Résumé
This thesis suggests that the haptic sense influences human cognitive processes. Wewere interested in mnesic, perceptive, and motor processes, and relied on two conceptsfrom computational and embodied theories : recurrent sensorimotor patterns and thesensory anticipation that emerges from them. Our first line of research focused on theconnections between anticipation of haptic features of a gesture, object recognition, andgrip selection. The second line focused both on the link between haptic anticipation andaction lateralization and on the impact of this anticipation on taking spatial and emotionalclues into account to select and initiate an action. The third line focused on the motorstrategies used by participants depending on the precision of their haptic anticipation, andtries to define control parameters that may facilitate human-robot interactions. Overall,this work shows that the haptic sense accompanies perception-action cycles of differentdurations, the longest being from action selection to its sensory terminal feedback, theshortest from the haptic afferent to alpha neuron efferent. The haptic sense is at thefoundation of these cycles, and play a role in major cognitive functions.