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Labaune O, Deroche T, Castanier C, Berret B. On the perception of movement vigour. Q J Exp Psychol (Hove) 2023; 76:2329-2345. [PMID: 36376994 DOI: 10.1177/17470218221140986] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
It is common to get the impression that someone moves rather slowly or quickly in everyday life. In motor control, the natural pace of movement is captured by the concept of vigour, which is often quantified from the speed or duration of goal-directed actions. A common phenomenon, here referred to as the vigour law, is that preferred speed and duration idiosyncratically increase with the magnitude of the motion. According to the direct-matching hypothesis, this vigour law could thus underlie the judgement of someone else's movement vigour. We conducted a series of three experiments (N = 80) to test whether the vigour law also exists in perception and whether it is linked to that of action. In addition to measuring participants' vigour, we also asked them to judge the quickness of stimuli representing horizontal arm reaching movements varying through amplitudes, speeds, and durations. Results showed that speed and duration of movements perceived as neither fast nor slow (i.e., natural pace) increased with amplitude, thereby indicating that the vigour law holds when an observer judges the natural pace of others' movements. Results also revealed that this judgement was population-based (related to the average vigour of all participants) rather than individual-based (participant's own vigour).
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Affiliation(s)
- Ombeline Labaune
- CIAMS, Université Paris-Saclay, Orsay, France
- CIAMS, Université d'Orléans, Orléans, France
| | - Thomas Deroche
- CIAMS, Université Paris-Saclay, Orsay, France
- CIAMS, Université d'Orléans, Orléans, France
| | - Carole Castanier
- CIAMS, Université Paris-Saclay, Orsay, France
- CIAMS, Université d'Orléans, Orléans, France
| | - Bastien Berret
- CIAMS, Université Paris-Saclay, Orsay, France
- CIAMS, Université d'Orléans, Orléans, France
- Institut Universitaire de France (IUF), Paris, France
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2
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Verdel D, Bruneau O, Sahm G, Vignais N, Berret B. The value of time in the invigoration of human movements when interacting with a robotic exoskeleton. SCIENCE ADVANCES 2023; 9:eadh9533. [PMID: 37729420 PMCID: PMC10511201 DOI: 10.1126/sciadv.adh9533] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/24/2023] [Accepted: 08/18/2023] [Indexed: 09/22/2023]
Abstract
Time and effort are thought to be subjectively balanced during the planning of goal-directed actions, thereby setting the vigor of volitional movements. Theoretical models predicted that the value of time should then amount to high levels of effort. However, the time-effort trade-off has so far only been studied for a narrow range of efforts. To investigate the extent to which humans can invest in a time-saving effort, we used a robotic exoskeleton to substantially vary the energetic cost associated with a certain vigor during reaching movements. In this situation, minimizing the time-effort trade-off should lead to high and low human efforts for upward and downward movements, respectively. Consistently, all participants expended substantial amounts of energy upward and remained essentially inactive by harnessing the work of gravity downward, while saving time in both cases. A common time-effort trade-off may therefore determine the vigor of reaching movements for a wide range of efforts.
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Affiliation(s)
- Dorian Verdel
- Université Paris-Saclay, CIAMS, 91405 Orsay, France
- CIAMS, Université d’Orléans, Orléans, France
| | - Olivier Bruneau
- LURPA, Mechanical Engineering Department, ENS Paris-Saclay, Université Paris-Saclay, 91190 Gif-sur-Yvette, France
| | - Guillaume Sahm
- Université Paris-Saclay, CIAMS, 91405 Orsay, France
- CIAMS, Université d’Orléans, Orléans, France
| | - Nicolas Vignais
- Université Paris-Saclay, CIAMS, 91405 Orsay, France
- CIAMS, Université d’Orléans, Orléans, France
| | - Bastien Berret
- Université Paris-Saclay, CIAMS, 91405 Orsay, France
- CIAMS, Université d’Orléans, Orléans, France
- Institut Universitaire de France, Paris, France
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3
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Labaune O, Berret B. The vigor law as a kinematic invariant at work in perceptual-cognitive processes: Comment on "Motor invariants in action execution and perception" by Francesco Torricelli et al. Phys Life Rev 2023; 46:1-4. [PMID: 37210934 DOI: 10.1016/j.plrev.2023.05.001] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/02/2023] [Accepted: 05/03/2023] [Indexed: 05/23/2023]
Affiliation(s)
- Ombeline Labaune
- Laboratory of Visuomotor Control and Gravitational Physiology, IRCCS Fondazione Santa Lucia, 00179 Rome, Italy
| | - Bastien Berret
- CIAMS, Université Paris-Saclay, Orsay, France; CIAMS, Université d'Orléans, Orléans, France.
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Verdel D, Sahm G, Bruneau O, Berret B, Vignais N. A Trade-Off between Complexity and Interaction Quality for Upper Limb Exoskeleton Interfaces. SENSORS (BASEL, SWITZERLAND) 2023; 23:4122. [PMID: 37112463 PMCID: PMC10142870 DOI: 10.3390/s23084122] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/29/2023] [Revised: 04/14/2023] [Accepted: 04/18/2023] [Indexed: 06/19/2023]
Abstract
Exoskeletons are among the most promising devices dedicated to assisting human movement during reeducation protocols and preventing musculoskeletal disorders at work. However, their potential is currently limited, partially because of a fundamental contradiction impacting their design. Indeed, increasing the interaction quality often requires the inclusion of passive degrees of freedom in the design of human-exoskeleton interfaces, which increases the exoskeleton's inertia and complexity. Thus, its control also becomes more complex, and unwanted interaction efforts can become important. In the present paper, we investigate the influence of two passive rotations in the forearm interface on sagittal plane reaching movements while keeping the arm interface unchanged (i.e., without passive degrees of freedom). Such a proposal represents a possible compromise between conflicting design constraints. The in-depth investigations carried out here in terms of interaction efforts, kinematics, electromyographic signals, and subjective feedback of participants all underscored the benefits of such a design. Therefore, the proposed compromise appears to be suitable for rehabilitation sessions, specific tasks at work, and future investigations into human movement using exoskeletons.
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Affiliation(s)
- Dorian Verdel
- Université Paris-Saclay, CIAMS, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45100 Orléans, France
- LURPA, ENS Paris-Saclay, Université Paris-Saclay, 91190 Gif-sur-Yvette, France
| | - Guillaume Sahm
- Université Paris-Saclay, CIAMS, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45100 Orléans, France
| | - Olivier Bruneau
- LURPA, ENS Paris-Saclay, Université Paris-Saclay, 91190 Gif-sur-Yvette, France
| | - Bastien Berret
- Université Paris-Saclay, CIAMS, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45100 Orléans, France
| | - Nicolas Vignais
- Université Paris-Saclay, CIAMS, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45100 Orléans, France
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Jung S, de l’Escalopier N, Oudre L, Truong C, Dorveaux E, Gorintin L, Ricard D. A Machine Learning Pipeline for Gait Analysis in a Semi Free-Living Environment. SENSORS (BASEL, SWITZERLAND) 2023; 23:4000. [PMID: 37112339 PMCID: PMC10145775 DOI: 10.3390/s23084000] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/08/2023] [Revised: 04/03/2023] [Accepted: 04/13/2023] [Indexed: 06/19/2023]
Abstract
This paper presents a novel approach to creating a graphical summary of a subject's activity during a protocol in a Semi Free-Living Environment. Thanks to this new visualization, human behavior, in particular locomotion, can now be condensed into an easy-to-read and user-friendly output. As time series collected while monitoring patients in Semi Free-Living Environments are often long and complex, our contribution relies on an innovative pipeline of signal processing methods and machine learning algorithms. Once learned, the graphical representation is able to sum up all activities present in the data and can quickly be applied to newly acquired time series. In a nutshell, raw data from inertial measurement units are first segmented into homogeneous regimes with an adaptive change-point detection procedure, then each segment is automatically labeled. Then, features are extracted from each regime, and lastly, a score is computed using these features. The final visual summary is constructed from the scores of the activities and their comparisons to healthy models. This graphical output is a detailed, adaptive, and structured visualization that helps better understand the salient events in a complex gait protocol.
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Affiliation(s)
- Sylvain Jung
- Université Paris Saclay, Université Paris Cité, ENS Paris Saclay, CNRS, SSA, INSERM, Centre Borelli, F-91190 Gif-sur-Yvette, France
- Université Sorbonne Paris Nord, L2TI, UR 3043, F-93430 Villetaneuse, France
- AbilyCare, 130 Rue de Lourmel, F-75015 Paris, France
- ENGIE Lab CRIGEN, F-93249 Stains, France
| | - Nicolas de l’Escalopier
- Université Paris Cité, Université Paris Saclay, ENS Paris Saclay, CNRS, SSA, INSERM, Centre Borelli, F-75006 Paris, France
- Service de Neurologie, Service de Santé des Armées, HIA Percy, F-92190 Clamart, France
| | - Laurent Oudre
- Université Paris Saclay, Université Paris Cité, ENS Paris Saclay, CNRS, SSA, INSERM, Centre Borelli, F-91190 Gif-sur-Yvette, France
| | - Charles Truong
- Université Paris Saclay, Université Paris Cité, ENS Paris Saclay, CNRS, SSA, INSERM, Centre Borelli, F-91190 Gif-sur-Yvette, France
| | - Eric Dorveaux
- AbilyCare, 130 Rue de Lourmel, F-75015 Paris, France
| | - Louis Gorintin
- Novakamp, 10-12 Avenue du Bosquet, F-95560 Baillet en France, France
| | - Damien Ricard
- Université Paris Cité, Université Paris Saclay, ENS Paris Saclay, CNRS, SSA, INSERM, Centre Borelli, F-75006 Paris, France
- Service de Neurologie, Service de Santé des Armées, HIA Percy, F-92190 Clamart, France
- Ecole du Val-de-Grâce, Service de Santé des Armées, F-75005 Paris, France
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6
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Embodied decision biases: individually stable across different tasks? Exp Brain Res 2023; 241:1053-1064. [PMID: 36907885 PMCID: PMC10082122 DOI: 10.1007/s00221-023-06591-z] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/07/2022] [Accepted: 03/01/2023] [Indexed: 03/14/2023]
Abstract
In everyday life, action and decision-making often run in parallel. Action-based models argue that action and decision-making strongly interact and, more specifically, that action can bias decision-making. This embodied decision bias is thought to originate from changes in motor costs and/or cognitive crosstalk. Recent research confirmed embodied decision biases for different tasks including walking and manual movements. Yet, whether such biases generalize within individuals across different tasks remains to be determined. To test this, we used two different decision-making tasks that have independently been shown to reliably produce embodied decision biases. In a within-participant design, participants performed two tasks in a counterbalanced fashion: (i) a walking paradigm for which it is known that motor costs systematically influence reward decisions, and (ii) a manual movement task in which motor costs and cognitive crosstalk have been shown to impact reward decisions. In both tasks, we successfully replicated the predicted embodied decision biases. However, there was no evidence that the strength of the biases correlated between tasks. Hence, our findings do not confirm that embodied decision biases transfer between tasks. Future research is needed to examine whether this lack of transfer may be due to different causes underlying the impact of motor costs on decisions and the impact of cognitive crosstalk or task-specific differences.
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Carlisle RE, Kuo AD. Optimization of energy and time predicts dynamic speeds for human walking. eLife 2023; 12:81939. [PMID: 36779697 PMCID: PMC10030114 DOI: 10.7554/elife.81939] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/17/2022] [Accepted: 01/11/2023] [Indexed: 02/14/2023] Open
Abstract
Humans make a number of choices when they walk, such as how fast and for how long. The preferred steady walking speed seems chosen to minimize energy expenditure per distance traveled. But the speed of actual walking bouts is not only steady, but rather a time-varying trajectory, which can also be modulated by task urgency or an individual's movement vigor. Here we show that speed trajectories and durations of human walking bouts are explained better by an objective to minimize Energy and Time, meaning the total work or energy to reach destination, plus a cost proportional to bout duration. Applied to a computational model of walking dynamics, this objective predicts dynamic speed vs. time trajectories with inverted U shapes. Model and human experiment (N=10) show that shorter bouts are unsteady and dominated by the time and effort of accelerating, and longer ones are steadier and faster and dominated by steady-state time and effort. Individual-dependent vigor may be characterized by the energy one is willing to spend to save a unit of time, which explains why some may walk faster than others, but everyone may have similar-shaped trajectories due to similar walking dynamics. Tradeoffs between energy and time costs can predict transient, steady, and vigor-related aspects of walking.
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Affiliation(s)
| | - Arthur D Kuo
- Biomedical Engineering Program, University of Calgary, Calgary, Canada
- Faculty of Kinesiology, University of Calgary, Calgary, Canada
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8
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Berret B, Baud-Bovy G. Evidence for a cost of time in the invigoration of isometric reaching movements. J Neurophysiol 2022; 127:689-701. [PMID: 35138953 DOI: 10.1152/jn.00536.2021] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/22/2022] Open
Abstract
How the brain determines the vigor of goal-directed movements is a fundamental question in neuroscience. Recent evidence has suggested that vigor results from a trade-off between a cost related to movement production (cost of movement) and a cost related to our brain's tendency to temporally discount the value of future reward (cost of time). However, whether it is critical to hypothesize a cost of time to explain the vigor of basic reaching movements with intangible reward is unclear because the cost of movement may be theoretically sufficient for this purpose. Here we directly address this issue by designing an isometric reaching task whose completion can be accurate and effortless in prefixed durations. The cost of time hypothesis predicts that participants should be prone to spend energy to save time even if the task can be accomplished at virtually no motor cost. Accordingly, we found that all participants generated substantial amounts of force to invigorate task accomplishment, especially when the prefixed duration was long enough. Remarkably, the time saved by each participant was linked to their original vigor in the task and predicted by an optimal control model balancing out movement and time costs. Taken together, these results supports the existence of an idiosyncratic, cognitive cost of time that underlies the invigoration of basic isometric reaching movements.
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Affiliation(s)
- Bastien Berret
- Université Paris-Saclay CIAMS, 91405, Orsay, France.,CIAMS, Université d'Orléans, 45067, Orléans, France.,Institut Universitaire de France, Paris, France
| | - Gabriel Baud-Bovy
- Robotics, Brain and Cognitive Sciences Unit, Istituto Italiano di Tecnologia, Genoa, Italy.,Faculty of Psychology, Vita-Salute San Raffaele University, Milan, Italy
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What Happens in Your Brain When You Walk Down the Street? Implications of Architectural Proportions, Biophilia, and Fractal Geometry for Urban Science. URBAN SCIENCE 2022. [DOI: 10.3390/urbansci6010003] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/07/2022]
Abstract
This article reviews current research in visual urban perception. The temporal sequence of the first few milliseconds of visual stimulus processing sheds light on the historically ambiguous topic of aesthetic experience. Automatic fractal processing triggers initial attraction/avoidance evaluations of an environment’s salubriousness, and its potentially positive or negative impacts upon an individual. As repeated cycles of visual perception occur, the attractiveness of urban form affects the user experience much more than had been previously suspected. These perceptual mechanisms promote walkability and intuitive navigation, and so they support the urban and civic interactions for which we establish communities and cities in the first place. Therefore, the use of multiple fractals needs to reintegrate with biophilic and traditional architecture in urban design for their proven positive effects on health and well-being. Such benefits include striking reductions in observers’ stress and mental fatigue. Due to their costs to individual well-being, urban performance, environmental quality, and climatic adaptation, this paper recommends that nontraditional styles should be hereafter applied judiciously to the built environment.
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10
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Saleri Lunazzi C, Reynaud AJ, Thura D. Dissociating the Impact of Movement Time and Energy Costs on Decision-Making and Action Initiation in Humans. Front Hum Neurosci 2021; 15:715212. [PMID: 34790104 PMCID: PMC8592235 DOI: 10.3389/fnhum.2021.715212] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/26/2021] [Accepted: 10/11/2021] [Indexed: 11/22/2022] Open
Abstract
Recent theories and data suggest that adapted behavior involves economic computations during which multiple trade-offs between reward value, accuracy requirement, energy expenditure, and elapsing time are solved so as to obtain rewards as soon as possible while spending the least possible amount of energy. However, the relative impact of movement energy and duration costs on perceptual decision-making and movement initiation is poorly understood. Here, we tested 31 healthy subjects on a perceptual decision-making task in which they executed reaching movements to report probabilistic choices. In distinct blocks of trials, the reaching duration (“Time” condition) and energy (“Effort” condition) costs were independently varied compared to a “Reference” block, while decision difficulty was maintained similar at the block level. Participants also performed a simple delayed-reaching (DR) task aimed at estimating movement initiation duration in each motor condition. Results in that DR task show that long duration movements extended reaction times (RTs) in most subjects, whereas energy-consuming movements led to mixed effects on RTs. In the decision task, about half of the subjects decreased their decision durations (DDs) in the Time condition, while the impact of energy on DDs were again mixed across subjects. Decision accuracy was overall similar across motor conditions. These results indicate that movement duration and, to a lesser extent, energy expenditure, idiosyncratically affect perceptual decision-making and action initiation. We propose that subjects who shortened their choices in the time-consuming condition of the decision task did so to limit a drop of reward rate.
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Affiliation(s)
- Clara Saleri Lunazzi
- Lyon Neuroscience Research Center, ImpAct Team, Institut National de la Santé et de la Recherche Médicale U1028, Centre National de la Recherche Scientifique UMR5292, Lyon 1 University, Bron, France
| | - Amélie J Reynaud
- Lyon Neuroscience Research Center, ImpAct Team, Institut National de la Santé et de la Recherche Médicale U1028, Centre National de la Recherche Scientifique UMR5292, Lyon 1 University, Bron, France
| | - David Thura
- Lyon Neuroscience Research Center, ImpAct Team, Institut National de la Santé et de la Recherche Médicale U1028, Centre National de la Recherche Scientifique UMR5292, Lyon 1 University, Bron, France
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Berret B, Conessa A, Schweighofer N, Burdet E. Stochastic optimal feedforward-feedback control determines timing and variability of arm movements with or without vision. PLoS Comput Biol 2021; 17:e1009047. [PMID: 34115757 PMCID: PMC8221793 DOI: 10.1371/journal.pcbi.1009047] [Citation(s) in RCA: 11] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/26/2020] [Revised: 06/23/2021] [Accepted: 05/05/2021] [Indexed: 11/18/2022] Open
Abstract
Human movements with or without vision exhibit timing (i.e. speed and duration) and variability characteristics which are not well captured by existing computational models. Here, we introduce a stochastic optimal feedforward-feedback control (SFFC) model that can predict the nominal timing and trial-by-trial variability of self-paced arm reaching movements carried out with or without online visual feedback of the hand. In SFFC, movement timing results from the minimization of the intrinsic factors of effort and variance due to constant and signal-dependent motor noise, and movement variability depends on the integration of visual feedback. Reaching arm movements data are used to examine the effect of online vision on movement timing and variability, and test the model. This modelling suggests that the central nervous system predicts the effects of sensorimotor noise to generate an optimal feedforward motor command, and triggers optimal feedback corrections to task-related errors based on the available limb state estimate.
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Affiliation(s)
- Bastien Berret
- Université Paris-Saclay CIAMS, Orsay, France
- CIAMS, Université d’Orléans, Orléans, France
- Institut Universitaire de France, Paris, France
- * E-mail:
| | - Adrien Conessa
- Université Paris-Saclay CIAMS, Orsay, France
- CIAMS, Université d’Orléans, Orléans, France
| | - Nicolas Schweighofer
- University of Southern California, Los Angeles, California, United States of America
| | - Etienne Burdet
- University of Southern California, Los Angeles, California, United States of America
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