This axis deals with a pluridisciplinary research (robotics and neuroscience) to explore the sensor-motor basis of the human motion. The human body is a highly redundant mechanical system with a high number of degrees of freedom. The objective is to identify coupling models depending on the considered tasks (locomotion, grasping). This axis is based on a strong collaboration with the lab LPPA at Collège de France in Paris and CERCO in Toulouse.