Bastien Berret

How individual vigor shapes human-human physical interaction

This study shows how individual vigor affects dyadic coordination in physical tasks, with slower partners influencing dyadic vigor and coordination patterns.

Model predictive game control for personalized and targeted interactive assistance

This paper develops a model-predictive game controller for contact robots to improve human-robot interaction by predicting human control and adapting to individual motor strategies.

EMG-to-torque models for exoskeleton assistance: a framework for the evaluation of in situ calibration

This paper introduces a framework for calibrating and evaluating EMG-to-torque models, including a novel nonlinear model that improves accuracy while maintaining computational efficiency.

Evidence for flexible regulation of movement and decision vigor in a reward-oriented task

The paper tests whether movement and decision vigor are co-regulated or decoupled in a reward task, finding they are mostly decoupled and driven by distinct time-cost signals.

Less is more: uncompensated gravity torques for intuitive EMG-based assistance with a robotic exoskeleton

This paper introduces an EMG-based controller for robotic exoskeletons that intentionally leaves gravity torque uncompensated, improving muscle effort reduction and kinematic performance in arm movements.

Guiding humans towards ergonomic postures using an active exoskeleton

This study uses an exoskeleton as biofeedback to guide participants toward ergonomic postures by inducing vibrations that encourage adaptation to reduce effort.

Co-Contraction Embodies Uncertainty: An Optimal Feedforward Strategy for Robust Motor Control

The paper shows that muscle co-contraction increases with environmental uncertainty to stabilize motor control when feedback is insufficient.

The value of time in the invigoration of human movements when interacting with a robotic exoskeleton

This study investigates how time and effort tradeoff influences human movement vigor when interacting with a robotic exoskeleton, finding that time cost plays a pivotal role in determining movement vigor across a range of efforts.

Generating variability from motor primitives during infant locomotor development

This study tracks motor variability in infants from birth to walking onset, showing how variability arises from a small number of motor primitives early on and becomes more regular as more primitives develop.

Fast reoptimization of human motor patterns in non-Earth gravity fields locally induced by a robotic exoskeleton

The paper shows humans can quickly adapt motor patterns to different gravity conditions using a robotic exoskeleton.

Optimization of modularity during development to simplify walking control across strides

This study compares modular control of walking between toddlers and adults, finding that adults use fewer, more consistent modules while toddlers require more modules to handle stride variability.

A cross-species neural integration of gravity for motor optimisation

The paper demonstrates that gravity is used to optimise motor patterns by reducing muscle effort in human and monkey arm movements.

The dorsal striatum sets the sensitivity to effort

This study investigates the role of the dorsal striatum in effort sensitivity during motor tasks, finding that lesions affect movement kinematics without impairing procedural memory.

Stochastic optimal open-loop control as a theory of force and impedance planning via muscle co-contraction

Space-by-time modular decomposition effectively describes whole-body muscle activity during upright reaching in various directions

The paper evaluates a space-by-time decomposition method to assess modularity in muscle activity during whole-body reaching tasks, finding it effective for data approximation and task discrimination.