual Reality Conference (MMVR'05), 2005.

. Lapeer, An Augmented Reality based Simulation of Obstetric Forceps Delivery, Third IEEE and ACM International Symposium on Mixed and Augmented Reality, pp.274-275, 2004.
DOI : 10.1109/ISMAR.2004.13

. Lapeer, Simulating obstetric forceps delivery in an augmented environment, Augmented environments for Medical Imaging including Augmented Reality in Computer-aided Surgery (AMI ARCS'04), 2004.

A. Levant, Robust exact differentiation via sliding mode technique, Automatica, vol.34, issue.3, pp.379-384, 1998.
DOI : 10.1016/S0005-1098(97)00209-4

R. E. Lombard, Evolutionary Principles of the Mammalian Middle Ear., Evolution, vol.33, issue.4, p.1230, 1979.
DOI : 10.2307/2407482

K. L. Lounsbury, Anatomical model, p.328, 1992.

. Low, Clinical experience with the silc cup vacuum extractor, Singapore Medical Journal, vol.34, issue.2, pp.135-138, 1993.

. Lower, Pressure sensing obstetrical forceps, p.785381, 1974.

. Marechal, Measurement System for Gesture Characterization During Chest Physiotherapy Act on Newborn Babies Suffering from Bronchiolitis, 2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.5770-5773, 2007.
DOI : 10.1109/IEMBS.2007.4353658

A. Mavel, Dictionnaire de gynécologie et d'obstétrique : termes usuels d'hier et d'aujourd'hui. Arnette, 1990.

. Megali, Understanding expertise in surgical gesture by means of Hidden Markov Models, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006., pp.625-630, 2006.
DOI : 10.1109/BIOROB.2006.1639159

. Megali, Modelling and Evaluation of Surgical Performance Using Hidden Markov Models, IEEE Transactions on Biomedical Engineering, vol.53, issue.10, pp.531911-1919, 2006.
DOI : 10.1109/TBME.2006.881784

G. Meller, A typology of simulators for medical education, Journal of Digital Imaging, vol.10, issue.S1, pp.194-196, 1997.
DOI : 10.1007/BF03168699

. Merger, Precis d'obstetrique. Masson, 6 ème edition, 2001.

A. Moolgoaker, A NEW DESIGN OF OBSTETRIC FORCEPS, BJOG: An International Journal of Obstetrics and Gynaecology, vol.51, issue.3, pp.450-457, 1962.
DOI : 10.1016/0002-9610(52)90199-2

. Moolgoaker, A comparison of different methods of instrumental delivery based on electronic measurements of compression and traction, Obstetrics and Gynecology, vol.54, pp.299-309, 1979.

. Moreau, A birth simulator : BirthSIM, 3D Modelling, 2005.

. Moreau, A new kind of training for obstetric residents: simulator training, 2006 International Conference of the IEEE Engineering in Medicine and Biology Society, pp.4416-4419, 2006.
DOI : 10.1109/IEMBS.2006.260284
URL : https://hal.archives-ouvertes.fr/hal-00402447

. Moreau, Evaluation of Obstetric Gestures: An Approach Based on the Curvature of 3-D Positions, 2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.3634-3637, 2007.
DOI : 10.1109/IEMBS.2007.4353118
URL : https://hal.archives-ouvertes.fr/hal-00373780

. Moreau, Paths analysis for a safe forceps blades placement on the BirthSIM simulator, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.739-744, 2006.
DOI : 10.1109/ROBOT.2006.1641798
URL : https://hal.archives-ouvertes.fr/hal-00402205

. Moreau, Simulateur d'accouchement automatisé BirthSIM pour l'apprentissage sans risque des gestes obstétricaux, Journées Doctorales MACS -JDMACS'07, 2007.

. Moreau, Le simulateur BirthSIM : pour l'apprentissage du geste obstétrique sans risque, Journées Nationales de la Recherche en Robotique (JNRR'05), 2005.

. Moreau, A new learning method for obstetric gestures using the BirthSIM simulator, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.2279-2284, 2007.
DOI : 10.1109/ROBOT.2007.363659
URL : https://hal.archives-ouvertes.fr/hal-00373782

. Moreau, Simulation of forceps extraction using the childbirth simulator BirthSIM, IEEE International Conference on Robotics and Automation (ICRA'08), 2008.

. Moreau, Design of a New Instrumented Forceps: Application to Safe Obstetrical Forceps Blade Placement, IEEE Transactions on Biomedical Engineering, vol.54, issue.7, pp.541280-1290, 2007.
DOI : 10.1109/TBME.2006.889777
URL : https://hal.archives-ouvertes.fr/hal-00179487

R. J. Muffler, AV-8B Harrier II training capabilities, Flight Simulation Technologies Conference, pp.11-15, 1985.
DOI : 10.2514/6.1985-1734

. Nel, Estimating the pen trajectories of static signatures using hidden Markov models, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.27, issue.11, pp.271733-1746, 2005.
DOI : 10.1109/TPAMI.2005.221

. Obst, The delivery simulator : A new application of medical VR, Annual Medicine Meets Virtual Reality Conference, pp.281-287, 2004.

. Ohel, Medical training simulator, 2003.

O. Olaby, Robotique pour l'apprentissage de gestes médicaux. Mise en oeuvre de séquences d'accouchement automatisées, 2006.

. Olaby, Automation of a mechanical childbirth simulator using electropneumatic components, PhD Symposium on Fluid Power Net International (FPNI'06), pp.543-555, 2006.
URL : https://hal.archives-ouvertes.fr/hal-00399302

. Olaby, Description de procédures d'accouchement en vue de leurs implantations sur un simulateur robotisé, p.6, 2004.

. Olaby, Automatic childbirth procedures implanted on the BirthSIM simulator, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2370-2375, 2006.
DOI : 10.1109/IROS.2006.282648
URL : https://hal.archives-ouvertes.fr/hal-00369378

. Olaby, Characterization and modelling of a FESTO proportionnal valve in aim of control synthesis, The 6 th JFPS International Symposium on Fluid Power, 2005.

. Oshima, Developement of a suture/ligature training system designed to provide quantitative information of the learning progress of trainees, IEEE International Conference on Robotics and Automation (ICRA'07), pp.2285-2291, 2007.

. Padilla, Mechatronic Resectoscope Emulator for a Surgery Simulation Training System of the Prostate, 2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.1750-1753, 2007.
DOI : 10.1109/IEMBS.2007.4352649

. Papiernik, Obstétrique. Flammarion Médecine-Sciences, 1997.

W. H. Pearse, Electronic recording of forceps delivery, American Journal of Obstetrics and Gynecology, vol.86, issue.1, pp.43-51, 1963.
DOI : 10.1016/0002-9378(63)90075-9

K. Pearson, Mathematical Contributions to the Theory of Evolution. III. Regression, Heredity, and Panmixia, Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, vol.187, issue.0, pp.253-318, 1896.
DOI : 10.1098/rsta.1896.0007

. Pierrot, Robotized reconstructive surgery: ongoing study and first results, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), pp.1615-1620, 2000.
DOI : 10.1109/ROBOT.2000.844827

. Piscione, An ergometer for rugby scrummaging assessment aimed for individual biomechanical analysis of front-row players, 29 ème Congrès de la Sociétè de Biomécanique, 2004.

P. Poignet, P. Poignet, and G. Poisson, La conception de robots pour l'assistance aux gestes médicaux et chirurgicaux, Journées Nationales de la Recherche en Robotique (JNRR'05), pp.117-131, 2005.

F. Porikli, Trajectory distance metric using Hidden Markov Model based representation, IEEE European Conference on Computer Vision, 2004.

D. Pouchain, Médecine générale : Concepts et pratiques, à l'usage des étudiants, des enseignants et des praticiens de la discipline, 1996.

W. Pronzato, L. Pronzato, and E. Walter, Eliminating Suboptimal Local Minimizers in Nonlinear Parameter Estimation, Technometrics, vol.43, issue.4, pp.434-442, 2001.
DOI : 10.1198/00401700152672528

L. Rabiner, A tutorial on hidden markov models and selected applications in speech recognition, Proceedings of the IEEE, pp.257-286, 1989.

J. Richalet, Pratique de l'identification, 1991.

R. Riener and R. Burgkart, Birth simulator (geburtensimulator ) Patent No, 2003.

. Riethmuller, Apport de l'??chographie en salle de travail, Gyn??cologie Obst??trique & Fertilit??, vol.32, issue.5, pp.427-432, 2004.
DOI : 10.1016/j.gyobfe.2004.02.019

. Riethmuller, Ventouse obst??tricale??: un instrument moderne, Gyn??cologie Obst??trique & Fertilit??, vol.29, issue.10, pp.29648-661, 2001.
DOI : 10.1016/S1297-9589(01)00205-3

. Rosen, The BlueDRAGON - a system for measuring the kinematics and dynamics of minimally invasive surgical tools in-vivo, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), pp.1876-1881, 2002.
DOI : 10.1109/ROBOT.2002.1014814

. Rosen, Generalized Approach for Modeling Minimally Invasive Surgery as a Stochastic Process Using a Discrete Markov Model, IEEE Transactions on Biomedical Engineering, vol.53, issue.3, pp.399-413, 2006.
DOI : 10.1109/TBME.2005.869771

. Rosen, Task Decomposition of Laparoscopic Surgery for Objective Evaluation of Surgical Residents' Learning Curve Using Hidden Markov Model, Computer Aided Surgery, vol.70, issue.4, pp.49-61, 2002.
DOI : 10.1109/10.918597

. Sayegh, Evaluating the decision-to-delivery interval in emergency caesarean sections, European Journal of Obstetrics & Gynecology and Reproductive Biology, vol.116, issue.1, pp.28-33, 2004.
DOI : 10.1016/j.ejogrb.2004.01.032

. Schmitt, FORSAFE" forceps et capteurs souples bio-inspirés ("FORSAFE" forceps and bio-inspired flexible sensors), Innovation et Technologie en Biologie et Médecine et Revue européenne de Biotechnologie Médicale (ITBM RBM), vol.26, issue.4, pp.249-251, 2005.

S. Sesmat, S. Sesmat, and S. Scavarda, Static characteristics of a three way servovalve, 12 th Aachen Conference on Fluid Power Technology, pp.643-652, 1996.

. Sielhorst, Synchronizing 3D movements for quantitative comparison and simultaneous visualization of actions, Fourth IEEE and ACM International Symposium on Mixed and Augmented Reality (ISMAR'05), pp.38-47, 2005.
DOI : 10.1109/ISMAR.2005.57

. Sielhorst, An augmented reality delivery simulator for medical training, Augmented environments for Medical Imaging including Augmented Reality in Computer-aided Surgery (AMI ARCS'04), pp.11-20, 2004.

R. Silveira, Modélisation et conception d'un nouveau simulateur d'accouchement (BirthSIM) pour l'entraînement et l'enseignement des jeunes obstétriciens et des sages femmes, 2004.

. Silveira, A new mechanical birth simulator: BirthSIM, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), pp.3948-3953, 2004.
DOI : 10.1109/IROS.2004.1390031

. Smaoui, A robust differenciator-controller design for an electropneumatic system, 44 th IEEE Conference on Decision and Control and European Control Conference ECC, 2005.

L. Smeltzer, S. S. Smeltzer, and S. W. Lawson, Apparatus for assisting childbirth, p.934, 1997.

. Sorab, Tactile sensory monitoring of clinician-applied forces during delivery of newborns, IEEE Transactions on Biomedical Engineering, vol.35, issue.12, pp.351090-1093, 1988.
DOI : 10.1109/10.8695

J. Thoulon, Le monitorage électronique foetal : la cardiotocographie, 1991.

. Toure, Y. Thomas-]-toure, and G. Thomas, La méthode du modèle : un outil efficace pour l'identification ?, Journées Identifications et Modélisation Expérimentale (JIME'01), pp.190-196, 2001.

. Ullery, Traction and compression forces exerted by obstetric forceps and their effect on fetal heart rate, American Journal of Obstetrics and Gynecology, vol.85, issue.8, pp.1066-1070, 1963.
DOI : 10.1016/S0002-9378(16)35641-1

. Vlachos, Discovering similar multidimensional trajectories, Proceedings 18th International Conference on Data Engineering, pp.673-684, 2002.
DOI : 10.1109/ICDE.2002.994784

B. Wylie, Traction in Forceps Deliveries, American Journal of Obstetrics and Gynecology, vol.29, issue.3, pp.425-433, 1933.
DOI : 10.1016/S0002-9378(15)31367-3

G. Xue, H. Xue, and V. Govindaraju, Hidden Markov Models combining discrete symbols and continuous attibutes in handwritting recognition, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.28, pp.458-462, 2006.

. Zambelli, Planning and navigation solution in resurfacing hip surgery : a way to reduce the surgical approach, Poster session, 3 rd Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery, 2003.

C. Annexe and . Procédures-d, utilisation des forceps selon les différentes présentations Dans cette annexe, les procédures d'extraction par forceps sont présentées selon les différentes variétés de présentation de la tête foetale. Toutes ces procédures sont extraites du livre, 2001.

. C. Fig, 1 ? Application du forceps pour la variété OP : schéma du mouvement des cuillères et leur position, 2001.