Etienne Burdet
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View article: The Identification of Haptic Invariants in Humans and Their Applications to Robotics
The Identification of Haptic Invariants in Humans and Their Applications to Robotics Open
When searching for an object in my pocket, I can clearly perceive the edges, shape, and hardness of the items I touch — regardless of which part of my fingers makes contact and despite large sensorimotor noise. What accounts for these perc…
View article: Peripheral neural interfaces for reading high-frequency brain signals
Peripheral neural interfaces for reading high-frequency brain signals Open
View article: A process-centric manipulation taxonomy for the organization, classification and synthesis of tactile robot skills
A process-centric manipulation taxonomy for the organization, classification and synthesis of tactile robot skills Open
Despite decades of research in robotic manipulation, only a few autonomous manipulation skills are currently used. Traditional and machine-learning-based end-to-end solutions have shown substantial progress but still struggle to generate r…
View article: Remote, Reliable, Repeatable: Real-World Test–Retest Validation of Hand Grip Strength Assessments
Remote, Reliable, Repeatable: Real-World Test–Retest Validation of Hand Grip Strength Assessments Open
Background Handgrip strength (HGS) is a key indicator of health and functional status. As remote health assessments become more common, it is critical to understand how procedural supervision influences the reliability of remote HGS assess…
View article: How individual vigor shapes human-human physical interaction
How individual vigor shapes human-human physical interaction Open
The speed of voluntary movements varies systematically, with some individuals moving consistently faster than others across different actions. These variations, conceptualized as vigor, reflect a time-effort-accuracy tradeoff in motor plan…
View article: Human impedance modulation to improve visuo-haptic perception
Human impedance modulation to improve visuo-haptic perception Open
Humans activate muscles to shape the mechanical interaction with their environment, but can they harness this control mechanism to best sense the environment? We investigated how participants adapt their muscle activation to visual and hap…
View article: Tactile, Audio, and Visual Dataset During Bare Finger Interaction with Textured Surfaces
Tactile, Audio, and Visual Dataset During Bare Finger Interaction with Textured Surfaces Open
This paper presents a comprehensive multi-modal dataset capturing concurrent haptic, audio, and visual signals recorded from ten participants as they interacted with ten different textured surfaces using their bare fingers. The dataset inc…
View article: Intermittent movement control emerges from information-based planning
Intermittent movement control emerges from information-based planning Open
Dominant models of reactive motion control in humans, based on optimal feedback control, predict smooth trajectories that reflect averaged behaviors. However, the observation of individual movements suggests that mammalian motor control is…
View article: Switch-based Independent Antagonist Actuation with a Single Motor for a Soft Exosuit
Switch-based Independent Antagonist Actuation with a Single Motor for a Soft Exosuit Open
The use of a cable-driven soft exosuit poses challenges with regards to the mechanical design of the actuation system, particularly when used for actuation along multiple degrees of freedom (DoF). The simplest general solution requires the…
View article: Model predictive game control for personalized and targeted interactive assistance
Model predictive game control for personalized and targeted interactive assistance Open
Contact robots are increasingly used to assist humans in physical training and manufacturing tasks. However, the effectiveness of current systems is limited as their control focuses on the system performance without explicitly considering …
View article: Monolithic electrostatic actuators with independent stiffness modulation
Monolithic electrostatic actuators with independent stiffness modulation Open
Robotic artificial muscles, inspired by the adaptability of biological muscles, outperform rigid robots in dynamic environments due to their flexibility. However, the intrinsic compliance of the soft actuators restricts force transmission …
View article: A modular architecture for trial-by-trial learning of redundant muscle activity patterns in novel sensorimotor tasks
A modular architecture for trial-by-trial learning of redundant muscle activity patterns in novel sensorimotor tasks Open
The coordination of the multiple degrees-of-freedom of the human body may be simplified by muscle synergies, motor modules which can be flexibly combined to achieve various goals. Studies investigating adaptation to novel relationships bet…
View article: Predictive Visuo-Tactile Interactive Perception Framework for Object Properties Inference
Predictive Visuo-Tactile Interactive Perception Framework for Object Properties Inference Open
Interactive exploration of unknown objects' properties, such as stiffness, mass, center of mass, friction coefficient, and shape, is crucial for autonomous robotic systems operating in unstructured environments. Precise identification of t…
View article: Effects of Uni- and Bi-Directional Interaction During Dyadic Ankle and Wrist Tracking
Effects of Uni- and Bi-Directional Interaction During Dyadic Ankle and Wrist Tracking Open
Haptic human-robot-human interaction allows users to feel and respond to one another's forces while interfacing with separate robotic devices, providing customizable infrastructure for studying physical interaction during motor tasks (e.g.…
View article: Comparison of Solo and Collaborative Trimanual Operation of a Supernumerary Limb in Tasks With Varying Physical Coupling
Comparison of Solo and Collaborative Trimanual Operation of a Supernumerary Limb in Tasks With Varying Physical Coupling Open
International audience
View article: An Unsupervised Approach to Identify Patient-Specific EMG Detector to Trigger Robot-Assisted Therapy
An Unsupervised Approach to Identify Patient-Specific EMG Detector to Trigger Robot-Assisted Therapy Open
A bstract In severely impaired stroke patients, implementing EMG-driven robot-assisted therapy requires the presence of sufficient residual EMG and a patient-specific detector for accurate and low-latency EMG detection. However, identifyin…
View article: Effects of Uni- and Bi-directional Interaction During Dyadic Ankle and Wrist Tracking
Effects of Uni- and Bi-directional Interaction During Dyadic Ankle and Wrist Tracking Open
Haptic human-robot-human interaction allows users to feel and respond to one another’s forces while interfacing with separate robotic devices, providing customizable infrastructure for studying physical interaction during motor tasks (i.e.…
View article: Co-contraction embodies uncertainty: An optimal feedforward strategy for robust motor control
Co-contraction embodies uncertainty: An optimal feedforward strategy for robust motor control Open
Despite our environment often being uncertain, we generally manage to generate stable motor behaviors. While reactive control plays a major role in this achievement, proactive control is critical to cope with the substantial noise and dela…
View article: Predictive Visuo-Tactile Interactive Perception Framework for Object Properties Inference
Predictive Visuo-Tactile Interactive Perception Framework for Object Properties Inference Open
Interactive exploration of the unknown physical properties of objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments. P…
View article: During haptic communication, the central nervous system compensates distinctly for delay and noise
During haptic communication, the central nervous system compensates distinctly for delay and noise Open
Physically connected humans have been shown to exploit the exchange of haptic forces and tactile information to improve their performance in joint action tasks. As human interactions are increasingly mediated through robots and networks it…
View article: ViTract: Robust Object Shape Perception via Active Visuo-Tactile Interaction
ViTract: Robust Object Shape Perception via Active Visuo-Tactile Interaction Open
An essential problem in robotic systems that are to be deployed in unstructured environments is the accurate and autonomous perception of the shapes of previously unseen objects. Existing methods for shape estimation or reconstruction have…
View article: Control limitations in the null-space of the wrist muscle system
Control limitations in the null-space of the wrist muscle system Open
The redundancy present within the musculoskeletal system may offer a non-invasive source of signals for movement augmentation, where the set of muscle activations that do not produce force/torque (muscle-to-force null-space) could be contr…
View article: A Finite-Horizon Inverse Differential Game Approach for Optimal Trajectory-Tracking Assistance with a Wrist Exoskeleton
A Finite-Horizon Inverse Differential Game Approach for Optimal Trajectory-Tracking Assistance with a Wrist Exoskeleton Open
International audience
View article: Haptic feedback of front car motion can improve driving control
Haptic feedback of front car motion can improve driving control Open
This study investigates the role of haptic feedback in a car-following scenario, where information about the motion of the front vehicle is provided through a virtual elastic connection with it. Using a robotic interface in a simulated dri…
View article: Visuo-Tactile Based Predictive Cross Modal Perception for Object Exploration in Robotics
Visuo-Tactile Based Predictive Cross Modal Perception for Object Exploration in Robotics Open
Autonomously exploring the unknown physical properties of novel objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…
View article: A biomechanics and energetics dataset of neurotypical adults walking with and without kinematic constraints
A biomechanics and energetics dataset of neurotypical adults walking with and without kinematic constraints Open
View article: Co-Contraction Embodies Uncertainty: An Optimal Feedforward Strategy for Robust Motor Control
Co-Contraction Embodies Uncertainty: An Optimal Feedforward Strategy for Robust Motor Control Open
Despite our environment is often uncertain, we generally manage to generate stable motor behaviors. While reactive control plays a major role in this achievement, proactive control is critical to cope with the substantial noise and delays …
View article: Visuo-Tactile based Predictive Cross Modal Perception for Object Exploration in Robotics
Visuo-Tactile based Predictive Cross Modal Perception for Object Exploration in Robotics Open
Autonomously exploring the unknown physical properties of novel objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…
View article: Electromechanical model for electro-ribbon actuators
Electromechanical model for electro-ribbon actuators Open
The emerging field of soft actuators is anticipated to significantly impact areas that require enhanced adaptability and safe interaction including biomedical robotics. The electro-ribbon actuator, characterised by its compliance, lightwei…
View article: A systematic investigation of detectors for low signal-to-noise ratio EMG signals
A systematic investigation of detectors for low signal-to-noise ratio EMG signals Open
Background Active participation of stroke survivors during robot-assisted movement therapy is essential for sensorimotor recovery. Robot-assisted therapy contingent on movement intention is an effective way to encourage patients’ active en…