4 papers
General Performance Guarantee for Human Torque Estimation-Based Task-Agnostic Assistive Exoskeleton Control
Duy Hoang, Bastien Berret, Olivier Bruneau +1
Accurate human torque estimation is crucial for enabling task-agnostic control in robotic exoskeleton systems. However, estimation errors may cause mismatches between the robot ass…
A Data-dependent Early Stopping Rule using Rademacher Complexity with L1-norm
Duy Hoang, Bastien Berret, Olivier Bruneau +1
Training neural networks requires balancing the trade-off between fitting the training data and achieving robust performance on unseen inputs. This ability, commonly referred to as…
Stochastic Optimal Feedforward-Feedback Control for Partially Observable Sensorimotor Systems
Bastien Berret, Frédéric Jean
Robust control of complex engineered and biological systems hinges on the integration of feedforward and feedback mechanisms. This is exemplified in neural motor control, where fee…
Interacting humans and robots can improve sensory prediction by adapting their viscoelasticity
Xiaoxiao Cheng, Jonathan Eden, Bastien Berret +2
To manipulate objects or dance together, humans and robots exchange energy and haptic information. While the exchange of energy in human-robot interaction has been extensively inve…