Océane Dubois
Postdoc
Email: oceane.dubois@ijs.si
Education
Ph.D. in Robotics – Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université, 2024
M.Sc. in Computer Science – specialized in Embedded and Real-Time Systems, Université de Technologie de Compiègne, 2021
M.Sc. in Biomechanics and Bioengineering – Université de Technologie de Compiègne, 2021
Research interests
- Exoskeletons and wearable robotics
- Human–robot interaction
- Motor control and adaptation
Selected Publications
Dubois, Océane; Roby-Brami, Agnès; Parry, Ross; Jarrassé, Nathanaël
JcvPCA and JsvCRP: A set of metrics to evaluate changes in joint coordination strategies Journal Article
In: PLOS ONE, vol. 20, no. 8, pp. 1-22, 2025.
@article{dubois2025JcvPCA,
title = {JcvPCA and JsvCRP: A set of metrics to evaluate changes in joint coordination strategies},
author = {Oc\'{e}ane Dubois and Agn\`{e}s Roby-Brami and Ross Parry and Nathana\"{e}l Jarrass\'{e}},
url = {https://doi.org/10.1371/journal.pone.0325792},
doi = {10.1371/journal.pone.0325792},
year = {2025},
date = {2025-01-01},
urldate = {2025-01-01},
journal = {PLOS ONE},
volume = {20},
number = {8},
pages = {1-22},
publisher = {Public Library of Science},
abstract = {Characterizing changes in inter-joint coordination presents significant challenges, as it necessitates the examination of relationships between multiple degrees of freedom during movements and their temporal evolution. Existing metrics are inadequate in providing physiologically coherent results that document both the temporal and spatial aspects of inter-joint coordination. In this article, we introduce two novel metrics to enhance the analysis of inter-joint coordination. The first metric, Joint Contribution Variation based on Principal Component Analysis (JcvPCA), evaluates the variation in each joint’s contribution during series of movements. The second metric, Joint Synchronization Variation based on Continuous Relative Phase (JsvCRP), measures the variation in temporal synchronization among joints between two movement datasets. We begin by presenting each metric and explaining their derivation. We then demonstrate the application of these metrics using simulated and experimental datasets involving identical movement tasks performed with distinct coordination strategies. The results show that these metrics can successfully differentiate between unique coordination strategies, providing meaningful insights into joint collaboration during movement. These metrics hold significant potential for fields such as ergonomics and clinical rehabilitation, where a precise understanding of the evolution of inter-joint coordination strategies is crucial. Potential applications include evaluating the effects of upper limb exoskeletons in industrial settings or monitoring the progress of patients undergoing neurological rehabilitation.},
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Characterizing changes in inter-joint coordination presents significant challenges, as it necessitates the examination of relationships between multiple degrees of freedom during movements and their temporal evolution. Existing metrics are inadequate in providing physiologically coherent results that document both the temporal and spatial aspects of inter-joint coordination. In this article, we introduce two novel metrics to enhance the analysis of inter-joint coordination. The first metric, Joint Contribution Variation based on Principal Component Analysis (JcvPCA), evaluates the variation in each joint’s contribution during series of movements. The second metric, Joint Synchronization Variation based on Continuous Relative Phase (JsvCRP), measures the variation in temporal synchronization among joints between two movement datasets. We begin by presenting each metric and explaining their derivation. We then demonstrate the application of these metrics using simulated and experimental datasets involving identical movement tasks performed with distinct coordination strategies. The results show that these metrics can successfully differentiate between unique coordination strategies, providing meaningful insights into joint collaboration during movement. These metrics hold significant potential for fields such as ergonomics and clinical rehabilitation, where a precise understanding of the evolution of inter-joint coordination strategies is crucial. Potential applications include evaluating the effects of upper limb exoskeletons in industrial settings or monitoring the progress of patients undergoing neurological rehabilitation.
Brunelli, Giovanni; Dubois, Océane; Tiboni, Monica; Jarrassé, Nathanaël
Review of upper-limb occupational exoskeletons: From technology to assessment Journal Article
In: International Journal of Industrial Ergonomics, vol. 110, pp. 103815, 2025, ISSN: 0169-8141.
@article{brunelli2025Review,
title = {Review of upper-limb occupational exoskeletons: From technology to assessment},
author = {Giovanni Brunelli and Oc\'{e}ane Dubois and Monica Tiboni and Nathana\"{e}l Jarrass\'{e}},
url = {https://www.sciencedirect.com/science/article/pii/S0169814125001210},
doi = {https://doi.org/10.1016/j.ergon.2025.103815},
issn = {0169-8141},
year = {2025},
date = {2025-01-01},
urldate = {2025-01-01},
journal = {International Journal of Industrial Ergonomics},
volume = {110},
pages = {103815},
abstract = {Occupational exoskeletons are emerging as a promising solution to reduce work-related musculoskeletal disorders (MSDs) across various industries. Upper-limb exoskeletons are particularly relevant, given the high prevalence of MSDs associated with repetitive arm motions and overhead tasks. However, evaluating the effectiveness of these devices requires careful analysis of the specific technologies and kinematic designs they incorporate to ensure their safe and effective integration. This paper presents a detailed technological review and analysis of the existing literature, focusing on the diversity of technologies and the need for more comprehensive studies addressing challenges in both laboratory and real-world settings. This study particularly highlights the necessity of assessments that account for the unique characteristics of different exoskeleton technologies, rather than generalizing across them. It also emphasize the need to examine not only reductions in muscle activity but also the potential for overlooked side effects, long-term impacts, and adaptations across different task types. These factors are crucial, as upper-limb exoskeletons are planned to be deployed for prolonged use in complex industrial environments.},
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Occupational exoskeletons are emerging as a promising solution to reduce work-related musculoskeletal disorders (MSDs) across various industries. Upper-limb exoskeletons are particularly relevant, given the high prevalence of MSDs associated with repetitive arm motions and overhead tasks. However, evaluating the effectiveness of these devices requires careful analysis of the specific technologies and kinematic designs they incorporate to ensure their safe and effective integration. This paper presents a detailed technological review and analysis of the existing literature, focusing on the diversity of technologies and the need for more comprehensive studies addressing challenges in both laboratory and real-world settings. This study particularly highlights the necessity of assessments that account for the unique characteristics of different exoskeleton technologies, rather than generalizing across them. It also emphasize the need to examine not only reductions in muscle activity but also the potential for overlooked side effects, long-term impacts, and adaptations across different task types. These factors are crucial, as upper-limb exoskeletons are planned to be deployed for prolonged use in complex industrial environments.
Dubois, Océane; Roby-Brami, Agnès; Parry, Ross; Jarrassé, Nathanaël
Short term after-effects of small force fields applied by an upper-limb exoskeleton on inter-joint coordination Journal Article
In: IEEE International Conference on Robotics and Automation, pp. 959-965, 2024.
@article{dubois2024Short,
title = {Short term after-effects of small force fields applied by an upper-limb exoskeleton on inter-joint coordination},
author = {Oc\'{e}ane Dubois and Agn\`{e}s Roby-Brami and Ross Parry and Nathana\"{e}l Jarrass\'{e}},
doi = {10.1109/ICRA57147.2024.10610645},
year = {2024},
date = {2024-01-01},
urldate = {2024-01-01},
journal = {IEEE International Conference on Robotics and Automation},
pages = {959-965},
abstract = {Exoskeleton technologies have numerous potential applications, ranging from improving human motor skills to aiding individuals in their daily activities. While exoskeletons are increasingly viewed, for example, as promising tools in industrial ergonomics, the effect of using them on human motor control, particularly on inter-joint coordination, remains relatively uncharted. This paper investigates the effects of generic low-amplitude force fields applied by an exoskeleton on motor strategies in asymptomatic users. The force fields mimic common perturbations encountered in exoskeletons, such as residual friction, over/under-tuned assistance, or structural elasticity. Fifty-five participants performed reaching tasks while connected to an arm exoskeleton, experiencing one of five tested force fields. Their movements before and after exposure to the exoskeleton force field were compared. The study focuses both on spatial and temporal changes in coordination using specific metrics. The results reveal that even brief exposure to a low- amplitude force field, or to uncompensated residual friction and dynamic forces, applied at the joint level can alter the interjoint coordination, while task performance remains unaffected. The tested force fields induced varying degrees of changes in joint contributions and synchronization. This study highlights the importance of monitoring coordination changes to fully understand the impact of exoskeletons on human motor control and thus enable safe and widespread adoption of those devices.},
keywords = {},
pubstate = {published},
tppubtype = {article}
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Exoskeleton technologies have numerous potential applications, ranging from improving human motor skills to aiding individuals in their daily activities. While exoskeletons are increasingly viewed, for example, as promising tools in industrial ergonomics, the effect of using them on human motor control, particularly on inter-joint coordination, remains relatively uncharted. This paper investigates the effects of generic low-amplitude force fields applied by an exoskeleton on motor strategies in asymptomatic users. The force fields mimic common perturbations encountered in exoskeletons, such as residual friction, over/under-tuned assistance, or structural elasticity. Fifty-five participants performed reaching tasks while connected to an arm exoskeleton, experiencing one of five tested force fields. Their movements before and after exposure to the exoskeleton force field were compared. The study focuses both on spatial and temporal changes in coordination using specific metrics. The results reveal that even brief exposure to a low- amplitude force field, or to uncompensated residual friction and dynamic forces, applied at the joint level can alter the interjoint coordination, while task performance remains unaffected. The tested force fields induced varying degrees of changes in joint contributions and synchronization. This study highlights the importance of monitoring coordination changes to fully understand the impact of exoskeletons on human motor control and thus enable safe and widespread adoption of those devices.
Dubois, Océane; Roby-Brami, Agnès; Parry, Ross; Jarrassé, Nathanaël
Identifying individual characteristics influencing post-adaptation of motor behavior in upper-limb exoskeleton users Journal Article
In: IEEE-RAS International Conference on Humanoid Robots, pp. 359-366, 2024.
@article{dubois2024Identifying,
title = {Identifying individual characteristics influencing post-adaptation of motor behavior in upper-limb exoskeleton users},
author = {Oc\'{e}ane Dubois and Agn\`{e}s Roby-Brami and Ross Parry and Nathana\"{e}l Jarrass\'{e}},
doi = {10.1109/Humanoids58906.2024.10769945},
year = {2024},
date = {2024-01-01},
urldate = {2024-01-01},
journal = {IEEE-RAS International Conference on Humanoid Robots},
pages = {359-366},
abstract = {Over the past decade, industrial ergonomics have made significant advances, leading to the development of various occupational exoskeletons. While beneficial, exoskeletons could disrupt motor control due to their distributed interaction with the human body. This study explores individual factors influencing different adaptation patterns following exoskeleton use in asymptomatic individuals. Fifty-five participants used a 4 Degree of Freedom (DoF) arm exoskeleton to perform reaching tasks under low-magnitude force fields. Pre- and post-exposure movements were recorded via motion capture, and personal characteristics were documented. Spectral clustering identified variations in inter-joint coordination after exposition to the exoskeleton, and a random forest classifier linked these patterns to individual anthropometric, demographic and kinematic traits. The model highlighted factors such as laterality, forearm length, and some spontaneous kinematics metrics as key predictors of post-adaptation behavior. These findings underscore the need to consider individual profiles to minimize disruptive motor adaptations and improve exoskeleton safe widespread in industrial applications.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Over the past decade, industrial ergonomics have made significant advances, leading to the development of various occupational exoskeletons. While beneficial, exoskeletons could disrupt motor control due to their distributed interaction with the human body. This study explores individual factors influencing different adaptation patterns following exoskeleton use in asymptomatic individuals. Fifty-five participants used a 4 Degree of Freedom (DoF) arm exoskeleton to perform reaching tasks under low-magnitude force fields. Pre- and post-exposure movements were recorded via motion capture, and personal characteristics were documented. Spectral clustering identified variations in inter-joint coordination after exposition to the exoskeleton, and a random forest classifier linked these patterns to individual anthropometric, demographic and kinematic traits. The model highlighted factors such as laterality, forearm length, and some spontaneous kinematics metrics as key predictors of post-adaptation behavior. These findings underscore the need to consider individual profiles to minimize disruptive motor adaptations and improve exoskeleton safe widespread in industrial applications.
Segas, Effie; Mick, Sébastien; Leconte, Vincent; Dubois, Océane; Klotz, Rémi; Cattaert, Daniel; Rugy, Aymar
Intuitive movement-based prosthesis control enables arm amputees to reach naturally in virtual reality Journal Article
In: eLife, vol. 12, pp. RP87317, 2023, ISSN: 2050-084X.
@article{segas2023intuitive,
title = {Intuitive movement-based prosthesis control enables arm amputees to reach naturally in virtual reality},
author = {Effie Segas and S\'{e}bastien Mick and Vincent Leconte and Oc\'{e}ane Dubois and R\'{e}mi Klotz and Daniel Cattaert and Aymar Rugy},
editor = {Kianoush Nazarpour and Tamar R Makin},
url = {https://doi.org/10.7554/eLife.87317},
doi = {10.7554/eLife.87317},
issn = {2050-084X},
year = {2023},
date = {2023-10-01},
urldate = {2023-10-01},
journal = {eLife},
volume = {12},
pages = {RP87317},
publisher = {eLife Sciences Publications, Ltd},
abstract = {Impressive progress is being made in bionic limbs design and control. Yet, controlling the numerous joints of a prosthetic arm necessary to place the hand at a correct position and orientation to grasp objects remains challenging. Here, we designed an intuitive, movement-based prosthesis control that leverages natural arm coordination to predict distal joints missing in people with transhumeral limb loss based on proximal residual limb motion and knowledge of the movement goal. This control was validated on 29 participants, including seven with above-elbow limb loss, who picked and placed bottles in a wide range of locations in virtual reality, with median success rates over 99% and movement times identical to those of natural movements. This control also enabled 15 participants, including three with limb differences, to reach and grasp real objects with a robotic arm operated according to the same principle. Remarkably, this was achieved without any prior training, indicating that this control is intuitive and instantaneously usable. It could be used for phantom limb pain management in virtual reality, or to augment the reaching capabilities of invasive neural interfaces usually more focused on hand and grasp control.},
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pubstate = {published},
tppubtype = {article}
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Impressive progress is being made in bionic limbs design and control. Yet, controlling the numerous joints of a prosthetic arm necessary to place the hand at a correct position and orientation to grasp objects remains challenging. Here, we designed an intuitive, movement-based prosthesis control that leverages natural arm coordination to predict distal joints missing in people with transhumeral limb loss based on proximal residual limb motion and knowledge of the movement goal. This control was validated on 29 participants, including seven with above-elbow limb loss, who picked and placed bottles in a wide range of locations in virtual reality, with median success rates over 99% and movement times identical to those of natural movements. This control also enabled 15 participants, including three with limb differences, to reach and grasp real objects with a robotic arm operated according to the same principle. Remarkably, this was achieved without any prior training, indicating that this control is intuitive and instantaneously usable. It could be used for phantom limb pain management in virtual reality, or to augment the reaching capabilities of invasive neural interfaces usually more focused on hand and grasp control.
Dubois, Océane; Roby-Brami, Agnès; Parry, Ross; Khoramshahi, Mahdi; Jarrassé, Nathanaël
A guide to inter-joint coordination characterization for discrete movements: a comparative study Journal Article
In: Journal of NeuroEngineering and Rehabilitation, vol. 20, no. 1, pp. 132, 2023, ISSN: 1743-0003.
@article{dubois2023Guide,
title = {A guide to inter-joint coordination characterization for discrete movements: a comparative study},
author = {Oc\'{e}ane Dubois and Agn\`{e}s Roby-Brami and Ross Parry and Mahdi Khoramshahi and Nathana\"{e}l Jarrass\'{e}},
url = {https://doi.org/10.1186/s12984-023-01252-2},
doi = {10.1186/s12984-023-01252-2},
issn = {1743-0003},
year = {2023},
date = {2023-09-30},
urldate = {2023-09-30},
journal = {Journal of NeuroEngineering and Rehabilitation},
volume = {20},
number = {1},
pages = {132},
abstract = {Characterizing human movement is essential for understanding movement disorders, evaluating progress in rehabilitation, or even analyzing how a person adapts to the use of assistive devices. Thanks to the improvement of motion capture technology, recording human movement has become increasingly accessible and easier to conduct. Over the last few years, multiple methods have been proposed for characterizing inter-joint coordination. Despite this, there is no real consensus regarding how these different inter-joint coordination metrics should be applied when analyzing the coordination of discrete movement from kinematic data. In this work, we consider 12 coordination metrics identified from the literature and apply them to a simulated dataset based on reaching movements using two degrees of freedom. Each metric is evaluated according to eight criteria based on current understanding of human motor control physiology, i.e, each metric is graded on how well it fulfills each of these criteria. This comparative analysis highlights that no single inter-joint coordination metric can be considered as ideal. Depending on the movement characteristics that one seeks to understand, one or several metrics among those reviewed here may be pertinent in data analysis. We propose four main factors when choosing a metric (or a group of metrics): the importance of temporal vs. spatial coordination, the need for result explainability, the size of the dataset, and the computational resources. As a result, this study shows that extracting the relevant characteristics of inter-joint coordination is a scientific challenge and requires a methodical choice. As this preliminary study is conducted on a limited dataset, a more comprehensive analysis, introducing more variability, could be complementary to these results.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Characterizing human movement is essential for understanding movement disorders, evaluating progress in rehabilitation, or even analyzing how a person adapts to the use of assistive devices. Thanks to the improvement of motion capture technology, recording human movement has become increasingly accessible and easier to conduct. Over the last few years, multiple methods have been proposed for characterizing inter-joint coordination. Despite this, there is no real consensus regarding how these different inter-joint coordination metrics should be applied when analyzing the coordination of discrete movement from kinematic data. In this work, we consider 12 coordination metrics identified from the literature and apply them to a simulated dataset based on reaching movements using two degrees of freedom. Each metric is evaluated according to eight criteria based on current understanding of human motor control physiology, i.e, each metric is graded on how well it fulfills each of these criteria. This comparative analysis highlights that no single inter-joint coordination metric can be considered as ideal. Depending on the movement characteristics that one seeks to understand, one or several metrics among those reviewed here may be pertinent in data analysis. We propose four main factors when choosing a metric (or a group of metrics): the importance of temporal vs. spatial coordination, the need for result explainability, the size of the dataset, and the computational resources. As a result, this study shows that extracting the relevant characteristics of inter-joint coordination is a scientific challenge and requires a methodical choice. As this preliminary study is conducted on a limited dataset, a more comprehensive analysis, introducing more variability, could be complementary to these results.
Arcangeli, Dorine; Dubois, Océane; Roby-Brami, Agnès; Famié, Sylvain; Marco, Giovanni; Arnold, Gabriel; Jarrassé, Nathanaël; Parry, Ross
Human Exteroception during Object Handling with an Upper Limb Exoskeleton Journal Article
In: Sensors, vol. 23, no. 11, 2023, ISSN: 1424-8220.
@article{arcangeli2023Human,
title = {Human Exteroception during Object Handling with an Upper Limb Exoskeleton},
author = {Dorine Arcangeli and Oc\'{e}ane Dubois and Agn\`{e}s Roby-Brami and Sylvain Fami\'{e} and Giovanni Marco and Gabriel Arnold and Nathana\"{e}l Jarrass\'{e} and Ross Parry},
url = {https://www.mdpi.com/1424-8220/23/11/5158},
doi = {10.3390/s23115158},
issn = {1424-8220},
year = {2023},
date = {2023-01-01},
urldate = {2023-01-01},
journal = {Sensors},
volume = {23},
number = {11},
abstract = {Upper limb exoskeletons may confer significant mechanical advantages across a range of tasks. The potential consequences of the exoskeleton upon the user’s sensorimotor capacities however, remain poorly understood. The purpose of this study was to examine how the physical coupling of the user’s arm to an upper limb exoskeleton influenced the perception of handheld objects. In the experimental protocol, participants were required to estimate the length of a series of bars held in their dominant right hand, in the absence of visual feedback. Their performance in conditions with an exoskeleton fixed to the forearm and upper arm was compared to conditions without the upper limb exoskeleton. Experiment 1 was designed to verify the effects of attaching an exoskeleton to the upper limb, with object handling limited to rotations of the wrist only. Experiment 2 was designed to verify the effects of the structure, and its mass, with combined movements of the wrist, elbow, and shoulder. Statistical analysis indicated that movements performed with the exoskeleton did not significantly affect perception of the handheld object in experiment 1 (BF01 = 2.3) or experiment 2 (BF01 = 4.3). These findings suggest that while the integration of an exoskeleton complexifies the architecture of the upper limb effector, this does not necessarily impede transmission of the mechanical information required for human exteroception.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Upper limb exoskeletons may confer significant mechanical advantages across a range of tasks. The potential consequences of the exoskeleton upon the user’s sensorimotor capacities however, remain poorly understood. The purpose of this study was to examine how the physical coupling of the user’s arm to an upper limb exoskeleton influenced the perception of handheld objects. In the experimental protocol, participants were required to estimate the length of a series of bars held in their dominant right hand, in the absence of visual feedback. Their performance in conditions with an exoskeleton fixed to the forearm and upper arm was compared to conditions without the upper limb exoskeleton. Experiment 1 was designed to verify the effects of attaching an exoskeleton to the upper limb, with object handling limited to rotations of the wrist only. Experiment 2 was designed to verify the effects of the structure, and its mass, with combined movements of the wrist, elbow, and shoulder. Statistical analysis indicated that movements performed with the exoskeleton did not significantly affect perception of the handheld object in experiment 1 (BF01 = 2.3) or experiment 2 (BF01 = 4.3). These findings suggest that while the integration of an exoskeleton complexifies the architecture of the upper limb effector, this does not necessarily impede transmission of the mechanical information required for human exteroception.