, En remplaçant la relation (5.4) dans l'équation (5.1), après développement, la dynamique en boucle fermée est donnée par l'équation suivante

E. R. Powell, Powell tool balancer.-Brevet US3428298A, 1969.

M. Kornely, Self balancing electric hoist.-Brevet US4658971A, 1987.

, Iso 10218 :1992 manipulating industrial robots-safety, 1992.

H. Kazerooni, Human power amplifier for vertical maneuvers, Brevet, vol.5865426, 1999.

, Iso 10218-1 :2006 robots for industrial environments-safety requirements-part 1 : Robot, 2006.

, Iso 10218-1 :2011 robots and robotic devices-safety requirements for industrial robots-part 1 : Robots, 2011.

S. Alfayad, F. B. Ouezdou, F. Namoun, and G. Gheng, High performance integrated electro-hydraulic actuator for robotics-part i : Principle, prototype design and first experiments, Sensors and Actuators A : Physical, vol.169, issue.1, pp.115-123, 2011.

S. Alfayad, F. B. Ouezdou, F. Namoun, and G. Gheng, High performance integrated electro-hydraulic actuator for robotics-part ii : Theoretical modelling, simulation, control & comparison with real measurements, Sensors and Actuators A : Physical, vol.169, issue.1, pp.124-132, 2011.

C. H. An, C. G. Atkeson, and J. M. Hollerbach, Estimation of inertial parameters of rigid body links of manipulators, 24th IEEE Conference on Decision and Control, pp.990-995, 1985.

M. H. Ang, W. Lin, and S. Lim, A walk-through programmed robot for welding in shipyards, Industrial Robot : the international journal of robotics research and application, vol.26, issue.5, pp.377-388, 1999.

A. Bahloul, S. Tliba, and Y. Chitour, Dynamic parameters identification of an industrial robot : A constrained nonlinear wls approach, Proc. of the 26th
URL : https://hal.archives-ouvertes.fr/hal-01866334

, IEEE Mediterranean Conference on Control and Automation (MED 2018), pp.21-26, 2018.

A. Bahloul, S. Tliba, and Y. Chitour, Dynamic parameters identification of an industrial robot with and without payload, Proc. of the 18th IFAC Symposium on System Identification (SYSID 2018), pp.443-448, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01866381

A. Bicchi, M. Bavaro, G. Boccadamo, D. D. Carli, R. Filippini et al., Physical humanrobot interaction : Dependability, safety, and performance, 10th IEEE International Workshop on Advanced Motion Control, pp.9-14, 2008.

A. Bicchi, M. A. Peshkin, and J. E. Colgate, Safety for Physical Human-Robot Interaction, pp.1335-1348, 2008.

M. Brunot, A. Janot, F. Carrillo, and H. Garnier, Comparison between the idim-iv method and the didim method for industrial robots identification, 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pp.571-576, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01635641

M. Brunot, A. Janot, F. Carrillo, and H. Garnier, A pragmatic and systematic statistical analysis for identification of industrial robots, 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pp.559-564, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01635639

B. Cagneau, G. Morel, D. Bellot, N. Zemiti, and G. A. Agostino, A passive force amplifier, 2008 IEEE International Conference on Robotics and Automation, pp.2079-2084, 2008.
URL : https://hal.archives-ouvertes.fr/hal-00387390

D. G. Caldwell, N. G. Tsagarakis, S. Kousidou, N. Costa, and I. Sarakoglou, soft" exoskeletons for upper and lower body rehabilitation-design, control and testing, International Journal of Humanoid Robotics, vol.04, issue.03, pp.549-573, 2007.

E. Dombre and W. Khalil, Robot Manipulators-Modeling Performance Analysis and Control. ISTE, 2007.
URL : https://hal.archives-ouvertes.fr/lirmm-00127404

V. Duchaine and C. Gosselin, Safe, stable and intuitive control for physical human-robot interaction, 2009 IEEE International Conference on Robotics and Automation, pp.3383-3388, 2009.

. Bibliographie,

V. Duchaine and C. M. Gosselin, Investigation of human-robot interaction stability using lyapunov theory, 2008 IEEE International Conference on Robotics and Automation, pp.2189-2194, 2008.

G. E. Croshaw and P. , Hardiman i arm test-hardiman i prototype project, General Electric Rep, 1969.
DOI : 10.21236/ad0701359

F. Ferraguti, C. T. Landi, C. Secchi, C. Fantuzzi, M. Nolli et al., Walk-through programming for industrial applications, 27th International Conference on Flexible Automation and Intelligent Manufacturing, vol.11, pp.31-38, 2017.

T. Fukuda, Y. Fujisawa, K. Kosuge, F. Arai, E. Muro et al., Manipulator for man-robot cooperation, Industrial Electronics, Control and Instrumentation, vol.2, pp.996-1001, 1991.

M. Gautier, Numerical calculation of the base inertial parameters of robots, Proceedings., IEEE International Conference on Robotics and Automation, vol.2, pp.1020-1025, 1990.

M. Gautier and W. Khalil, A direct determination of minimum inertial parameters of robots, Proceedings. 1988 IEEE International Conference on Robotics and Automation, vol.3, pp.1682-1687, 1988.

M. Gautier and W. Khalil, On the identification of the inertial parameters of robots, Proceedings of the 27th IEEE Conference on Decision and Control, vol.3, pp.2264-2269, 1988.

M. Gautier and W. Khalil, Identification of the minimum inertial parameters of robots, Proceedings, 1989 International Conference on Robotics and Automation, vol.3, pp.1529-1534, 1989.

M. Gautier and W. Khalil, Direct calculation of minimum set of inertial parameters of serial robots, IEEE Transactions on Robotics and Automation, vol.6, issue.3, pp.368-373, 1990.

M. Gautier and W. Khalil, Exciting trajectories for the identification of base inertial parameters of robots, Proceedings of the 30th IEEE Conference on Decision and Control, vol.1, pp.494-499, 1991.

Y. Iwamura, M. Shiomi, T. Kanda, H. Ishiguro, and N. Hagita, Do elderly people prefer a conversational humanoid as a shopping assistant partner in supermarkets, 2011 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI), pp.449-457, 2011.

M. Jakopec, S. J. Harris, F. R. Baena, P. Gomes, and B. L. Davies, The acrobot® system for total knee replacement. Industrial Robot : the international journal of robotics research and application, vol.30, pp.61-66, 2003.
DOI : 10.1108/01439910310457724

A. Janot, P. O. Vandanjon, and M. Gautier, A generic instrumental variable approach for industrial robot identification, IEEE Transactions on Control Systems Technology, vol.22, issue.1, pp.132-145, 2014.
DOI : 10.1109/tcst.2013.2246163

. Bibliographie,

S. Jlassi, Formulation et études des problèmes de commande en co-manipulation robotique. Theses, 2013.

S. Jlassi, S. Tliba, and Y. Chitour, On human-robot co-manipulation for handling tasks : Modeling and control strategy, 10th IFAC Symposium on Robot Control, vol.45, pp.710-715, 2012.
DOI : 10.3182/20120905-3-hr-2030.00092
URL : https://hal.archives-ouvertes.fr/hal-00734288

S. Jlassi, S. Tliba, and Y. Chitour, An event-controlled online trajectory generator based on the human-robot interaction force processing, Industrial Robot : the international journal of robotics research and application, vol.41, issue.1, pp.15-25, 2014.
DOI : 10.1108/ir-01-2013-317
URL : https://hal.archives-ouvertes.fr/hal-00861854

S. Jlassi, S. Tliba, and Y. Chitour, An online trajectory generator-based impedance control for co-manipulation tasks, 2014 IEEE Haptics Symposium (HAPTICS), pp.391-396, 2014.
DOI : 10.1109/haptics.2014.6775487
URL : https://hal.archives-ouvertes.fr/hal-00911088

H. Kazerooni, Extender : a case study for human-robot interaction via transfer of power and information signals, Proceedings of 1993 2nd IEEE International Workshop on Robot and Human Communication, pp.10-20, 1993.

W. Khalil and D. Creusot, Symoro+ : A system for the symbolic modelling of robots, Robotica, vol.15, issue.2, pp.153-161, 1997.
URL : https://hal.archives-ouvertes.fr/hal-00401687

W. Khalil and J. Kleinfinger, A new geometric notation for open and closed-loop robots, Proceedings. 1986 IEEE International Conference on Robotics and Automation, vol.3, pp.1174-1179, 1986.
DOI : 10.1109/robot.1986.1087552

W. Khalil and J. Kleinfinger, A new geometric notation for open and closed-loop robots, Proceedings. 1986 IEEE International Conference on Robotics and Automation, vol.3, pp.1174-1179, 1986.

W. Khalil, A. Vijayalingam, B. Khomutenko, I. Mukhanov, P. Lemoine et al., Opensymoro : An open-source software package for symbolic modelling of robots, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.1206-1211, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01025919

O. Khatib, Real-time obstacle avoidance for manipulators and mobile robots, Int. J. Rob. Res, vol.5, issue.1, pp.90-98, 1986.

M. Kimmel and S. Hirche, Active safety control for dynamic human-robot interaction, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.4685-4691, 2015.

K. Kosuge, Y. Fujisawa, and T. Fukuda, Control of robot directly maneuvered by operator, Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on, vol.1, pp.49-54, 1993.

A. Kouris, F. Dimeas, and N. Aspragathos, Contact distinction in human-robot cooperation with admittance control, 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp.1951-1956, 2016.

J. Kruger, T. Lien, and A. Verl, Cooperation of human and machines in assembly lines, CIRP Annals, vol.58, issue.2, pp.628-646, 2009.

R. Kumar, P. Berkelman, P. Gupta, A. Barnes, P. S. Jensen et al.,

I. Millennium-conference, IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), pp.610-617, 2000.

X. Lamy, F. Collédani, F. Geffard, Y. Measson, and G. Morel, Human force amplification with industrial robot : Study of dynamic limitations, 2010.

, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2487-2494, 2010.

X. Lamy, F. Collédani, F. Geffard, Y. Measson, and G. Morel, Overcoming human force amplification limitations in comanipulation tasks with industrial robot, 8th World Congress on Intelligent Control and Automation, pp.592-598, 2010.

K. Lee, S. Lee, J. Choi, S. Lee, and C. Han, The application of the human-robot cooperative system for construction robot manipulating and installing heavy materials, SICE-ICASE International Joint Conference, pp.4798-4802, 2006.

H. Lim and K. Tanie, Collision-tolerant control of human-friendly robot with viscoelastic trunk, IEEE/ASME Transactions on Mechatronics, vol.4, issue.4, pp.417-427, 1999.

L. Ljung, System Identification : Theory for User, 1999.

S. Lu and J. H. Chung, Collision detection enabled weighted path planning : a wrist and base force/torque sensors approach, ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, pp.165-170, 2005.

M. V. Mark, W. Spong, and S. Hutchinson, Robot Modeling and Control, 2005.

H. Mehdi and O. Boubaker, Rehabilitation of a human arm supported by a robotic manipulator : A position/force cooperative control, Journal of Computer Science, pp.912-919, 2010.

B. Mitchell, J. Koo, I. Iordachita, P. Kazanzides, A. Kapoor et al., Development and application of a new steady-hand manipulator for retinal surgery, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.623-629, 2007.

M. H. , Ngoc Dung Vuong. Dynamic model identification for industrial robots, Acta polytechnica Hungarica, vol.6, issue.5, pp.51-68, 2009.

M. Ragaglia, L. Bascetta, and P. Rocco, Detecting, tracking and predicting human motion inside an industrial robotic cell using a map-based particle filtering strategy, 2015 International Conference on Advanced Robotics (ICAR), pp.369-374, 2015.

G. Raiola, Co-manipulation with a library of Virtual Guides, 2017.
URL : https://hal.archives-ouvertes.fr/tel-01573500

S. S. Restrepo, G. Raiola, P. Chevalier, X. Lamy, and D. Sidobre, Iterative virtual guides programming for human-robot comanipulation, 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pp.219-226, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01763775

J. G. Romero, R. Ortega, and I. Sarras, A globally exponentially stable tracking controller for mechanical systems using position feedback, IEEE Transactions on Automatic Control, vol.60, issue.3, pp.818-823, 2015.
URL : https://hal.archives-ouvertes.fr/hal-00929864

A. D. Santis, B. Siciliano, A. D. Luca, and A. Bicchi, An atlas of physical human-robot interaction. Mechanism and Machine Theory, vol.43, pp.253-270, 2008.

M. Shariatee, H. Khosravi, and E. Fazl-ersi, Safe collaboration of humans and scara robots, 4th International Conference on Robotics and Mechatronics (ICROM), pp.589-594, 2016.

B. Siciliano and O. Khatib, Springer Handbook of Robotics, 2016.

B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics Modelling, Planning and Control, 2009.

J. Swevers, W. Verdonck, and J. D. Schutter, Dynamic model identification for industrial robots, IEEE Control Systems, vol.27, issue.5, pp.58-71, 2007.

R. Taylor, P. Jensen, L. Whitcomb, A. Barnes, R. Kumar et al., A steady-hand robotic system for microsurgical augmentation, The International Journal of Robotics Research, vol.18, pp.1201-1210, 1999.

F. Vicentini, M. Giussani, and L. M. Tosatti, Trajectory-dependent safe distances in human-robot interaction, Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA), pp.1-4, 2014.

V. Villani, F. Pini, F. Leali, and C. Secchi, Survey on human-robot collaboration in industrial settings : Safety, intuitive interfaces and applications, 2018.

B. Whitsell and P. Artemiadis, Physical human-robot interaction (phri) in 6 dof with asymmetric cooperation, IEEE Access, vol.5, pp.10834-10845, 2017.

Y. Yamada, Y. Hirasawa, S. Huang, Y. Umetani, and K. Suita, Human-robot contact in the safeguarding space, IEEE/ASME Transactions on Mechatronics, vol.2, issue.4, pp.230-236, 1997.

K. Yoshida and W. Khalil, Verification of the positive definiteness of the inertial matrix of manipulators using base inertial parameters, The International Journal of Robotics Research, vol.19, issue.5, pp.498-510, 2000.

Y. Zhan, X. G. Duan, and J. X. Li, Review of comanipulation robot in surgery, 2015 IEEE International Conference on Mechatronics and Automation (ICMA), pp.1466-1471, 2015.