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, Il est essentiel pour les robots d'être capables de s'adapter à leur partenaire d'interaction. Dans les interactions sociales rythmiques, les humains sont soumis à deux phénomènes physiques qui peuvent également être observés dans les oscillateurs: l'effet magnet qui entraîne les deux systèmes jusqu'à ce qu'ils soient couplés et synchronisés; l'effet maintenance qui représente l'effort de chaque système pour conserver sa propre fréquence. Ces mécanismes jouent un rôle fondamental dans les interactions interpersonnelles physiques et sociales. Afin de reproduire ce comportement, des contrôleurs bio-inspirés dotés de mécanismes de plasticité peuvent être employés. Le but principal consiste à rendre ces interactions aussi naturelles et agréables que possible en intégrant des propriétés adaptatives, ce qui mène à l'émergence d'une coordination motrice et par conséquent d'une synchronie sociale, Résumé La communication gestuelle est un aspect important de l'interaction humain-robot pour la robotique sociale, d'assistance et de réhabilitation. En effet, la synchronie sociale est un élément clé des interactions interpersonnelles, aussi bien sur le plan comportemental que sur le plan social

. Finalement, la dernière partie dévoilera les applications et perspectives de cette thèse pour la thérapie assistée par robot et plus particulièrement avec des enfants autistes

, Mots-clés: interactions humain-robot, coordination motrice, contrôleur bio-inspiré