The Experts below are selected from a list of 33567 Experts worldwide ranked by ideXlab platform

Bastien Berret - One of the best experts on this subject based on the ideXlab platform.

  • Interacting with a "transparent" upper-limb exoskeleton: a Human Motor Control approach
    2018
    Co-Authors: Simon Bastide, Nicolas Vignais, Franck Geffard, Bastien Berret
    Abstract:

    Establishing a symbiotic relationship between a Human and a exoskeleton is the end goal in many applications in order to provide benefits to the user. However, the literature focusing on the Human side of Human-exoskeleton interaction has remained less exhaustive than the literature focusing on the design (hardware/software) of the exoskeleton device itself. It is, though, essential to understand how a Human adapts his Motor Control when interacting with an exoskeleton. Motor adaptation is an implicit process carried out by the central nervous system when the body encounters a perturbation, a paradigm that has been extensively studied in the field of Human Motor Control research. When wearing an exoskeleton, even "as-transparent-as-possible", contact/interaction forces may impact well-known Motor Control laws in a way that may be detrimental to the user, and even compromise usability in real applications. The present paper investigates how interaction with a backdrivable upper-limb exoskeleton (ABLE) set in "transparent" mode of Control affects the kinematics/dynamics of Human movement in a simple task. We find that important Motor Control features are preserved when moving with ABLE but an overall movement slowness occurs, likely as a response to increased inertia according to optimal Control simulations. Such a Human Motor Control approach illustrates one possible way to assess the degree of symbiosis between Human and exoskeleton, i.e. by grounding on well-known findings in Motor Control research.

  • IROS - Interacting with a “Transparent” Upper-Limb Exoskeleton: A Human Motor Control Approach
    2018 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
    Co-Authors: Simon Bastide, Nicolas Vignais, Franck Geffard, Bastien Berret
    Abstract:

    Establishing a symbiotic relationship between a Human and a exoskeleton is the end goal in many applications in order to provide benefits to the user. However, the literature focusing on the Human side of Human-exoskeleton interaction has remained less exhaustive than the literature focusing on the design (hardware/software) of the exoskeleton device itself. It is, though, essential to understand how a Human adapts his Motor Control when interacting with an exoskeleton. Motor adaptation is an implicit process carried out by the central nervous system when the body encounters a perturbation, a paradigm that has been extensively studied in the field of Human Motor Control research. When wearing an exoskeleton, even “as-transparent-as-possible”, contact/interaction forces may impact well-known Motor Control laws in a way that may be detrimental to the user, and even compromise usability in real applications. The present paper investigates how interaction with a backdrivable upper-limb exoskeleton (ABLE) set in “transparent” mode of Control affects the kinematics/dynamics of Human movement in a simple task. We find that important Motor Control features are preserved when moving with ABLE but an overall movement slowness occurs, likely as a response to increased inertia according to optimal Control simulations. Such a Human Motor Control approach illustrates one possible way to assess the degree of symbiosis between Human and exoskeleton, i.e. by grounding on well-known findings in Motor Control research.

Simon Bastide - One of the best experts on this subject based on the ideXlab platform.

  • Interacting with a "transparent" upper-limb exoskeleton: a Human Motor Control approach
    2018
    Co-Authors: Simon Bastide, Nicolas Vignais, Franck Geffard, Bastien Berret
    Abstract:

    Establishing a symbiotic relationship between a Human and a exoskeleton is the end goal in many applications in order to provide benefits to the user. However, the literature focusing on the Human side of Human-exoskeleton interaction has remained less exhaustive than the literature focusing on the design (hardware/software) of the exoskeleton device itself. It is, though, essential to understand how a Human adapts his Motor Control when interacting with an exoskeleton. Motor adaptation is an implicit process carried out by the central nervous system when the body encounters a perturbation, a paradigm that has been extensively studied in the field of Human Motor Control research. When wearing an exoskeleton, even "as-transparent-as-possible", contact/interaction forces may impact well-known Motor Control laws in a way that may be detrimental to the user, and even compromise usability in real applications. The present paper investigates how interaction with a backdrivable upper-limb exoskeleton (ABLE) set in "transparent" mode of Control affects the kinematics/dynamics of Human movement in a simple task. We find that important Motor Control features are preserved when moving with ABLE but an overall movement slowness occurs, likely as a response to increased inertia according to optimal Control simulations. Such a Human Motor Control approach illustrates one possible way to assess the degree of symbiosis between Human and exoskeleton, i.e. by grounding on well-known findings in Motor Control research.

  • IROS - Interacting with a “Transparent” Upper-Limb Exoskeleton: A Human Motor Control Approach
    2018 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
    Co-Authors: Simon Bastide, Nicolas Vignais, Franck Geffard, Bastien Berret
    Abstract:

    Establishing a symbiotic relationship between a Human and a exoskeleton is the end goal in many applications in order to provide benefits to the user. However, the literature focusing on the Human side of Human-exoskeleton interaction has remained less exhaustive than the literature focusing on the design (hardware/software) of the exoskeleton device itself. It is, though, essential to understand how a Human adapts his Motor Control when interacting with an exoskeleton. Motor adaptation is an implicit process carried out by the central nervous system when the body encounters a perturbation, a paradigm that has been extensively studied in the field of Human Motor Control research. When wearing an exoskeleton, even “as-transparent-as-possible”, contact/interaction forces may impact well-known Motor Control laws in a way that may be detrimental to the user, and even compromise usability in real applications. The present paper investigates how interaction with a backdrivable upper-limb exoskeleton (ABLE) set in “transparent” mode of Control affects the kinematics/dynamics of Human movement in a simple task. We find that important Motor Control features are preserved when moving with ABLE but an overall movement slowness occurs, likely as a response to increased inertia according to optimal Control simulations. Such a Human Motor Control approach illustrates one possible way to assess the degree of symbiosis between Human and exoskeleton, i.e. by grounding on well-known findings in Motor Control research.

Iven Mareels - One of the best experts on this subject based on the ideXlab platform.

  • quantifying task similarity for skill generalisation in the context of Human Motor Control
    International Conference on Control Automation Robotics and Vision, 2016
    Co-Authors: Gijo Sebastian, Denny Oetomo, Justin Fong, Vincent Crocher, Ying Tan, Iven Mareels
    Abstract:

    In this work, a simple model is used to characterize the learning behaviour of Humans. Based on this model, it is possible to define a similarity measure between two tasks in order to quantify skill generalisation during the learning of simple Motor tasks by Humans. By fully exploring this similarity measure, a sequence of tasks capable of improving the learning efficiency for both healthy subjects and patients with Motor impairment may be generated. A validation protocol is introduced and preliminary experimental results with six subjects are presented to validate the learning model and the similarity measure. Results show that the Human learning of trajectory tracking tasks can accurately be modelled by an exponential decay of the average tracking error. The model fits well when the task is new or far away from a previously learnt task. Model parameters are used to analyse the learning performances of the subjects and the influence of previous tasks learning. Finally, it is shown that the similarity index can be constructed based on the proposed model to reflect skill generalisation.

  • ICARCV - Quantifying task similarity for skill generalisation in the context of Human Motor Control
    2016 14th International Conference on Control Automation Robotics and Vision (ICARCV), 2016
    Co-Authors: Gijo Sebastian, Denny Oetomo, Justin Fong, Vincent Crocher, Ying Tan, Iven Mareels
    Abstract:

    In this work, a simple model is used to characterize the learning behaviour of Humans. Based on this model, it is possible to define a similarity measure between two tasks in order to quantify skill generalisation during the learning of simple Motor tasks by Humans. By fully exploring this similarity measure, a sequence of tasks capable of improving the learning efficiency for both healthy subjects and patients with Motor impairment may be generated. A validation protocol is introduced and preliminary experimental results with six subjects are presented to validate the learning model and the similarity measure. Results show that the Human learning of trajectory tracking tasks can accurately be modelled by an exponential decay of the average tracking error. The model fits well when the task is new or far away from a previously learnt task. Model parameters are used to analyse the learning performances of the subjects and the influence of previous tasks learning. Finally, it is shown that the similarity index can be constructed based on the proposed model to reflect skill generalisation.

  • ICARCV - Modelling of Human Motor Control in an unstable task through operational space formulation
    2010 11th International Conference on Control Automation Robotics & Vision, 2010
    Co-Authors: Shou-han Zhou, Denny Oetomo, Iven Mareels, Etienne Burdet
    Abstract:

    Human Motor Control computational model is an important component in the study and the successful realisation of Human-robot interaction. In this paper, the Operational Space Formulation is presented as a suitable framework of Human Motor Control computational model based on the Equilibrium Point Hypothesis (EPH) approach. The iterative adaptive Control strategy was incorporated to simulate Human Motor adaptation to different tasks. The strategy involves the use of an Equilibrium Model which represents the ideal Human Motor response to a given task. The combined strategy was simulated to match a set of data gathered experimentally from several Human subjects. The results were observed to explain many of the features found in the recorded behaviours in the EPH-based approach of Human Motor modelling.

Franck Geffard - One of the best experts on this subject based on the ideXlab platform.

  • Interacting with a "transparent" upper-limb exoskeleton: a Human Motor Control approach
    2018
    Co-Authors: Simon Bastide, Nicolas Vignais, Franck Geffard, Bastien Berret
    Abstract:

    Establishing a symbiotic relationship between a Human and a exoskeleton is the end goal in many applications in order to provide benefits to the user. However, the literature focusing on the Human side of Human-exoskeleton interaction has remained less exhaustive than the literature focusing on the design (hardware/software) of the exoskeleton device itself. It is, though, essential to understand how a Human adapts his Motor Control when interacting with an exoskeleton. Motor adaptation is an implicit process carried out by the central nervous system when the body encounters a perturbation, a paradigm that has been extensively studied in the field of Human Motor Control research. When wearing an exoskeleton, even "as-transparent-as-possible", contact/interaction forces may impact well-known Motor Control laws in a way that may be detrimental to the user, and even compromise usability in real applications. The present paper investigates how interaction with a backdrivable upper-limb exoskeleton (ABLE) set in "transparent" mode of Control affects the kinematics/dynamics of Human movement in a simple task. We find that important Motor Control features are preserved when moving with ABLE but an overall movement slowness occurs, likely as a response to increased inertia according to optimal Control simulations. Such a Human Motor Control approach illustrates one possible way to assess the degree of symbiosis between Human and exoskeleton, i.e. by grounding on well-known findings in Motor Control research.

  • IROS - Interacting with a “Transparent” Upper-Limb Exoskeleton: A Human Motor Control Approach
    2018 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
    Co-Authors: Simon Bastide, Nicolas Vignais, Franck Geffard, Bastien Berret
    Abstract:

    Establishing a symbiotic relationship between a Human and a exoskeleton is the end goal in many applications in order to provide benefits to the user. However, the literature focusing on the Human side of Human-exoskeleton interaction has remained less exhaustive than the literature focusing on the design (hardware/software) of the exoskeleton device itself. It is, though, essential to understand how a Human adapts his Motor Control when interacting with an exoskeleton. Motor adaptation is an implicit process carried out by the central nervous system when the body encounters a perturbation, a paradigm that has been extensively studied in the field of Human Motor Control research. When wearing an exoskeleton, even “as-transparent-as-possible”, contact/interaction forces may impact well-known Motor Control laws in a way that may be detrimental to the user, and even compromise usability in real applications. The present paper investigates how interaction with a backdrivable upper-limb exoskeleton (ABLE) set in “transparent” mode of Control affects the kinematics/dynamics of Human movement in a simple task. We find that important Motor Control features are preserved when moving with ABLE but an overall movement slowness occurs, likely as a response to increased inertia according to optimal Control simulations. Such a Human Motor Control approach illustrates one possible way to assess the degree of symbiosis between Human and exoskeleton, i.e. by grounding on well-known findings in Motor Control research.

Nicolas Vignais - One of the best experts on this subject based on the ideXlab platform.

  • Interacting with a "transparent" upper-limb exoskeleton: a Human Motor Control approach
    2018
    Co-Authors: Simon Bastide, Nicolas Vignais, Franck Geffard, Bastien Berret
    Abstract:

    Establishing a symbiotic relationship between a Human and a exoskeleton is the end goal in many applications in order to provide benefits to the user. However, the literature focusing on the Human side of Human-exoskeleton interaction has remained less exhaustive than the literature focusing on the design (hardware/software) of the exoskeleton device itself. It is, though, essential to understand how a Human adapts his Motor Control when interacting with an exoskeleton. Motor adaptation is an implicit process carried out by the central nervous system when the body encounters a perturbation, a paradigm that has been extensively studied in the field of Human Motor Control research. When wearing an exoskeleton, even "as-transparent-as-possible", contact/interaction forces may impact well-known Motor Control laws in a way that may be detrimental to the user, and even compromise usability in real applications. The present paper investigates how interaction with a backdrivable upper-limb exoskeleton (ABLE) set in "transparent" mode of Control affects the kinematics/dynamics of Human movement in a simple task. We find that important Motor Control features are preserved when moving with ABLE but an overall movement slowness occurs, likely as a response to increased inertia according to optimal Control simulations. Such a Human Motor Control approach illustrates one possible way to assess the degree of symbiosis between Human and exoskeleton, i.e. by grounding on well-known findings in Motor Control research.

  • IROS - Interacting with a “Transparent” Upper-Limb Exoskeleton: A Human Motor Control Approach
    2018 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
    Co-Authors: Simon Bastide, Nicolas Vignais, Franck Geffard, Bastien Berret
    Abstract:

    Establishing a symbiotic relationship between a Human and a exoskeleton is the end goal in many applications in order to provide benefits to the user. However, the literature focusing on the Human side of Human-exoskeleton interaction has remained less exhaustive than the literature focusing on the design (hardware/software) of the exoskeleton device itself. It is, though, essential to understand how a Human adapts his Motor Control when interacting with an exoskeleton. Motor adaptation is an implicit process carried out by the central nervous system when the body encounters a perturbation, a paradigm that has been extensively studied in the field of Human Motor Control research. When wearing an exoskeleton, even “as-transparent-as-possible”, contact/interaction forces may impact well-known Motor Control laws in a way that may be detrimental to the user, and even compromise usability in real applications. The present paper investigates how interaction with a backdrivable upper-limb exoskeleton (ABLE) set in “transparent” mode of Control affects the kinematics/dynamics of Human movement in a simple task. We find that important Motor Control features are preserved when moving with ABLE but an overall movement slowness occurs, likely as a response to increased inertia according to optimal Control simulations. Such a Human Motor Control approach illustrates one possible way to assess the degree of symbiosis between Human and exoskeleton, i.e. by grounding on well-known findings in Motor Control research.