R. Héliot, B. Espiau, C. Azevedo, D. David, and D. B. Popovic, FES-based training and gait evaluation of stroke patients using a microsensor on their valid leg, International Society for Posture and Gait Research (ISPGR), 2007.

R. Héliot and B. Espiau, Online generation of cyclic leg trajectories synchronized with sensor measurement, Robotics and Autonomous System, pp.56-410, 2008.

R. Héliot and B. Espiau, Multi-sensor input for CPG-based Sensory-motor coordination, IEEE Transactions on Robotics, vol.24, issue.1, 2008.

R. Héliot, C. Azevedo, and B. , Espiau Functional rehabilitation: coordination of artificial and natural controllers, Rehabilitation Robotics Advanced Robotics Systems, 2007.

J. Vertut and P. Coiffet, Teleoperation and Robotics: Evolution and Development, Robot Technology Series, 1985.
DOI : 10.1007/978-94-011-6103-9

G. Burdea, P. Coiffet, L. R. Virtuelle, and H. E. Paris, Bernard Espiau received a PhD degree in Automatic Control He conducted several projects in robotics, in the areas of sensorbased control, visual servoing, control architectures, bipedal locomotion. He launched the BIP project, first anthropomorphic biped robot in Europe He advised 25 PhD students and authored more than 100 papers and book chapters. He is coauthor of the reference book " Robot Control, the Task-function Approach From 1988 to 1992, he was the Head of a postgraduate engineering school in automatic control and computer science in Sophia Antipolis, 1975.