Learning Objects and Grasp Affordances through Autonomous Exploration

DEFF Research Database (Denmark)

Kraft, Dirk; Detry, Renaud; Pugeault, Nicolas

2009-01-01

We describe a system for autonomous learning of visual object representations and their grasp affordances on a robot-vision system. It segments objects by grasping and moving 3D scene features, and creates probabilistic visual representations for object detection, recognition and pose estimation...... image sequences as well as (3) a number of built-in behavioral modules on the one hand, and autonomous exploration on the other hand, the system is able to generate object and grasping knowledge through interaction with its environment....

Visuomotor Resolution in Telerobotic Grasping with Transmission Delays

Directory of Open Access Journals (Sweden)

Omri Afgin

2017-10-01

Full Text Available Weber’s law is among the basic psychophysical laws of human perception. It determines that human sensitivity to change along a physical dimension, the just noticeable difference (JND, is linearly related to stimulus intensity. Conversely, in direct (natural, visually guided grasping, Weber’s law is violated and the JND does not depend on stimulus intensity. The current work examines adherence to Weber’s law in telerobotic grasping. In direct grasping, perception and action are synchronized during task performance. Conversely, in telerobotic control, there is an inherent spatial and temporal separation between perception and action. The understanding of perception–action association in such conditions may facilitate development of objective measures for telerobotic systems and contribute to improved interface design. Moreover, telerobotic systems offer a unique platform for examining underlying causes for the violation of Weber’s law during direct grasping. We examined whether, like direct grasping, telerobotic grasping with transmission delays violates Weber’s law. To this end, we examined perceptual assessment, grasp control, and grasp demonstration, using a telerobotic system with time delays in two spatial orientations: alongside and facing the robot. The examination framework was adapted to telerobotics from the framework used for examining Weber’s law in direct grasping. The variability of final grip apertures (FGAs in perceptual assessment increased with object size in adherence with Weber’s law. Similarly, the variability of maximal grip apertures in grasp demonstration approached significance in adherence with Weber’s law. In grasp control, the variability of maximal grip apertures did not increase with object size, which seems to violate Weber’s law. However, unlike in direct grasping, motion trajectories were prolonged and fragmented, and included an atypical waiting period prior to finger closure. Therefore, in

An expert system for automated robotic grasping

International Nuclear Information System (INIS)

Stansfield, S.A.

1990-01-01

Many US Department of Energy sites and facilities will be environmentally remediated during the next several decades. A number of the restoration activities (e.g., decontamination and decommissioning of inactive nuclear facilities) can only be carried out by remote means and will be manipulation-intensive tasks. Experience has shown that manipulation tasks are especially slow and fatiguing for the human operator of a remote manipulator. In this paper, the authors present a rule-based expert system for automated, dextrous robotic grasping. This system interprets the features of an object to generate hand shaping and wrist orientation for a robot hand and arm. The system can be used in several different ways to lessen the demands on the human operator of a remote manipulation system - either as a fully autonomous grasping system or one that generates grasping options for a human operator and then automatically carries out the selected option

Active Grasp Synthesis for Grasping Unknown Objects

NARCIS (Netherlands)

Çall?, B.

2015-01-01

Manipulation is a key feature for robots which are designed to work in daily environments like homes, offices and streets. These robots do not often have manipulators that are specialized for specific tasks, but grippers that can grasp the target object. This makes grasping a crucial ability that

Grasping in Robotics

CERN Document Server

2013-01-01

Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture).   The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and hum...

Learning Grasp Affordance Densities

DEFF Research Database (Denmark)

Detry, Renaud; Kraft, Dirk; Kroemer, Oliver

2011-01-01

and relies on kernel density estimation to provide a continuous model. Grasp densities are learned and refined from exploration, by letting a robot “play” with an object in a sequence of graspand-drop actions: The robot uses visual cues to generate a set of grasp hypotheses; it then executes......We address the issue of learning and representing object grasp affordance models. We model grasp affordances with continuous probability density functions (grasp densities) which link object-relative grasp poses to their success probability. The underlying function representation is nonparametric...... these and records their outcomes. When a satisfactory number of grasp data is available, an importance-sampling algorithm turns these into a grasp density. We evaluate our method in a largely autonomous learning experiment run on three objects of distinct shapes. The experiment shows how learning increases success...

What a successful grasp tells about the success chances of grasps in its vicinity

DEFF Research Database (Denmark)

Bodenhagen, Leon; Detry, Renaud; Piater, Justus

2011-01-01

Infants gradually improve their grasping competences, both in terms of motor abilities as well as in terms of the internal shape grasp representations. Grasp densities provide a statistical model of such an internal learning process. In the concept of grasp densities, kernel density estimation...... probabilities representing grasp success in the neighborhood of a successful grasp. The anisotropy has been determined utilizing a simulation environment that allowed for evaluation of large scale experiments. The anisotropic kernel has been fitted to the conditional probabilities obtained from the experiments...

General Rotorcraft Aeromechanical Stability Program (GRASP): Theory manual

Science.gov (United States)

Hodges, Dewey H.; Hopkins, A. Stewart; Kunz, Donald L.; Hinnant, Howard E.

1990-01-01

The general rotorcraft aeromechanical stability program (GRASP) was developed to calculate aeroelastic stability for rotorcraft in hovering flight, vertical flight, and ground contact conditions. GRASP is described in terms of its capabilities and its philosophy of modeling. The equations of motion that govern the physical system are described, as well as the analytical approximations used to derive them. The equations include the kinematical equation, the element equations, and the constraint equations. In addition, the solution procedures used by GRASP are described. GRASP is capable of treating the nonlinear static and linearized dynamic behavior of structures represented by arbitrary collections of rigid-body and beam elements. These elements may be connected in an arbitrary fashion, and are permitted to have large relative motions. The main limitation of this analysis is that periodic coefficient effects are not treated, restricting rotorcraft flight conditions to hover, axial flight, and ground contact. Instead of following the methods employed in other rotorcraft programs. GRASP is designed to be a hybrid of the finite-element method and the multibody methods used in spacecraft analysis. GRASP differs from traditional finite-element programs by allowing multiple levels of substructure in which the substructures can move and/or rotate relative to others with no small-angle approximations. This capability facilitates the modeling of rotorcraft structures, including the rotating/nonrotating interface and the details of the blade/root kinematics for various types. GRASP differs from traditional multibody programs by considering aeroelastic effects, including inflow dynamics (simple unsteady aerodynamics) and nonlinear aerodynamic coefficients.

Grasp frequency and usage in daily household and machine shop tasks.

Science.gov (United States)

Bullock, Ian M; Zheng, Joshua Z; De La Rosa, Sara; Guertler, Charlotte; Dollar, Aaron M

2013-01-01

In this paper, we present results from a study of prehensile human hand use during the daily work activities of four subjects: two housekeepers and two machinists. Subjects wore a head-mounted camera that recorded their hand usage during their daily work activities in their typical place of work. For each subject, 7.45 hours of video was analyzed, recording the type of grasp being used and its duration. From this data, we extracted overall grasp frequency, duration distributions for each grasp, and common transitions between grasps. The results show that for 80 percent of the study duration the housekeepers used just five grasps and the machinists used 10. The grasping patterns for the different subjects were compared, and the overall top 10 grasps are discussed in detail. The results of this study not only lend insight into how people use their hands during daily tasks, but can also inform the design of effective robotic and prosthetic hands.

Independent development of the Reach and the Grasp in spontaneous self-touching by human infants in the first 6 months

OpenAIRE

Thomas, Brittany L.; Karl, Jenni M.; Whishaw, Ian Q.

2015-01-01

The Dual Visuomotor Channel Theory proposes that visually guided reaching is a composite of two movements, a Reach that advances the hand to contact the target and a Grasp that shapes the digits for target purchase. The theory is supported by biometric analyses of adult reaching, evolutionary contrasts, and differential developmental patterns for the Reach and the Grasp in visually guided reaching in human infants. The present ethological study asked whether there is evidence for a dissociate...

Learning to Grasp Unknown Objects Based on 3D Edge Information

DEFF Research Database (Denmark)

Bodenhagen, Leon; Kraft, Dirk; Popovic, Mila

2010-01-01

In this work we refine an initial grasping behavior based on 3D edge information by learning. Based on a set of autonomously generated evaluated grasps and relations between the semi-global 3D edges, a prediction function is learned that computes a likelihood for the success of a grasp using either...... an offline or an online learning scheme. Both methods are implemented using a hybrid artificial neural network containing standard nodes with a sigmoid activation function and nodes with a radial basis function. We show that a significant performance improvement can be achieved....

Modeling task-specific neuronal ensembles improves decoding of grasp

Science.gov (United States)

Smith, Ryan J.; Soares, Alcimar B.; Rouse, Adam G.; Schieber, Marc H.; Thakor, Nitish V.

2018-06-01

Objective. Dexterous movement involves the activation and coordination of networks of neuronal populations across multiple cortical regions. Attempts to model firing of individual neurons commonly treat the firing rate as directly modulating with motor behavior. However, motor behavior may additionally be associated with modulations in the activity and functional connectivity of neurons in a broader ensemble. Accounting for variations in neural ensemble connectivity may provide additional information about the behavior being performed. Approach. In this study, we examined neural ensemble activity in primary motor cortex (M1) and premotor cortex (PM) of two male rhesus monkeys during performance of a center-out reach, grasp and manipulate task. We constructed point process encoding models of neuronal firing that incorporated task-specific variations in the baseline firing rate as well as variations in functional connectivity with the neural ensemble. Models were evaluated both in terms of their encoding capabilities and their ability to properly classify the grasp being performed. Main results. Task-specific ensemble models correctly predicted the performed grasp with over 95% accuracy and were shown to outperform models of neuronal activity that assume only a variable baseline firing rate. Task-specific ensemble models exhibited superior decoding performance in 82% of units in both monkeys (p  <  0.01). Inclusion of ensemble activity also broadly improved the ability of models to describe observed spiking. Encoding performance of task-specific ensemble models, measured by spike timing predictability, improved upon baseline models in 62% of units. Significance. These results suggest that additional discriminative information about motor behavior found in the variations in functional connectivity of neuronal ensembles located in motor-related cortical regions is relevant to decode complex tasks such as grasping objects, and may serve the basis for more

Design and fabrication of robotic gripper for grasping in minimizing contact force

Science.gov (United States)

Heidari, Hamidreza; Pouria, Milad Jafary; Sharifi, Shahriar; Karami, Mahmoudreza

2018-03-01

This paper presents a new method to improve the kinematics of robot gripper for grasping in unstructured environments, such as space operations. The robot gripper is inspired from the human hand and kept the hand design close to the structure of human fingers to provide successful grasping capabilities. The main goal is to improve kinematic structure of gripper to increase the grasping capability of large objects, decrease the contact forces and makes a successful grasp of various objects in unstructured environments. This research will describe the development of a self-adaptive and reconfigurable robotic hand for space operations through mechanical compliance which is versatile, robust and easy to control. Our model contains two fingers, two-link and three-link, with combining a kinematic model of thumb index. Moreover, some experimental tests are performed to examine the effectiveness of the hand-made in real, unstructured tasks. The results represent that the successful grasp range is improved about 30% and the contact forces is reduced approximately 10% for a wide range of target object size. According to the obtained results, the proposed approach provides an accommodative kinematic model which makes the better grasping capability by fingers geometries for a robot gripper.

Design and validation of a morphing myoelectric hand posture controller based on principal component analysis of human grasping.

Science.gov (United States)

Segil, Jacob L; Weir, Richard F ff

2014-03-01

An ideal myoelectric prosthetic hand should have the ability to continuously morph between any posture like an anatomical hand. This paper describes the design and validation of a morphing myoelectric hand controller based on principal component analysis of human grasping. The controller commands continuously morphing hand postures including functional grasps using between two and four surface electromyography (EMG) electrodes pairs. Four unique maps were developed to transform the EMG control signals in the principal component domain. A preliminary validation experiment was performed by 10 nonamputee subjects to determine the map with highest performance. The subjects used the myoelectric controller to morph a virtual hand between functional grasps in a series of randomized trials. The number of joints controlled accurately was evaluated to characterize the performance of each map. Additional metrics were studied including completion rate, time to completion, and path efficiency. The highest performing map controlled over 13 out of 15 joints accurately.

Characteristics of grasping movements in a laboratory and in an everyday-like context.

Science.gov (United States)

Bock, Otmar; Züll, Anne

2013-02-01

To understand the principles of motor control, it is useful to know whether movements with the same physical constraints can be governed by different rules depending on the behavioral context. We therefore have recently introduced a paradigm in which subjects grasp from the same starting position to the same final object, once as a typical laboratory task and once as part of everyday-like behavior. In the laboratory context, grasping was repetitive, externally triggered and purposeless; in the everyday-like context, it was embedded in a complex activity, intentionally initiated, and served a purpose. Here we present a comprehensive analysis of data from that paradigm. Among 38 response parameters that reflected hand transport, grip shaping and object manipulation, 20 differed significantly between groups. Factor analysis further reduced them to four orthogonal factors: response speed, finger-object contact, response variability, and hand path curvature. This shows, for the first time, that behavioral context influences the execution of grasping movements in four independent ways, possibly reflecting four distinct functional modules in the motor system. This fits well with the view - derived from neurological data - that grasping is controlled by a set of interconnected brain areas which are differentially recruited to achieve different behavioral goals. Copyright © 2013 Elsevier B.V. All rights reserved.

GRASP: A multitasking tether

Directory of Open Access Journals (Sweden)

Catherine eRabouille

2016-01-01

Full Text Available Originally identified as Golgi stacking factors in vitro, the Golgi reassembly stacking protein (GRASP family has been shown to act as membrane tethers with multiple cellular roles. As an update to previous comprehensive reviews of the GRASP family (Vinke et al., 2011 (Giuliani et al., 2011;Jarvela and Linstedt, 2012, we outline here the latest findings concerning their diverse roles. New insights into the mechanics of GRASP-mediated tethering come from recent crystal structures. The models of how GRASP65 and GRASP55 tether membranes relate directly to their role in Golgi ribbon formation in mammalian cells and the unlinking of the ribbon at the onset of mitosis. However, it is also clear that GRASPs act outside the Golgi with roles at the ER and ER exit sites (ERES. Furthermore, the proteins of this family display other roles upon cellular stress, especially in mediating unconventional secretion of both transmembrane proteins (Golgi bypass and cytoplasmic proteins (through secretory autophagosomes.

Distinct neural patterns enable grasp types decoding in monkey dorsal premotor cortex

Science.gov (United States)

Hao, Yaoyao; Zhang, Qiaosheng; Controzzi, Marco; Cipriani, Christian; Li, Yue; Li, Juncheng; Zhang, Shaomin; Wang, Yiwen; Chen, Weidong; Chiara Carrozza, Maria; Zheng, Xiaoxiang

2014-12-01

Objective. Recent studies have shown that dorsal premotor cortex (PMd), a cortical area in the dorsomedial grasp pathway, is involved in grasp movements. However, the neural ensemble firing property of PMd during grasp movements and the extent to which it can be used for grasp decoding are still unclear. Approach. To address these issues, we used multielectrode arrays to record both spike and local field potential (LFP) signals in PMd in macaque monkeys performing reaching and grasping of one of four differently shaped objects. Main results. Single and population neuronal activity showed distinct patterns during execution of different grip types. Cluster analysis of neural ensemble signals indicated that the grasp related patterns emerged soon (200-300 ms) after the go cue signal, and faded away during the hold period. The timing and duration of the patterns varied depending on the behaviors of individual monkey. Application of support vector machine model to stable activity patterns revealed classification accuracies of 94% and 89% for each of the two monkeys, indicating a robust, decodable grasp pattern encoded in the PMd. Grasp decoding using LFPs, especially the high-frequency bands, also produced high decoding accuracies. Significance. This study is the first to specify the neuronal population encoding of grasp during the time course of grasp. We demonstrate high grasp decoding performance in PMd. These findings, combined with previous evidence for reach related modulation studies, suggest that PMd may play an important role in generation and maintenance of grasp action and may be a suitable locus for brain-machine interface applications.

VisGraB: A Benchmark for Vision-Based Grasping. Paladyn Journal of Behavioral Robotics

DEFF Research Database (Denmark)

Kootstra, Gert; Popovic, Mila; Jørgensen, Jimmy Alison

2012-01-01

that a large number of grasps can be executed and evaluated while dealing with dynamics and the noise and uncertainty present in the real world images. VisGraB enables a fair comparison among different grasping methods. The user furthermore does not need to deal with robot hardware, focusing on the vision......We present a database and a software tool, VisGraB, for benchmarking of methods for vision-based grasping of unknown objects with no prior object knowledge. The benchmark is a combined real-world and simulated experimental setup. Stereo images of real scenes containing several objects in different...

Getting the right grasp on executive function

Directory of Open Access Journals (Sweden)

Claudia L R Gonzalez

2014-04-01

Full Text Available Executive Function (EF refers to important socio-emotional and cognitive skills that are known to be highly correlated with both academic and life success. EF is a blanket term that is considered to include self-regulation, working memory, and planning. Recent studies have shown a relationship between EF and motor control. The emergence of motor control coincides with that of EF, hence understanding the relationship between these two domains could have significant implications for early detection and remediation of later EF deficits. The purpose of the current study was to investigate this relationship in young children. This study incorporated the Behavioural Rating Inventory of Executive Function (BRIEF and two motor assessments with a focus on precision grasping to test this hypothesis. The BRIEF is comprised of two indices of EF: 1 the Behavioral Regulation Index (BRI containing three subscales: Inhibit, Shift, and Emotional Control; 2 the Metacognition Index (MI containing five subscales: Initiate, Working Memory, Plan/Organize, Organization of Materials, and Monitor. A global executive composite (GEC is derived from the two indices. In this study, right-handed children aged 5-6 and 9-10 were asked to: grasp-to-construct (Lego® models; and grasp-to-place (wooden blocks, while their parents completed the BRIEF questionnaire. Analysis of results indicated significant correlations between the strength of right hand preference for grasping and numerous elements of the BRIEF including the BRI, MI, and GEC. Specifically, the more the right hand was used for grasping the better the EF ratings. In addition, patterns of space-use correlated with the GEC in several subscales of the BRIEF. Finally and remarkably, the results also showed a reciprocal relationship between hand and space use for grasping and EF. These findings are discussed with respect to: 1 the developmental overlap of motor and executive functions; 2 detection of EF deficits through

Prosthetic hand sensor placement: Analysis of touch perception during the grasp

Directory of Open Access Journals (Sweden)

Mirković Bojana

2014-01-01

Full Text Available Humans rely on their hands to perform everyday tasks. The hand is used as a tool, but also as the interface to “sense” the world. Current prosthetic hands are based on sophisticated multi-fingered structures, and include many sensors which counterpart natural proprioceptors and exteroceptors. The sensory information is used for control, but not sent to the user of the hand (amputee. Grasping without sensing is not good enough. This research is part of the development of the sensing interface for amputees, specifically addressing the analysis of human perception while grasping. The goal is to determine the small number of preferred positions of sensors on the prosthetic hand. This task has previously been approached by trying to replicate a natural sensory system characteristic for healthy humans, resulting in a multitude of redundant sensors and basic inability to make the patient aware of the sensor readings on the subconscious level. We based our artificial perception system on the reported sensations of humans when grasping various objects without seeing the objects (obstructed visual feedback. Subjects, with no known sensory deficits, were asked to report on the touch sensation while grasping. The analysis included objects of various sizes, weights, textures and temperatures. Based on this data we formed a map of the preferred positions for the sensors that is appropriate for five finger human-like robotic hand. The final map was intentionally minimized in size (number of sensors.

TMS over the supramarginal gyrus delays selection of appropriate grasp orientation during reaching and grasping tools for use.

Science.gov (United States)

McDowell, Tomás; Holmes, Nicholas P; Sunderland, Alan; Schürmann, Martin

2018-03-09

Tool use, a ubiquitous part of human behaviour, requires manipulation control and knowledge of tool purpose. Neuroimaging and neuropsychological research posit that these two processes are supported by separate brain regions, ventral premotor and inferior parietal for manipulation control, and posterior middle temporal cortex for tool knowledge, lateralised to the left hemisphere. Action plans for tool use need to integrate these two separate processes, which is likely supported by the left supramarginal gyrus (SMG). However, whether this integration occurs during action execution is not known. To clarify the role of the SMG we conducted two experiments in which healthy participants reached to grasp everyday tools with the explicit instruction to use them directly following their grasp. To study the integration of manipulation control and tool knowledge within a narrow time window we mechanically perturbed the orientation of the tool to force participants to correct grasp orientation 'on-line' during the reaching movement. In experiment 1, twenty healthy participants reached with their left hand to grasp a tool. Double-pulse transcranial magnetic stimulation (TMS) was applied, in different blocks over left or right SMG at the onset of perturbation. Kinematic data revealed delayed and erroneous online correction after TMS over left and right SMG. In Experiment 2 twelve participants reached, in different blocks, with their left or right hand and TMS was applied over SMG ipsilateral to the reaching hand. A similar effect on correction was observed for ipsilateral stimulation when reaching with the left and right hands, and no effect of or interaction with hemisphere was observed. Our findings implicate a bilateral role of the SMG in correcting movements and selection of appropriate grasp orientation during reaching to grasp tools for use. Copyright © 2018 Elsevier Ltd. All rights reserved.

Infant manual performance during reaching and grasping for objects moving in depth.

Science.gov (United States)

Domellöf, Erik; Barbu-Roth, Marianne; Rönnqvist, Louise; Jacquet, Anne-Yvonne; Fagard, Jacqueline

2015-01-01

Few studies have investigated manual performance in infants when reaching and grasping for objects moving in directions other than across the fronto-parallel plane. The present preliminary study explored object-oriented behavioral strategies and side preference in 8- and 10-month-old infants during reaching and grasping for objects approaching in depth from three positions (midline, and 27° diagonally from the left and right). Effects of task constraint by using objects of three different types and two sizes were further examined for behavioral strategies and hand opening prior to grasping. Additionally, assessments of hand preference by a dedicated handedness test were performed. Regardless of object starting position, the 8-month-old infants predominantly displayed right-handed reaches for objects approaching in depth. In contrast, the older infants showed more varied strategies and performed more ipsilateral reaches in correspondence with the side of the approaching object. Conversely, 10-month-old infants were more successful than the younger infants in grasping the objects, independent of object starting position. The findings regarding infant hand use strategies when reaching and grasping for objects moving in depth are similar to those from earlier studies using objects moving along a horizontal path. Still, initiation times of reaching onset were generally long in the present study, indicating that the object motion paths seemingly affected how the infants perceived the intrinsic properties and spatial locations of the objects, possibly with an effect on motor planning. Findings are further discussed in relation to future investigations of infant reaching and grasping for objects approaching in depth.

Grasp force sensor for robotic hands

Science.gov (United States)

Scheinman, Victor D. (Inventor); Bejczy, Antal K. (Inventor); Primus, Howard C. (Inventor)

1989-01-01

A grasp force sensor for robotic hands is disclosed. A flexible block is located in the base of each claw through which the grasp force is exerted. The block yields minute parallelogram deflection when the claws are subjected to grasping forces. A parallelogram deflection closely resembles pure translational deflection, whereby the claws remain in substantial alignment with each other during grasping. Strain gauge transducers supply signals which provide precise knowledge of and control over grasp forces.

Task Requirements Influence Sensory Integration during Grasping in Humans

Science.gov (United States)

Safstrom, Daniel; Edin, Benoni B.

2004-01-01

The sensorimotor transformations necessary for generating appropriate motor commands depend on both current and previously acquired sensory information. To investigate the relative impact (or weighting) of visual and haptic information about object size during grasping movements, we let normal subjects perform a task in which, unbeknownst to the…

Saccadic updating of object orientation for grasping movements

NARCIS (Netherlands)

Selen, L.P.J.; Medendorp, W.P.

2011-01-01

Reach and grasp movements are a fundamental part of our daily interactions with the environment. This spatially-guided behavior is often directed to memorized objects because of intervening eye movements that caused them to disappear from sight. How does the brain store and maintain the spatial

Continuum robots and underactuated grasping

Directory of Open Access Journals (Sweden)

N. Giri

2011-02-01

Full Text Available We discuss the capabilities of continuum (continuous backbone robot structures in the performance of under-actuated grasping. Continuum robots offer the potential of robust grasps over a wide variety of object classes, due to their ability to adapt their shape to interact with the environment via non-local continuum contact conditions. Furthermore, this capability can be achieved with simple, low degree of freedom hardware. However, there are practical issues which currently limit the application of continuum robots to grasping. We discuss these issues and illustrate via an experimental continuum grasping case study.

This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

How to grasp a ripe tomato

NARCIS (Netherlands)

Verhagen, L.

2012-01-01

Fortunately, we don’t have to think about this when we are standing in the supermarket after a busy day. We adjust our grip without effort, making sure we don’t squish an overripe tomato, while we firmly grasp a hard green one. This is actually a complex task in which humans are surprisingly

Fuzzy Logic Controller Design for A Robot Grasping System with Different Membership Functions

International Nuclear Information System (INIS)

Ahmad, Hamzah; Razali, Saifudin; Mohamed, Mohd Rusllim

2013-01-01

This paper investigates the effects of the membership function to the object grasping for a three fingered gripper system. The performance of three famously used membership functions is compared to identify their behavior in lifting a defined object shape. MATLAB Simulink and SimMechanics toolboxes are used to examine the performance. Our preliminary results proposed that the Gaussian membership function surpassed the two other membership functions; triangular and trapezoid memberships especially in the context of firmer grasping and less time consumption during operations. Therefore, Gaussian membership function could be the best solution when time consumption and firmer grasp are considered

The extended object-grasping network.

Science.gov (United States)

Gerbella, Marzio; Rozzi, Stefano; Rizzolatti, Giacomo

2017-10-01

Grasping is the most important skilled motor act of primates. It is based on a series of sensorimotor transformations through which the affordances of the objects to be grasped are transformed into appropriate hand movements. It is generally accepted that a circuit formed by inferior parietal areas AIP and PFG and ventral premotor area F5 represents the core circuit for sensorimotor transformations for grasping. However, selection and control of appropriate grip should also depend on higher-order information, such as the meaning of the object to be grasped, and the overarching goal of the action in which grasping is embedded. In this review, we describe recent findings showing that specific sectors of the ventrolateral prefrontal cortex are instrumental in controlling higher-order aspects of grasping. We show that these prefrontal sectors control the premotor cortex through two main gateways: the anterior subdivision of ventral area F5-sub-area F5a-, and the pre-supplementary area (area F6). We then review functional studies showing that both F5a and F6, besides being relay stations of prefrontal information, also play specific roles in grasping. Namely, sub-area F5a is involved in stereoscopic analysis of 3D objects, and in planning cue-dependent grasping activity. As for area F6, this area appears to play a crucial role in determining when to execute the motor program encoded in the parieto-premotor circuit. The recent discovery that area F6 contains a set of neurons encoding specific grip types suggests that this area, besides controlling "when to go", also may control the grip type, i.e., "how to go". We conclude by discussing clinical syndromes affecting grasping actions and their possible mechanisms.

Infant manual performance during reaching and grasping for objects moving in depth

Directory of Open Access Journals (Sweden)

Erik eDomellöf

2015-08-01

Full Text Available Few studies have observed investigated manual asymmetries performance in infants when reaching and grasping for objects moving in directions other than across the fronto-parallel plane. The present preliminary study explored manual object-oriented behavioral strategies and hand side preference in 8- and 10-month-old infants during reaching and grasping for objects approaching in depth from three positions (midline, and 27° diagonally from the left, and right, midline. Effects of task constraint by using objects of three different types and two sizes were further examined for behavioral strategies and . The study also involved measurements of hand position opening prior to grasping., and Additionally, assessments of general hand preference by a dedicated handedness test were performed. Regardless of object starting position, the 8-month-old infants predominantly displayed right-handed reaches for objects approaching in depth. In contrast, the older infants showed more varied strategies and performed more ipsilateral reaches in correspondence with the side of the approaching object. Conversely, 10-month-old infants were more successful than the younger infants in grasping the objects, independent of object starting position. The findings support the possibility of a shared underlying mechanism regarding for infant hand use strategies when reaching and grasping for horizontally objects moving in depth are similar to those from earlier studies using objects moving along a horizontal pathand vertically moving objects. Still, initiation times of reaching onset were generally long in the present study, indicating that the object motion paths seemingly affected how the infants perceived the intrinsic properties and spatial locations of the objects, possibly with an effect on motor planning. Findings are further discussed in relation to future investigations of infant reaching and grasping for objects approaching in depth.

Exploring manual asymmetries during grasping: a dynamic causal modeling approach.

Directory of Open Access Journals (Sweden)

Chiara eBegliomini

2015-02-01

Full Text Available Recording of neural activity during grasping actions in macaques showed that grasp-related sensorimotor transformations are accomplished in a circuit constituted by the anterior part of the intraparietal sulcus (AIP, the ventral (F5 and the dorsal (F2 region of the premotor area. In humans, neuroimaging studies have revealed the existence of a similar circuit, involving the putative homolog of macaque areas AIP, F5 and F2. These studies have mainly considered grasping movements performed with the right dominant hand and only a few studies have measured brain activity associated with a movement performed with the left non-dominant hand. As a consequence of this gap, how the brain controls for grasping movement performed with the dominant and the non-dominant hand still represents an open question. A functional resonance imaging experiment (fMRI has been conducted, and effective connectivity (Dynamic Causal Modelling, DCM was used to assess how connectivity among grasping-related areas is modulated by hand (i.e., left and right during the execution of grasping movements towards a small object requiring precision grasping. Results underlined boosted inter-hemispheric couplings between dorsal premotor cortices during the execution of movements performed with the left rather than the right dominant hand. More specifically, they suggest that the dorsal premotor cortices may play a fundamental role in monitoring the configuration of fingers when grasping movements are performed by either the right and the left hand. This role becomes particularly evident when the hand less-skilled (i.e., the left hand to perform such action is utilized. The results are discussed in light of recent theories put forward to explain how parieto-frontal connectivity is modulated by the execution of prehensile movements.

Cortical control of object-specific grasp relies on adjustments of both activity and effective connectivity

DEFF Research Database (Denmark)

Tia, Banty; Takemi, Mitsuaki; Kosugi, Akito

2017-01-01

The cortical mechanisms of grasping have been extensively studied in macaques and humans. Here, we investigated whether common marmosets could rely on similar mechanisms despite striking differences in manual dexterity. Two common marmosets were trained to grasp-and-pull three objects eliciting d...

Contactless grasp of a magnetic particle in a fluid and its application to quantifications of forces affecting its behavior

International Nuclear Information System (INIS)

Tokura, S.; Hara, M.; Kawaguchi, N.; Amemiya, N.

2014-01-01

In this study, the contactless grasp of a magnetic particle suspended in a fluid at rest or in motion by coil current control, and a method for estimating these forces quantitatively were developed. Four electromagnets were used to apply magnetic fields to magnetic ferrite particles (diameter, 300 nm–300 µm) in a fluid in a vessel. Particle-tracking velocimetry with high-speed image processing was used to visualize the behavior of the magnetic particles in the fluid. In addition, contactless grasp of a magnetic particle using the feedback control was accomplished. Furthermore, by making the magnetic force and the resultant force of the other forces affecting a magnetic particle be in balance, the vertical and horizontal forces affecting the minute magnetic particle, such as the viscous force or the magnetic force between magnetized particles, could be estimated quantitatively from the current in the coil of each electromagnet, without any physical contact with the particle itself. These results constitute useful information for studies on the issues in the handling of micro- or nano-particles. - Highlights: • Four electromagnets are used to apply magnetic field to magnetic ferrite particles. • Motion of magnetic particles suspended in a resting or flowing fluid is visualized. • Contactless grasp of a magnetic particle using feedback control was accomplished. • Vertical and horizontal forces affecting a particle can be estimated quantitatively. • Force between magnetized particles which approach to each other was measured

Do already grasped objects activate motor affordances?

Science.gov (United States)

Iani, Cristina; Ferraro, Luca; Maiorana, Natale Vincenzo; Gallese, Vittorio; Rubichi, Sandro

2018-04-07

This study investigated whether in a stimulus-response compatibility (SRC) task affordance effects in response to picture of graspable objects emerge when these objects appear as already grasped. It also assessed whether the observed effects could be explained as due to spatial compatibility between the most salient part in the object/display and the hand of response rather than to action potentiation. To this aim, we conducted three behavioural experiments in which participants were required to discriminate the vertical orientation (upright vs. inverted) of an object presented in the centre of the screen, while ignoring the right-left orientation of its handle. The object could be presented alone, as already grasped, as partially masked (Experiment 1) or with a human hand close to its graspable side (Experiment 2). In addition, to assess the role of perceptual salience, the object could be presented with a human hand or a non-biological (a geometrical shape) distractor located opposite to the object's graspable side. Results showed faster responses when the object's handle was located on the same side of the responding hand with a larger effect when upright objects were shown as already grasped (Experiment 1) or when a hand was displayed close to its handle (Experiment 2), and a smaller reversed effect when the hand or the geometrical shape was located opposite to the handled side (Experiment 3). We interpreted these findings as indicating that handle orientation effects emerging in SRC tasks may result from the interplay between motor affordance and spatial compatibility mechanisms.

Bio-inspired grasp control in a robotic hand with massive sensorial input.

Science.gov (United States)

Ascari, Luca; Bertocchi, Ulisse; Corradi, Paolo; Laschi, Cecilia; Dario, Paolo

2009-02-01

The capability of grasping and lifting an object in a suitable, stable and controlled way is an outstanding feature for a robot, and thus far, one of the major problems to be solved in robotics. No robotic tools able to perform an advanced control of the grasp as, for instance, the human hand does, have been demonstrated to date. Due to its capital importance in science and in many applications, namely from biomedics to manufacturing, the issue has been matter of deep scientific investigations in both the field of neurophysiology and robotics. While the former is contributing with a profound understanding of the dynamics of real-time control of the slippage and grasp force in the human hand, the latter tries more and more to reproduce, or take inspiration by, the nature's approach, by means of hardware and software technology. On this regard, one of the major constraints robotics has to overcome is the real-time processing of a large amounts of data generated by the tactile sensors while grasping, which poses serious problems to the available computational power. In this paper a bio-inspired approach to tactile data processing has been followed in order to design and test a hardware-software robotic architecture that works on the parallel processing of a large amount of tactile sensing signals. The working principle of the architecture bases on the cellular nonlinear/neural network (CNN) paradigm, while using both hand shape and spatial-temporal features obtained from an array of microfabricated force sensors, in order to control the sensory-motor coordination of the robotic system. Prototypical grasping tasks were selected to measure the system performances applied to a computer-interfaced robotic hand. Successful grasps of several objects, completely unknown to the robot, e.g. soft and deformable objects like plastic bottles, soft balls, and Japanese tofu, have been demonstrated.

Refining Grasp Affordance Models by Experience

DEFF Research Database (Denmark)

Detry, Renaud; Kraft, Dirk; Buch, Anders Glent

2010-01-01

We present a method for learning object grasp affordance models in 3D from experience, and demonstrate its applicability through extensive testing and evaluation on a realistic and largely autonomous platform. Grasp affordance refers here to relative object-gripper configurations that yield stable...... with a visual model of the object they characterize. We explore a batch-oriented, experience-based learning paradigm where grasps sampled randomly from a density are performed, and an importance-sampling algorithm learns a refined density from the outcomes of these experiences. The first such learning cycle...... is bootstrapped with a grasp density formed from visual cues. We show that the robot effectively applies its experience by downweighting poor grasp solutions, which results in increased success rates at subsequent learning cycles. We also present success rates in a practical scenario where a robot needs...

Evaluation of Pressure Capacitive Sensors for Application in Grasping and Manipulation Analysis.

Science.gov (United States)

Pessia, Paola; Cordella, Francesca; Schena, Emiliano; Davalli, Angelo; Sacchetti, Rinaldo; Zollo, Loredana

2017-12-08

The analysis of the human grasping and manipulation capabilities is paramount for investigating human sensory-motor control and developing prosthetic and robotic hands resembling the human ones. A viable solution to perform this analysis is to develop instrumented objects measuring the interaction forces with the hand. In this context, the performance of the sensors embedded in the objects is crucial. This paper focuses on the experimental characterization of a class of capacitive pressure sensors suitable for biomechanical analysis. The analysis was performed in three loading conditions (Distributed load, 9 Tips load, and Wave-shaped load, thanks to three different inter-elements) via a traction/compression testing machine. Sensor assessment was also carried out under human- like grasping condition by placing a silicon material with the same properties of prosthetic cosmetic gloves in between the sensor and the inter-element in order to simulate the human skin. Data show that the input-output relationship of the analyzed, sensor is strongly influenced by both the loading condition (i.e., type of inter-element) and the grasping condition (with or without the silicon material). This needs to be taken into account to avoid significant measurement error. To go over this hurdle, the sensors have to be calibrated under each specific condition in order to apply suitable corrections to the sensor output and significantly improve the measurement accuracy.

Functional classification of grasp strategies used by hemiplegic patients.

Directory of Open Access Journals (Sweden)

Alicia García Álvarez

Full Text Available This study aimed to identify and qualify grasp-types used by patients with stroke and determine the clinical parameters that could explain the use of each grasp. Thirty-eight patients with chronic stroke-related hemiparesis and a range of motor and functional capacities (17 females and 21 males, aged 25-78, and 10 healthy subjects were included. Four objects were used (tissue packet, teaspoon, bottle and tennis ball. Participants were instructed to "grasp the object as if you are going to use it". Three trials were video-recorded for each object. A total of 456 grasps were analysed and rated using a custom-designed Functional Grasp Scale. Eight grasp-types were identified from the analysis: healthy subjects used Multi-pulpar, Pluri-digital, Lateral-pinch and Palmar grasps (Standard Grasps. Patients used the same grasps with in addition Digito-palmar, Raking, Ulnar and Interdigital grasps (Alternative Grasps. Only patients with a moderate or relatively good functional ability used Standard grasps. The correlation and regression analyses showed this was conditioned by sufficient finger and elbow extensor strength (Pluri-digital grasp; thumb extensor and wrist flexor strength (Lateral pinch or in forearm supinator strength (Palmar grasp. By contrast, the patients who had severe impairment used Alternative grasps that did not involve the thumb. These strategies likely compensate specific impairments. Regression and correlation analyses suggested that weakness had a greater influence over grasp strategy than spasticity. This would imply that treatment should focus on improving hand strength and control although reducing spasticity may be useful in some cases.

Tactile Gloves for Autonomous Grasping With the NASA/DARPA Robonaut

Science.gov (United States)

Martin, T. B.; Ambrose, R. O.; Diftler, M. A.; Platt, R., Jr.; Butzer, M. J.

2004-01-01

Tactile data from rugged gloves are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. These custom gloves compliment the human like dexterity available in the Robonaut hands. Multiple versions of the gloves are discussed, showing a progression in using advanced materials and construction techniques to enhance sensitivity and overall sensor coverage. The force data provided by the gloves can be used to improve dexterous, tool and power grasping primitives. Experiments with the latest gloves focus on the use of tools, specifically a power drill used to approximate an astronaut's torque tool.

Model-based automatic generation of grasping regions

Science.gov (United States)

Bloss, David A.

1993-01-01

The problem of automatically generating stable regions for a robotic end effector on a target object, given a model of the end effector and the object is discussed. In order to generate grasping regions, an initial valid grasp transformation from the end effector to the object is obtained based on form closure requirements, and appropriate rotational and translational symmetries are associated with that transformation in order to construct a valid, continuous grasping region. The main result of this algorithm is a list of specific, valid grasp transformations of the end effector to the target object, and the appropriate combinations of translational and rotational symmetries associated with each specific transformation in order to produce a continuous grasp region.

Hand Grasping Synergies As Biometrics.

Science.gov (United States)

Patel, Vrajeshri; Thukral, Poojita; Burns, Martin K; Florescu, Ionut; Chandramouli, Rajarathnam; Vinjamuri, Ramana

2017-01-01

Recently, the need for more secure identity verification systems has driven researchers to explore other sources of biometrics. This includes iris patterns, palm print, hand geometry, facial recognition, and movement patterns (hand motion, gait, and eye movements). Identity verification systems may benefit from the complexity of human movement that integrates multiple levels of control (neural, muscular, and kinematic). Using principal component analysis, we extracted spatiotemporal hand synergies (movement synergies) from an object grasping dataset to explore their use as a potential biometric. These movement synergies are in the form of joint angular velocity profiles of 10 joints. We explored the effect of joint type, digit, number of objects, and grasp type. In its best configuration, movement synergies achieved an equal error rate of 8.19%. While movement synergies can be integrated into an identity verification system with motion capture ability, we also explored a camera-ready version of hand synergies-postural synergies. In this proof of concept system, postural synergies performed well, but only when specific postures were chosen. Based on these results, hand synergies show promise as a potential biometric that can be combined with other hand-based biometrics for improved security.

Hand Grasping Synergies As Biometrics

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Ramana Vinjamuri

2017-05-01

Full Text Available Recently, the need for more secure identity verification systems has driven researchers to explore other sources of biometrics. This includes iris patterns, palm print, hand geometry, facial recognition, and movement patterns (hand motion, gait, and eye movements. Identity verification systems may benefit from the complexity of human movement that integrates multiple levels of control (neural, muscular, and kinematic. Using principal component analysis, we extracted spatiotemporal hand synergies (movement synergies from an object grasping dataset to explore their use as a potential biometric. These movement synergies are in the form of joint angular velocity profiles of 10 joints. We explored the effect of joint type, digit, number of objects, and grasp type. In its best configuration, movement synergies achieved an equal error rate of 8.19%. While movement synergies can be integrated into an identity verification system with motion capture ability, we also explored a camera-ready version of hand synergies—postural synergies. In this proof of concept system, postural synergies performed well, but only when specific postures were chosen. Based on these results, hand synergies show promise as a potential biometric that can be combined with other hand-based biometrics for improved security.

Grasping without sight: insights from the congenitally blind.

Directory of Open Access Journals (Sweden)

Kayla D Stone

Full Text Available We reach for and grasp different sized objects numerous times per day. Most of these movements are visually-guided, but some are guided by the sense of touch (i.e. haptically-guided, such as reaching for your keys in a bag, or for an object in a dark room. A marked right-hand preference has been reported during visually-guided grasping, particularly for small objects. However, little is known about hand preference for haptically-guided grasping. Recently, a study has shown a reduction in right-hand use in blindfolded individuals, and an absence of hand preference if grasping was preceded by a short haptic experience. These results suggest that vision plays a major role in hand preference for grasping. If this were the case, then one might expect congenitally blind (CB individuals, who have never had a visual experience, to exhibit no hand preference. Two novel findings emerge from the current study: first, the results showed that contrary to our expectation, CB individuals used their right hand during haptically-guided grasping to the same extent as visually-unimpaired (VU individuals did during visually-guided grasping. And second, object size affected hand use in an opposite manner for haptically- versus visually-guided grasping. Big objects were more often picked up with the right hand during haptically-guided, but less often during visually-guided grasping. This result highlights the different demands that object features pose on the two sensory systems. Overall the results demonstrate that hand preference for grasping is independent of visual experience, and they suggest a left-hemisphere specialization for the control of grasping that goes beyond sensory modality.

Gaze strategies during visually-guided versus memory-guided grasping.

Science.gov (United States)

Prime, Steven L; Marotta, Jonathan J

2013-03-01

Vision plays a crucial role in guiding motor actions. But sometimes we cannot use vision and must rely on our memory to guide action-e.g. remembering where we placed our eyeglasses on the bedside table when reaching for them with the lights off. Recent studies show subjects look towards the index finger grasp position during visually-guided precision grasping. But, where do people look during memory-guided grasping? Here, we explored the gaze behaviour of subjects as they grasped a centrally placed symmetrical block under open- and closed-loop conditions. In Experiment 1, subjects performed grasps in either a visually-guided task or memory-guided task. The results show that during visually-guided grasping, gaze was first directed towards the index finger's grasp point on the block, suggesting gaze targets future grasp points during the planning of the grasp. Gaze during memory-guided grasping was aimed closer to the blocks' centre of mass from block presentation to the completion of the grasp. In Experiment 2, subjects performed an 'immediate grasping' task in which vision of the block was removed immediately at the onset of the reach. Similar to the visually-guided results from Experiment 1, gaze was primarily directed towards the index finger location. These results support the 2-stream theory of vision in that motor planning with visual feedback at the onset of the movement is driven primarily by real-time visuomotor computations of the dorsal stream, whereas grasping remembered objects without visual feedback is driven primarily by the perceptual memory representations mediated by the ventral stream.

Learning Grasp Strategies Composed of Contact Relative Motions

Science.gov (United States)

Platt, Robert, Jr.

2007-01-01

Of central importance to grasp synthesis algorithms are the assumptions made about the object to be grasped and the sensory information that is available. Many approaches avoid the issue of sensing entirely by assuming that complete information is available. In contrast, this paper proposes an approach to grasp synthesis expressed in terms of units of control that simultaneously change the contact configuration and sense information about the object and the relative manipulator-object pose. These units of control, known as contact relative motions (CRMs), allow the grasp synthesis problem to be recast as an optimal control problem where the goal is to find a strategy for executing CRMs that leads to a grasp in the shortest number of steps. An experiment is described that uses Robonaut, the NASA-JSC space humanoid, to show that CRMs are a viable means of synthesizing grasps. However, because of the limited amount of information that a single CRM can sense, the optimal control problem may be partially observable. This paper proposes expressing the problem as a k-order Markov Decision Process (MDP) and solving it using Reinforcement Learning. This approach is tested in a simulation of a two-contact manipulator that learns to grasp an object. Grasp strategies learned in simulation are tested on the physical Robonaut platform and found to lead to grasp configurations consistently.

Ground Robotic Hand Applications for the Space Program study (GRASP)

Science.gov (United States)

Grissom, William A.; Rafla, Nader I. (Editor)

1992-01-01

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time.

Fast grasping of unknown objects using principal component analysis

Science.gov (United States)

Lei, Qujiang; Chen, Guangming; Wisse, Martijn

2017-09-01

Fast grasping of unknown objects has crucial impact on the efficiency of robot manipulation especially subjected to unfamiliar environments. In order to accelerate grasping speed of unknown objects, principal component analysis is utilized to direct the grasping process. In particular, a single-view partial point cloud is constructed and grasp candidates are allocated along the principal axis. Force balance optimization is employed to analyze possible graspable areas. The obtained graspable area with the minimal resultant force is the best zone for the final grasping execution. It is shown that an unknown object can be more quickly grasped provided that the component analysis principle axis is determined using single-view partial point cloud. To cope with the grasp uncertainty, robot motion is assisted to obtain a new viewpoint. Virtual exploration and experimental tests are carried out to verify this fast gasping algorithm. Both simulation and experimental tests demonstrated excellent performances based on the results of grasping a series of unknown objects. To minimize the grasping uncertainty, the merits of the robot hardware with two 3D cameras can be utilized to suffice the partial point cloud. As a result of utilizing the robot hardware, the grasping reliance is highly enhanced. Therefore, this research demonstrates practical significance for increasing grasping speed and thus increasing robot efficiency under unpredictable environments.

Visual Descriptor Learning for Predicting Grasping Affordances

DEFF Research Database (Denmark)

Thomsen, Mikkel Tang

2016-01-01

by the task of grasping unknown objects given visual sensor information. The contributions from this thesis stem from three works that all relate to the task of grasping unknown objects but with particular focus on the visual representation part of the problem. First an investigation of a visual feature space...... consisting of surface features was performed. Dimensions in the visual space were varied and the effects were evaluated with the task of grasping unknown object. The evaluation was performed using a novel probabilistic grasp prediction approach based on neighbourhood analysis. The resulting success......-rates for predicting grasps were between 75% and 90% depending on the object class. The investigations also provided insights into the importance of selecting a proper visual feature space when utilising it for predicting affordances. As a consequence of the gained insights, a semi-local surface feature, the Sliced...

Robot Grasp Learning by Demonstration without Predefined Rules

Directory of Open Access Journals (Sweden)

César Fernández

2011-12-01

Full Text Available A learning-based approach to autonomous robot grasping is presented. Pattern recognition techniques are used to measure the similarity between a set of previously stored example grasps and all the possible candidate grasps for a new object. Two sets of features are defined in order to characterize grasps: point attributes describe the surroundings of a contact point; point-set attributes describe the relationship between the set of n contact points (assuming an n-fingered robot gripper is used. In the experiments performed, the nearest neighbour classifier outperforms other approaches like multilayer perceptrons, radial basis functions or decision trees, in terms of classification accuracy, while computational load is not excessive for a real time application (a grasp is fully synthesized in 0.2 seconds. The results obtained on a synthetic database show that the proposed system is able to imitate the grasping behaviour of the user (e.g. the system learns to grasp a mug by its handle. All the code has been made available for testing purposes.

Grasping Unknown Objects in an Early Cognitive Vision System

DEFF Research Database (Denmark)

Popovic, Mila

2011-01-01

Grasping of unknown objects presents an important and challenging part of robot manipulation. The growing area of service robotics depends upon the ability of robots to autonomously grasp and manipulate a wide range of objects in everyday environments. Simple, non task-specific grasps of unknown ...... and comparing vision-based grasping methods, and the creation of algorithms for bootstrapping a process of acquiring world understanding for artificial cognitive agents....... presents a system for robotic grasping of unknown objects us- ing stereo vision. Grasps are defined based on contour and surface information provided by the Early Cognitive Vision System, that organizes visual informa- tion into a biologically motivated hierarchical representation. The contributions...... of the thesis are: the extension of the Early Cognitive Vision representation with a new type of feature hierarchy in the texture domain, the definition and evaluation of contour based grasping methods, the definition and evaluation of surface based grasping methods, the definition of a benchmark for testing...

A Biologically Inspired Learning to Grasp System

Science.gov (United States)

2001-10-25

possible extensive discussions of data on the premotor cortex and monkey grasping circuit with Giacomo Rizzolatti , Vittorio Gallese, to whom we express...premotor specialisation for the different types of grasps that Rizzolatti group [3] has found be formed at this age yet. Infants will need to...our gratitude. REFERENCES [1] M. Jeannerod, M.A. Arbib, G. Rizzolatti , H. Sakata, “Grasping objects: the cortical mechanisms of visuomotor

Grasping the intentions of others with one's own mirror neuron system.

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Marco Iacoboni

2005-03-01

Full Text Available Understanding the intentions of others while watching their actions is a fundamental building block of social behavior. The neural and functional mechanisms underlying this ability are still poorly understood. To investigate these mechanisms we used functional magnetic resonance imaging. Twenty-three subjects watched three kinds of stimuli: grasping hand actions without a context, context only (scenes containing objects, and grasping hand actions performed in two different contexts. In the latter condition the context suggested the intention associated with the grasping action (either drinking or cleaning. Actions embedded in contexts, compared with the other two conditions, yielded a significant signal increase in the posterior part of the inferior frontal gyrus and the adjacent sector of the ventral premotor cortex where hand actions are represented. Thus, premotor mirror neuron areas-areas active during the execution and the observation of an action-previously thought to be involved only in action recognition are actually also involved in understanding the intentions of others. To ascribe an intention is to infer a forthcoming new goal, and this is an operation that the motor system does automatically.

Optimization by GRASP greedy randomized adaptive search procedures

CERN Document Server

Resende, Mauricio G C

2016-01-01

This is the first book to cover GRASP (Greedy Randomized Adaptive Search Procedures), a metaheuristic that has enjoyed wide success in practice with a broad range of applications to real-world combinatorial optimization problems. The state-of-the-art coverage and carefully crafted pedagogical style lends this book highly accessible as an introductory text not only to GRASP, but also to combinatorial optimization, greedy algorithms, local search, and path-relinking, as well as to heuristics and metaheuristics, in general. The focus is on algorithmic and computational aspects of applied optimization with GRASP with emphasis given to the end-user, providing sufficient information on the broad spectrum of advances in applied optimization with GRASP. For the more advanced reader, chapters on hybridization with path-relinking and parallel and continuous GRASP present these topics in a clear and concise fashion. Additionally, the book offers a very complete annotated bibliography of GRASP and combinatorial optimizat...

Effects of grasp compatibility on long-term memory for objects.

Science.gov (United States)

Canits, Ivonne; Pecher, Diane; Zeelenberg, René

2018-01-01

Previous studies have shown action potentiation during conceptual processing of manipulable objects. In four experiments, we investigated whether these motor actions also play a role in long-term memory. Participants categorized objects that afforded either a power grasp or a precision grasp as natural or artifact by grasping cylinders with either a power grasp or a precision grasp. In all experiments, responses were faster when the affordance of the object was compatible with the type of grasp response. However, subsequent free recall and recognition memory tasks revealed no better memory for object pictures and object names for which the grasp affordance was compatible with the grasp response. The present results therefore do not support the hypothesis that motor actions play a role in long-term memory. Copyright © 2017 Elsevier B.V. All rights reserved.

An investigation of the neural circuits underlying reaching and reach-to-grasp movements: from planning to execution.

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Chiara eBegliomini

2014-09-01

Full Text Available Experimental evidence suggests the existence of a sophisticated brain circuit specifically dedicated to reach-to-grasp planning and execution, both in human and non human primates (Castiello, 2005. Studies accomplished by means of neuroimaging techniques suggest the hypothesis of a dichotomy between a reach-to-grasp circuit, involving the intraparietal area (AIP, the dorsal and ventral premotor cortices (PMd and PMv - Castiello and Begliomini, 2008; Filimon, 2010 and a reaching circuit involving the medial intraparietal area (mIP and the Superior Parieto-Occipital Cortex (SPOC (Culham et al., 2006. However, the time course characterizing the involvement of these regions during the planning and execution of these two types of movements has yet to be delineated. A functional magnetic resonance imaging (fMRI study has been conducted, including reach-to grasp and reaching only movements, performed towards either a small or a large stimulus, and Finite Impulse Response model (FIR - Henson, 2003 was adopted to monitor activation patterns from stimulus onset for a time window of 10 seconds duration. Data analysis focused on brain regions belonging either to the reaching or to the grasping network, as suggested by Castiello & Begliomini (2008.Results suggest that reaching and grasping movements planning and execution might share a common brain network, providing further confirmation to the idea that the neural underpinnings of reaching and grasping may overlap in both spatial and temporal terms (Verhagen et al., 2013.

Grasp Assist Device with Automatic Mode Control Logic

Science.gov (United States)

Davis, Donald R. (Inventor); Ihrke, Chris A. (Inventor); Laske, Evan (Inventor)

2018-01-01

A system includes a glove, sensors, actuator assemblies, and controller. The sensors include load sensors which measure an actual grasping force and attitude sensors which determine a glove attitude. The actuator assembly provides a grasp assist force to the glove. Respective locations of work cells in the work environment and permitted work tasks for each work cell are programmed into the controller. The controller detects the glove location and attitude. A work task is selected by the controller for the location. The controller calculates a required grasp assist force using measured actual grasping forces from the load sensors. The required grasp assist force is applied via the glove using the actuator assembly to thereby assist the operator in performing the identified work task.

Grasp Algorithms For Optotactile Robotic Sample Acquisition, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Robotic sample acquisition is basically grasping. Multi-finger robot sample grasping devices are controlled to securely pick up samples. While optimal grasps for...

Automatic Grasp Generation and Improvement for Industrial Bin-Picking

DEFF Research Database (Denmark)

Kraft, Dirk; Ellekilde, Lars-Peter; Rytz, Jimmy Alison

2014-01-01

and achieve comparable results and that our learning approach can improve system performance significantly. Automatic bin-picking is an important industrial process that can lead to significant savings and potentially keep production in countries with high labour cost rather than outsourcing it. The presented......This paper presents work on automatic grasp generation and grasp learning for reducing the manual setup time and increase grasp success rates within bin-picking applications. We propose an approach that is able to generate good grasps automatically using a dynamic grasp simulator, a newly developed...

Reach–to-grasp movements in macaca fascicularis monkeys: the Isochrony Principle at work

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Luisa eSartori

2013-03-01

Full Text Available Humans show a spontaneous tendency to increase the velocity of their movements depending on the linear extent of their trajectory in order to keep execution time approximately constant. Termed the isochrony principle, this compensatory mechanism refers to the observation that the velocity of voluntary movements increases proportionally with their linear extension. Although there is a wealth of psychophysical data regarding isochrony in humans, there is none regarding non-human primates. The present study attempts to fill that gap by investigating reach-to-grasp movement kinematics in free-ranging macaques. Video footage of monkeys grasping objects located at different distances was analyzed frame-by-frame using digitalization techniques. The amplitude of arm peak velocity was found to be correlated with the distance to be covered, and total movement duration remained invariant although target distances varied. Like in humans, the ‘isochrony principle’ seems to be operative as there is a gearing down/up of movement velocity that is proportional to the distance to be covered in order to allow for a relatively constant movement duration. Based on a centrally generated temporal template, this mode of motor programming could be functional in macaques given the high speed and great instability of posture and joint kinematics characterizing their actions. The data presented here take research in the field of comparative motor control a step forward as they are based on precise measurements of spontaneous grasping movements by animals living/acting in their natural environment.

Reach-to-grasp movements in Macaca fascicularis monkeys: the Isochrony Principle at work

Science.gov (United States)

Sartori, Luisa; Camperio-Ciani, Andrea; Bulgheroni, Maria; Castiello, Umberto

2013-01-01

Humans show a spontaneous tendency to increase the velocity of their movements depending on the linear extent of their trajectory in order to keep execution time approximately constant. Termed the isochrony principle, this compensatory mechanism refers to the observation that the velocity of voluntary movements increases proportionally with their linear extension. Although there is a wealth of psychophysical data regarding isochrony in humans, there is none regarding non-human primates. The present study attempts to fill that gap by investigating reach-to-grasp movement kinematics in free-ranging macaques. Video footage of monkeys grasping objects located at different distances was analyzed frame-by-frame using digitalization techniques. The amplitude of arm peak velocity was found to be correlated with the distance to be covered, and total movement duration remained invariant although target distances varied. Like in humans, the “isochrony principle” seems to be operative as there is a gearing down/up of movement velocity that is proportional to the distance to be covered in order to allow for a relatively constant movement duration. Based on a centrally generated temporal template, this mode of motor programming could be functional in macaques given the high speed and great instability of posture and joint kinematics characterizing their actions. The data presented here take research in the field of comparative motor control a step forward as they are based on precise measurements of spontaneous grasping movements by animals living/acting in their natural environment. PMID:23658547

Learning to control a brain-machine interface for reaching and grasping by primates.

Directory of Open Access Journals (Sweden)

Jose M Carmena

2003-11-01

Full Text Available Reaching and grasping in primates depend on the coordination of neural activity in large frontoparietal ensembles. Here we demonstrate that primates can learn to reach and grasp virtual objects by controlling a robot arm through a closed-loop brain-machine interface (BMIc that uses multiple mathematical models to extract several motor parameters (i.e., hand position, velocity, gripping force, and the EMGs of multiple arm muscles from the electrical activity of frontoparietal neuronal ensembles. As single neurons typically contribute to the encoding of several motor parameters, we observed that high BMIc accuracy required recording from large neuronal ensembles. Continuous BMIc operation by monkeys led to significant improvements in both model predictions and behavioral performance. Using visual feedback, monkeys succeeded in producing robot reach-and-grasp movements even when their arms did not move. Learning to operate the BMIc was paralleled by functional reorganization in multiple cortical areas, suggesting that the dynamic properties of the BMIc were incorporated into motor and sensory cortical representations.

Bone indicators of grasping hands in lizards

Directory of Open Access Journals (Sweden)

Gabriela Fontanarrosa

2016-05-01

Full Text Available Grasping is one of a few adaptive mechanisms that, in conjunction with clinging, hooking, arm swinging, adhering, and flying, allowed for incursion into the arboreal eco-space. Little research has been done that addresses grasping as an enhanced manual ability in non-mammalian tetrapods, with the exception of studies comparing the anatomy of muscle and tendon structure. Previous studies showed that grasping abilities allow exploitation for narrow branch habitats and that this adaptation has clear osteological consequences. The objective of this work is to ascertain the existence of morphometric descriptors in the hand skeleton of lizards related to grasping functionality. A morphological matrix was constructed using 51 morphometric variables in 278 specimens, from 24 genera and 13 families of Squamata. To reduce the dimensions of the dataset and to organize the original variables into a simpler system, three PCAs (Principal Component Analyses were performed using the subsets of (1 carpal variables, (2 metacarpal variables, and (3 phalanges variables. The variables that demonstrated the most significant contributions to the construction of the PCA synthetic variables were then used in subsequent analyses. To explore which morphological variables better explain the variations in the functional setting, we ran Generalized Linear Models for the three different sets. This method allows us to model the morphology that enables a particular functional trait. Grasping was considered the only response variable, taking the value of 0 or 1, while the original variables retained by the PCAs were considered predictor variables. Our analyses yielded six variables associated with grasping abilities: two belong to the carpal bones, two belong to the metacarpals and two belong to the phalanges. Grasping in lizards can be performed with hands exhibiting at least two different independently originated combinations of bones. The first is a combination of a highly

Mena–GRASP65 interaction couples actin polymerization to Golgi ribbon linking

Science.gov (United States)

Tang, Danming; Zhang, Xiaoyan; Huang, Shijiao; Yuan, Hebao; Li, Jie; Wang, Yanzhuang

2016-01-01

In mammalian cells, the Golgi reassembly stacking protein 65 (GRASP65) has been implicated in both Golgi stacking and ribbon linking by forming trans-oligomers through the N-terminal GRASP domain. Because the GRASP domain is globular and relatively small, but the gaps between stacks are large and heterogeneous, it remains puzzling how GRASP65 physically links Golgi stacks into a ribbon. To explore the possibility that other proteins may help GRASP65 in ribbon linking, we used biochemical methods and identified the actin elongation factor Mena as a novel GRASP65-binding protein. Mena is recruited onto the Golgi membranes through interaction with GRASP65. Depleting Mena or disrupting actin polymerization resulted in Golgi fragmentation. In cells, Mena and actin were required for Golgi ribbon formation after nocodazole washout; in vitro, Mena and microfilaments enhanced GRASP65 oligomerization and Golgi membrane fusion. Thus Mena interacts with GRASP65 to promote local actin polymerization, which facilitates Golgi ribbon linking. PMID:26538023

Fast Grasp Contact Computation for a Serial Robot

Science.gov (United States)

Shi, Jianying (Inventor); Hargrave, Brian (Inventor); Diftler, Myron A. (Inventor)

2015-01-01

A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.

On transferability and contexts when using simulated grasp databases

DEFF Research Database (Denmark)

Jørgensen, Jimmy Alison; Ellekilde, Lars-Peter; Kraft, Dirk

2015-01-01

It has become a common practice to use simulation to generate large databases of good grasps for grasp planning in robotics research. However, the existence of a generic simulation context that enables the generation of high quality grasps that can be used in several different contexts such as bi...

Functional morphology of the hallucal metatarsal with implications for inferring grasping ability in extinct primates.

Science.gov (United States)

Goodenberger, Katherine E; Boyer, Doug M; Orr, Caley M; Jacobs, Rachel L; Femiani, John C; Patel, Biren A

2015-03-01

Primate evolutionary morphologists have argued that selection for life in a fine branch niche resulted in grasping specializations that are reflected in the hallucal metatarsal (Mt1) morphology of extant "prosimians", while a transition to use of relatively larger, horizontal substrates explains the apparent loss of such characters in anthropoids. Accordingly, these morphological characters-Mt1 torsion, peroneal process length and thickness, and physiological abduction angle-have been used to reconstruct grasping ability and locomotor mode in the earliest fossil primates. Although these characters are prominently featured in debates on the origin and subsequent radiation of Primates, questions remain about their functional significance. This study examines the relationship between these morphological characters of the Mt1 and a novel metric of pedal grasping ability for a large number of extant taxa in a phylogenetic framework. Results indicate greater Mt1 torsion in taxa that engage in hallucal grasping and in those that utilize relatively small substrates more frequently. This study provides evidence that Carpolestes simpsoni has a torsion value more similar to grasping primates than to any scandentian. The results also show that taxa that habitually grasp vertical substrates are distinguished from other taxa in having relatively longer peroneal processes. Furthermore, a longer peroneal process is also correlated with calcaneal elongation, a metric previously found to reflect leaping proclivity. A more refined understanding of the functional associations between Mt1 morphology and behavior in extant primates enhances the potential for using these morphological characters to comprehend primate (locomotor) evolution. © 2014 Wiley Periodicals, Inc.

Visual Field Preferences of Object Analysis for Grasping with One Hand

Directory of Open Access Journals (Sweden)

Ada eLe

2014-10-01

Full Text Available When we grasp an object using one hand, the opposite hemisphere predominantly guides the motor control of grasp movements (Davare et al. 2007; Rice et al. 2007. However, it is unclear whether visual object analysis for grasp control relies more on inputs (a from the contralateral than the ipsilateral visual field, (b from one dominant visual field regardless of the grasping hand, or (c from both visual fields equally. For bimanual grasping of a single object we have recently demonstrated a visual field preference for the left visual field (Le and Niemeier 2013a, 2013b, consistent with a general right-hemisphere dominance for sensorimotor control of bimanual grasps (Le et al., 2013. But visual field differences have never been tested for unimanual grasping. Therefore, here we asked right-handed participants to fixate to the left or right of an object and then grasp the object either with their right or left hand using a precision grip. We found that participants grasping with their right hand performed better with objects in the right visual field: maximum grip apertures (MGAs were more closely matched to the object width and were smaller than for objects in the left visual field. In contrast, when people grasped with their left hand, preferences switched to the left visual field. What is more, MGA scaling showed greater visual field differences compared to right-hand grasping. Our data suggest that, visual object analysis for unimanual grasping shows a preference for visual information from the ipsilateral visual field, and that the left hemisphere is better equipped to control grasps in both visual fields.

Neurons in Primary Motor Cortex Encode Hand Orientation in a Reach-to-Grasp Task.

Science.gov (United States)

Ma, Chaolin; Ma, Xuan; Fan, Jing; He, Jiping

2017-08-01

It is disputed whether those neurons in the primary motor cortex (M1) that encode hand orientation constitute an independent channel for orientation control in reach-to-grasp behaviors. Here, we trained two monkeys to reach forward and grasp objects positioned in the frontal plane at different orientation angles, and simultaneously recorded the activity of M1 neurons. Among the 2235 neurons recorded in M1, we found that 18.7% had a high correlation exclusively with hand orientation, 15.9% with movement direction, and 29.5% with both movement direction and hand orientation. The distributions of neurons encoding hand orientation and those encoding movement direction were not uniform but coexisted in the same region. The trajectory of hand rotation was reproduced by the firing patterns of the orientation-related neurons independent of the hand reaching direction. These results suggest that hand orientation is an independent component for the control of reaching and grasping activity.

Assessing Grasp Stability Based on Learning and Haptic Data

DEFF Research Database (Denmark)

Bekiroglu, Yasemin; Laaksonen, Janne; Jørgensen, Jimmy Alison

2011-01-01

a probabilistic learning framework to assess grasp stability and demonstrate that knowledge about grasp stability can be inferred using information from tactile sensors. Experiments on both simulated and real data are shown. The results indicate that the idea to exploit the learning approach is applicable...... data and machine-learning methods, including AdaBoost, support vector machines (SVMs), and hidden Markov models (HMMs). In particular, we study the effect of different sensory streams to grasp stability. This includes object information such as shape; grasp information such as approach vector; tactile...

Effects of accuracy constraints on reach-to-grasp movements in cerebellar patients.

Science.gov (United States)

Rand, M K; Shimansky, Y; Stelmach, G E; Bracha, V; Bloedel, J R

2000-11-01

Reach-to-grasp movements of patients with pathology restricted to the cerebellum were compared with those of normal controls. Two types of paradigms with different accuracy constraints were used to examine whether cerebellar impairment disrupts the stereotypic relationship between arm transport and grip aperture and whether the variability of this relationship is altered when greater accuracy is required. The movements were made to either a vertical dowel or to a cross bar of a small cross. All subjects were asked to reach for either target at a fast but comfortable speed, grasp the object between the index finger and thumb, and lift it a short distance off the table. In terms of the relationship between arm transport and grip aperture, the control subjects showed a high consistency in grip aperture and wrist velocity profiles from trial to trial for movements to both the dowel and the cross. The relationship between the maximum velocity of the wrist and the time at which grip aperture was maximal during the reach was highly consistent throughout the experiment. In contrast, the time of maximum grip aperture and maximum wrist velocity of the cerebellar patients was quite variable from trial to trial, and the relationship of these measurements also varied considerably. These abnormalities were present regardless of the accuracy requirement. In addition, the cerebellar patients required a significantly longer time to grasp and lift the objects than the control subjects. Furthermore, the patients exhibited a greater grip aperture during reach than the controls. These data indicate that the cerebellum contributes substantially to the coordination of movements required to perform reach-to-grasp movements. Specifically, the cerebellum is critical for executing this behavior with a consistent, well-timed relationship between the transport and grasp components. This contribution is apparent even when accuracy demands are minimal.

Grasping trajectories in a virtual environment adhere to Weber's law.

Science.gov (United States)

Ozana, Aviad; Berman, Sigal; Ganel, Tzvi

2018-06-01

Virtual-reality and telerobotic devices simulate local motor control of virtual objects within computerized environments. Here, we explored grasping kinematics within a virtual environment and tested whether, as in normal 3D grasping, trajectories in the virtual environment are performed analytically, violating Weber's law with respect to object's size. Participants were asked to grasp a series of 2D objects using a haptic system, which projected their movements to a virtual space presented on a computer screen. The apparatus also provided object-specific haptic information upon "touching" the edges of the virtual targets. The results showed that grasping movements performed within the virtual environment did not produce the typical analytical trajectory pattern obtained during 3D grasping. Unlike as in 3D grasping, grasping trajectories in the virtual environment adhered to Weber's law, which indicates relative resolution in size processing. In addition, the trajectory patterns differed from typical trajectories obtained during 3D grasping, with longer times to complete the movement, and with maximum grip apertures appearing relatively early in the movement. The results suggest that grasping movements within a virtual environment could differ from those performed in real space, and are subjected to irrelevant effects of perceptual information. Such atypical pattern of visuomotor control may be mediated by the lack of complete transparency between the interface and the virtual environment in terms of the provided visual and haptic feedback. Possible implications of the findings to movement control within robotic and virtual environments are further discussed.

Modelling and Simulation of a Manipulator with Stable Viscoelastic Grasping Incorporating Friction

Directory of Open Access Journals (Sweden)

A. Khurshid

2016-12-01

Full Text Available Design, dynamics and control of a humanoid robotic hand based on anthropological dimensions, with joint friction, is modelled, simulated and analysed in this paper by using computer aided design and multibody dynamic simulation. Combined joint friction model is incorporated in the joints. Experimental values of coefficient of friction of grease lubricated sliding contacts representative of manipulator joints are presented. Human fingers deform to the shape of the grasped object (enveloping grasp at the area of interaction. A mass-spring-damper model of the grasp is developed. The interaction of the viscoelastic gripper of the arm with objects is analysed by using Bond Graph modelling method. Simulations were conducted for several material parameters. These results of the simulation are then used to develop a prototype of the proposed gripper. Bond graph model is experimentally validated by using the prototype. The gripper is used to successfully transport soft and fragile objects. This paper provides information on optimisation of friction and its inclusion in both dynamic modelling and simulation to enhance mechanical efficiency.

Microsoft kinect-based artificial perception system for control of functional electrical stimulation assisted grasping.

Science.gov (United States)

Strbac, Matija; Kočović, Slobodan; Marković, Marko; Popović, Dejan B

2014-01-01

We present a computer vision algorithm that incorporates a heuristic model which mimics a biological control system for the estimation of control signals used in functional electrical stimulation (FES) assisted grasping. The developed processing software acquires the data from Microsoft Kinect camera and implements real-time hand tracking and object analysis. This information can be used to identify temporal synchrony and spatial synergies modalities for FES control. Therefore, the algorithm acts as artificial perception which mimics human visual perception by identifying the position and shape of the object with respect to the position of the hand in real time during the planning phase of the grasp. This artificial perception used within the heuristically developed model allows selection of the appropriate grasp and prehension. The experiments demonstrate that correct grasp modality was selected in more than 90% of tested scenarios/objects. The system is portable, and the components are low in cost and robust; hence, it can be used for the FES in clinical or even home environment. The main application of the system is envisioned for functional electrical therapy, that is, intensive exercise assisted with FES.

Effect of pencil grasp on the speed and legibility of handwriting in children.

Science.gov (United States)

Schwellnus, Heidi; Carnahan, Heather; Kushki, Azadeh; Polatajko, Helene; Missiuna, Cheryl; Chau, Tom

2012-01-01

Pencil grasps other than the dynamic tripod may be functional for handwriting. This study examined the impact of grasp on handwriting speed and legibility. We videotaped 120 typically developing fourth-grade students while they performed a writing task. We categorized the grasps they used and evaluated their writing for speed and legibility using a handwriting assessment. Using linear regression analysis, we examined the relationship between grasp and handwriting. We documented six categories of pencil grasp: four mature grasp patterns, one immature grasp pattern, and one alternating grasp pattern. Multiple linear regression results revealed no significant effect for mature grasp on either legibility or speed. Pencil grasp patterns did not influence handwriting speed or legibility in this sample of typically developing children. This finding adds to the mounting body of evidence that alternative grasps may be acceptable for fast and legible handwriting. Copyright © 2012 by the American Occupational Therapy Association, Inc.

Virtual grasping: closed-loop force control using electrotactile feedback.

Science.gov (United States)

Jorgovanovic, Nikola; Dosen, Strahinja; Djozic, Damir J; Krajoski, Goran; Farina, Dario

2014-01-01

Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously "unseen" objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.

Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback

Directory of Open Access Journals (Sweden)

Nikola Jorgovanovic

2014-01-01

Full Text Available Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously “unseen” objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.

Mena-GRASP65 interaction couples actin polymerization to Golgi ribbon linking.

Science.gov (United States)

Tang, Danming; Zhang, Xiaoyan; Huang, Shijiao; Yuan, Hebao; Li, Jie; Wang, Yanzhuang

2016-01-01

In mammalian cells, the Golgi reassembly stacking protein 65 (GRASP65) has been implicated in both Golgi stacking and ribbon linking by forming trans-oligomers through the N-terminal GRASP domain. Because the GRASP domain is globular and relatively small, but the gaps between stacks are large and heterogeneous, it remains puzzling how GRASP65 physically links Golgi stacks into a ribbon. To explore the possibility that other proteins may help GRASP65 in ribbon linking, we used biochemical methods and identified the actin elongation factor Mena as a novel GRASP65-binding protein. Mena is recruited onto the Golgi membranes through interaction with GRASP65. Depleting Mena or disrupting actin polymerization resulted in Golgi fragmentation. In cells, Mena and actin were required for Golgi ribbon formation after nocodazole washout; in vitro, Mena and microfilaments enhanced GRASP65 oligomerization and Golgi membrane fusion. Thus Mena interacts with GRASP65 to promote local actin polymerization, which facilitates Golgi ribbon linking. © 2016 Tang et al. This article is distributed by The American Society for Cell Biology under license from the author(s). Two months after publication it is available to the public under an Attribution–Noncommercial–Share Alike 3.0 Unported Creative Commons License (http://creativecommons.org/licenses/by-nc-sa/3.0).

Real-time vision, tactile cues, and visual form agnosia in pantomimed grasping: removing haptic feedback induces a switch from natural to pantomime-like grasps

Directory of Open Access Journals (Sweden)

Robert Leslie Whitwell

2015-05-01

Full Text Available Investigators study the kinematics of grasping movements (prehension under a variety of conditions to probe visuomotor function in normal and brain-damaged individuals. When patient DF, who suffers from visual form agnosia, performs natural grasps, her in-flight hand aperture is scaled to the widths of targets ('grip scaling' that she cannot discriminate amongst. In contrast, when DF's pantomime grasps are based on a memory of a previewed object, her grip scaling is very poor. Her failure on this task has been interpreted as additional support for the dissociation between the use of object vision for action and object vision for perception. Curiously, however, when DF directs her pantomimed grasps towards a displaced imagined copy of a visible object where her fingers make contact with the surface of the table, her grip scaling does not appear to be particularly poor. In the first of two experiments, we revisit this previous work and show that her grip scaling in this real-time pantomime grasping task does not differ from controls, suggesting that terminal tactile feedback from a proxy of the target can maintain DF's grip scaling. In a second experiment with healthy participants, we tested a recent variant of a grasping task in which no tactile feedback is available (i.e. no haptic feedback by comparing the kinematics of target-directed grasps with and without haptic feedback to those of real-time pantomime grasps without haptic feedback. Compared to natural grasps, removing haptic feedback increased RT, slowed the velocity of the reach, reduced grip aperture, sharpened the slopes relating grip aperture to target width, and reduced the final grip aperture. All of these effects were also observed in the pantomime grasping task. Taken together, these results provide compelling support for the view that removing haptic feedback induces a switch from real-time visual control to one that depends more on visual perception and cognitive supervision.

Attention and reach-to-grasp movements in Parkinson's disease.

Science.gov (United States)

Lu, Cathy; Bharmal, Aamir; Kiss, Zelma H; Suchowersky, Oksana; Haffenden, Angela M

2010-08-01

The role of attention in grasping movements directed at common objects has not been examined in Parkinson's disease (PD), though these movements are critical to activities of daily living. Our primary objective was to determine whether patients with PD demonstrate automaticity in grasping movements directed toward common objects. Automaticity is assumed when tasks can be performed with little or no interference from concurrent tasks. Grasping performance in three patient groups (newly diagnosed, moderate, and advanced/surgically treated PD) on and off of their medication or deep brain stimulation was compared to performance in an age-matched control group. Automaticity was demonstrated by the absence of a decrement in grasping performance when attention was consumed by a concurrent spatial-visualization task. Only the control group and newly diagnosed PD group demonstrated automaticity in their grasping movements. The moderate and advanced PD groups did not demonstrate automaticity. Furthermore, the well-known effects of pharmacotherapy and surgical intervention on movement speed and muscle activation patterns did not appear to reduce the impact of attention-demanding tasks on grasping movements in those with moderate to advanced PD. By the moderate stage of PD, grasping is an attention-demanding process; this change is not ameliorated by dopaminergic or surgical treatments. These findings have important implications for activities of daily living, as devoting attention to the simplest of daily tasks would interfere with complex activities and potentially exacerbate fatigue.

Modeling and Simulation of Grasping of Deformable Objects

DEFF Research Database (Denmark)

Fugl, Andreas Rune

Automated robot solutions have for decades been increasing productivity around the world. They are attractive for being fast, accurate and able to work in dangerous and repetitive environments. In traditional applications the grasped object is kinematically attached to the Tool Center Point....... The purpose of this thesis is to address the modeling and simulation of deformable objects, as applied to robotic grasping and manipulation. The main contributions of this work are: An evaluation of 3D linear elasticity used for robot grasping as implemented by a Finite Difference Method supporting regular...

Grasping devices and methods in automated production processes

DEFF Research Database (Denmark)

Fantoni, Gualtiero; Santochi, Marco; Dini, Gino

2014-01-01

assembly to disassembly, from aerospace to food industry, from textile to logistics) are discussed. Finally, the most recent research is reviewed in order to introduce the new trends in grasping. They provide an outlook on the future of both grippers and robotic hands in automated production processes. (C......In automated production processes grasping devices and methods play a crucial role in the handling of many parts, components and products. This keynote paper starts with a classification of grasping phases, describes how different principles are adopted at different scales in different applications...

Haptically guided grasping. FMRI shows right-hemisphere parietal stimulus encoding, and bilateral dorso-ventral parietal gradients of object- and action-related processing during grasp execution

Directory of Open Access Journals (Sweden)

Mattia eMarangon

2016-01-01

Full Text Available The neural bases of haptically-guided grasp planning and execution are largely unknown, especially for stimuli having no visual representations. Therefore, we used functional magnetic resonance imaging (fMRI to monitor brain activity during haptic exploration of novel 3D complex objects, subsequent grasp planning, and the execution of the pre-planned grasps. Haptic object exploration, involving extraction of shape, orientation and length of the to-be-grasped targets, was associated with the fronto-parietal, temporo-occipital, and insular cortex activity. Yet, only the anterior divisions of the posterior parietal cortex (PPC of the right hemisphere were significantly more engaged in exploration of complex objects (vs. simple control disks. None of these regions were re-recruited during the planning phase. Even more surprisingly, the left-hemisphere intraparietal, temporal, and occipital areas that were significantly invoked for grasp planning did not show sensitivity to object features. Finally, grasp execution, involving the re-recruitment of the critical right-hemisphere PPC clusters, was also significantly associated with two kinds of bilateral parieto-frontal processes. The first represents transformations of grasp-relevant target features and is linked to the dorso-dorsal (lateral and medial parieto-frontal networks. The second monitors grasp kinematics and belongs to the ventro-dorsal networks. Indeed, signal modulations associated with these distinct functions follow dorso-ventral gradients, with left aIPS showing significant sensitivity to both target features and the characteristics of the required grasp. Thus, our results from the haptic domain are consistent with the notion that the parietal processing for action guidance reflects primarily transformations from object-related to effector-related coding, and these mechanisms are rather independent of sensory input modality.

Passive Aerial Grasping of Ferrous Objects

KAUST Repository

Fiaz, Usman Amin

2017-10-19

Aerial transportation is probably the most efficient way to supply quick and effective aid especially in cases of emergency like search and rescue operations. Thus the ability to grasp and deliver objects is of vital importance in all sorts of unmanned and autonomous aerial operations. We detail a simple yet novel approach for aerial grasping of ferrous objects using a passive magnetic pickup and an impulse based drop mechanism. The design enables our gripper to grasp ferrous objects using single as well as multiple gripping pads, with visual as well as pickup and drop feedback. We describe the various components of the gripper with emphasis on its low mass and high lift capability since weight is a matter of high consideration in all aerial applications. In addition, we investigate and address the issues that may cause our design to fail. We demonstrate by experiments that the proposed design is robust and effective, based on its high payload capability, its sturdiness against possible slide during aggressive aerial maneuvers, and optimum performance of the drop mechanism for the designed range of payloads. We also show that the gripper is able to pick up and drop a single as well as multiple ferrous objects of different shapes, curvature, and inclination, which also involves picking up an object and then grasping the next, while keeping hold of the previous one.

Passive Aerial Grasping of Ferrous Objects

KAUST Repository

Fiaz, Usman; Toumi, Noureddine; Shamma, Jeff S.

2017-01-01

Aerial transportation is probably the most efficient way to supply quick and effective aid especially in cases of emergency like search and rescue operations. Thus the ability to grasp and deliver objects is of vital importance in all sorts of unmanned and autonomous aerial operations. We detail a simple yet novel approach for aerial grasping of ferrous objects using a passive magnetic pickup and an impulse based drop mechanism. The design enables our gripper to grasp ferrous objects using single as well as multiple gripping pads, with visual as well as pickup and drop feedback. We describe the various components of the gripper with emphasis on its low mass and high lift capability since weight is a matter of high consideration in all aerial applications. In addition, we investigate and address the issues that may cause our design to fail. We demonstrate by experiments that the proposed design is robust and effective, based on its high payload capability, its sturdiness against possible slide during aggressive aerial maneuvers, and optimum performance of the drop mechanism for the designed range of payloads. We also show that the gripper is able to pick up and drop a single as well as multiple ferrous objects of different shapes, curvature, and inclination, which also involves picking up an object and then grasping the next, while keeping hold of the previous one.

Intrinsic Hand Muscle Activation for Grasp and Horizontal Transport

OpenAIRE

Winges, Sara A.; Kundu, Bornali; Soechting, John F.; Flanders, Martha

2007-01-01

During object manipulation, the hand and arm muscles produce internal forces on the object (grasping forces) and forces that result in external translation or rotation of the object in space (transport forces). The present study tested whether the intrinsic hand muscles are actively involved in transport as well as grasping. Intrinsic hand muscle activity increased with increasing demands for grasp stability, but also showed the timing and directional tuning patterns appropriate for actively ...

Linear and nonlinear subspace analysis of hand movements during grasping.

Science.gov (United States)

Cui, Phil Hengjun; Visell, Yon

2014-01-01

This study investigated nonlinear patterns of coordination, or synergies, underlying whole-hand grasping kinematics. Prior research has shed considerable light on roles played by such coordinated degrees-of-freedom (DOF), illuminating how motor control is facilitated by structural and functional specializations in the brain, peripheral nervous system, and musculoskeletal system. However, existing analyses suppose that the patterns of coordination can be captured by means of linear analyses, as linear combinations of nominally independent DOF. In contrast, hand kinematics is itself highly nonlinear in nature. To address this discrepancy, we sought to to determine whether nonlinear synergies might serve to more accurately and efficiently explain human grasping kinematics than is possible with linear analyses. We analyzed motion capture data acquired from the hands of individuals as they grasped an array of common objects, using four of the most widely used linear and nonlinear dimensionality reduction algorithms. We compared the results using a recently developed algorithm-agnostic quality measure, which enabled us to assess the quality of the dimensional reductions that resulted by assessing the extent to which local neighborhood information in the data was preserved. Although qualitative inspection of this data suggested that nonlinear correlations between kinematic variables were present, we found that linear modeling, in the form of Principle Components Analysis, could perform better than any of the nonlinear techniques we applied.

Single-Grasp Object Classification and Feature Extraction with Simple Robot Hands and Tactile Sensors.

Science.gov (United States)

Spiers, Adam J; Liarokapis, Minas V; Calli, Berk; Dollar, Aaron M

2016-01-01

Classical robotic approaches to tactile object identification often involve rigid mechanical grippers, dense sensor arrays, and exploratory procedures (EPs). Though EPs are a natural method for humans to acquire object information, evidence also exists for meaningful tactile property inference from brief, non-exploratory motions (a 'haptic glance'). In this work, we implement tactile object identification and feature extraction techniques on data acquired during a single, unplanned grasp with a simple, underactuated robot hand equipped with inexpensive barometric pressure sensors. Our methodology utilizes two cooperating schemes based on an advanced machine learning technique (random forests) and parametric methods that estimate object properties. The available data is limited to actuator positions (one per two link finger) and force sensors values (eight per finger). The schemes are able to work both independently and collaboratively, depending on the task scenario. When collaborating, the results of each method contribute to the other, improving the overall result in a synergistic fashion. Unlike prior work, the proposed approach does not require object exploration, re-grasping, grasp-release, or force modulation and works for arbitrary object start positions and orientations. Due to these factors, the technique may be integrated into practical robotic grasping scenarios without adding time or manipulation overheads.

Grasping with mechanical intelligence. M.S. Thesis

Science.gov (United States)

Ulrich, Nathan Thatcher

1988-01-01

Many robotic hands have been designed and a number have been built. Because of the difficulty of controlling and using complex hands, which usually have nine or more degrees of freedom, the simple one- or two-degree-of-freedom gripper is still the most common robotic end effector. A new category of device is presented: a medium-complexity end effector. With three to five degrees of freedom, such a tool is much easier to control and use, as well as more economical, compact and lightweight than complex hands. In order to increase the versatility, it was necessary to identify grasping primitives and to implement them in the mechanism. In addition, power and enveloping grasps are stressed over fingertip and precision grasps. The design is based upon analysis of object apprehension types, requisite characteristics for active sensing, and a determination of necessary environmental interactions. Contained are the general concepts necessary to the design of a medium-complexity end effector, an analysis of typical performance, and a computer simulation of a grasp planning algorithm specific to this type of mechanism. Finally, some details concerning the UPenn Hand-a tool designed for the research laboratory-are presented.

Electromyographic Grasp Recognition for a Five Fingered Robotic Hand

Directory of Open Access Journals (Sweden)

Nayan M. Kakoty

2012-09-01

Full Text Available This paper presents classification of grasp types based on surface electromyographic signals. Classification is through radial basis function kernel support vector machine using sum of wavelet decomposition coefficients of the EMG signals. In a study involving six subjects, we achieved an average recognition rate of 86%. The electromyographic grasp recognition together with a 8-bit microcontroller has been employed to control a fivefingered robotic hand to emulate six grasp types used during 70% daily living activities.

Shaping of Reach-to-Grasp Kinematics by Intentions

DEFF Research Database (Denmark)

Egmose, Ida; Køppe, Simo

2017-01-01

is primarily associated with transporting the hand to the object (i.e., extrinsic object properties), the decelerating part of the reach is used as a preparation for object manipulation (i.e., prepare the grasp or the subsequent action), and the grasp is associated with manipulating the object's intrinsic...

Haptically Guided Grasping. fMRI Shows Right-Hemisphere Parietal Stimulus Encoding, and Bilateral Dorso-Ventral Parietal Gradients of Object- and Action-Related Processing during Grasp Execution.

Science.gov (United States)

Marangon, Mattia; Kubiak, Agnieszka; Króliczak, Gregory

2015-01-01

The neural bases of haptically-guided grasp planning and execution are largely unknown, especially for stimuli having no visual representations. Therefore, we used functional magnetic resonance imaging (fMRI) to monitor brain activity during haptic exploration of novel 3D complex objects, subsequent grasp planning, and the execution of the pre-planned grasps. Haptic object exploration, involving extraction of shape, orientation, and length of the to-be-grasped targets, was associated with the fronto-parietal, temporo-occipital, and insular cortex activity. Yet, only the anterior divisions of the posterior parietal cortex (PPC) of the right hemisphere were significantly more engaged in exploration of complex objects (vs. simple control disks). None of these regions were re-recruited during the planning phase. Even more surprisingly, the left-hemisphere intraparietal, temporal, and occipital areas that were significantly invoked for grasp planning did not show sensitivity to object features. Finally, grasp execution, involving the re-recruitment of the critical right-hemisphere PPC clusters, was also significantly associated with two kinds of bilateral parieto-frontal processes. The first represents transformations of grasp-relevant target features and is linked to the dorso-dorsal (lateral and medial) parieto-frontal networks. The second monitors grasp kinematics and belongs to the ventro-dorsal networks. Indeed, signal modulations associated with these distinct functions follow dorso-ventral gradients, with left aIPS showing significant sensitivity to both target features and the characteristics of the required grasp. Thus, our results from the haptic domain are consistent with the notion that the parietal processing for action guidance reflects primarily transformations from object-related to effector-related coding, and these mechanisms are rather independent of sensory input modality.

Robotic Hand with Flexible Fingers for Grasping Cylindrical Objects

OpenAIRE

柴田, 瑞穂

2015-01-01

In this manuscript, a robotic hand for grasping a cylindrical object is proposed. This robotic hand has flexible fingers that can hold a cylindrical object during moving. We introduce a grasping strategy for a cylindrical object in terms of state transition graph. In this strategy the robotic hand picks up the cylindrical object utilizing a suction device before the hand grasp the object. We also design the flexible fingers; then, we investigate the validity of this robotic hand via several e...

Differences in fixations between grasping and viewing objects

NARCIS (Netherlands)

Brouwer, A.M.; Franz, V.H.; Gegenfurtner, K.R.

2009-01-01

Where exactly do people look when they grasp an object? An object is usually contacted at two locations, whereas the gaze can only be at one location at the time. We investigated participants' fixation locations when they grasp objects with the contact positions of both index finger and thumb being

Writing forces associated with four pencil grasp patterns in grade 4 children.

Science.gov (United States)

Schwellnus, Heidi; Carnahan, Heather; Kushki, Azadeh; Polatajko, Helene; Missiuna, Cheryl; Chau, Tom

2013-01-01

OBJECTIVE. We investigated differences in handwriting kinetics, speed, and legibility among four pencil grasps after a 10-min copy task. METHOD. Seventy-four Grade 4 students completed a handwriting assessment before and after a copy task. Grip and axial forces were measured with an instrumented stylus and force-sensitive tablet. We used multiple linear regression to analyze the relationship between grasp pattern and grip and axial forces. RESULTS. We found no kinetic differences among grasps, whether considered individually or grouped by the number of fingers on the barrel. However, when grasps were grouped according to the thumb position, the adducted grasps exhibited higher mean grip and axial forces. CONCLUSION. Grip forces were generally similar across the different grasps. Kinetic differences resulting from thumb position seemed to have no bearing on speed and legibility. Interventions for handwriting difficulties should focus more on speed and letter formation than on grasp pattern. Copyright © 2013 by the American Occupational Therapy Association, Inc.

Posture of the arm when grasping spheres to place them elsewhere

NARCIS (Netherlands)

Schot, W.D.; Brenner, E.; Smeets, J.B.J.

2010-01-01

Despite the infinitely many ways to grasp a spherical object, regularities have been observed in the posture of the arm and the grasp orientation. In the present study, we set out to determine the factors that predict the grasp orientation and the final joint angles of reach-tograsp movements.

A novel device for grasping assessment during functional tasks: preliminary results

Directory of Open Access Journals (Sweden)

Ana Carolinne Portela Rocha

2016-02-01

Full Text Available This paper presents a methodology and first results obtained in a study with a novel device that allows the analysis of grasping quality. Such a device is able to acquire motion information of upper limbs allowing kinetic of manipulation analysis as well. A pilot experiment was carried out with six groups of typically developing children aged between 5 and 10 years old, with 7-8 children in each one. The device, designed to emulate a glass, has an optical system composed by one digital camera and a special convex mirror that together allow image acquisition of grasping hand posture when it is grasped and manipulated. It also carries an Inertial Measurement Unit (IMU that captures motion data as acceleration, orientation, and angular velocities. The novel instrumented object is used in our approach to evaluate functional tasks performance in quantitative terms. During tests each child was invited to grasp the cylindrical part of the device that was placed on the top of a table, simulating the task of drinking a glass of water. In the sequence the child was oriented to transport the device back to the starting position and release it. The task was repeated 3 times for each child. A grasping hand posture evaluation is presented as an example to evaluate grasping quality. Additionally, motion patterns obtained with the triasl performed with the different groups are presented and discussed. This device is attractive due to its portable characteristics, the small size and its ability to evaluate grasping form. The results may be also useful to analyze the evolution of the rehabilitation process through reach-to-grasping movement and the grasping images analysis.

Pantomime-grasping: Advance knowledge of haptic feedback availability supports an absolute visuo-haptic calibration

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Shirin eDavarpanah Jazi

2016-05-01

Full Text Available An emerging issue in movement neurosciences is whether haptic feedback influences the nature of the information supporting a simulated grasping response (i.e., pantomime-grasping. In particular, recent work by our group contrasted pantomime-grasping responses performed with (i.e., PH+ trials and without (i.e., PH- trials terminal haptic feedback in separate blocks of trials. Results showed that PH- trials were mediated via relative visual information. In contrast, PH+ trials showed evidence of an absolute visuo-haptic calibration – a finding attributed to an error signal derived from a comparison between expected and actual haptic feedback (i.e., an internal forward model. The present study examined whether advanced knowledge of haptic feedback availability influences the aforementioned calibration process. To that end, PH- and PH+ trials were completed in separate blocks (i.e., the feedback schedule used in our group’s previous study and a block wherein PH- and PH+ trials were randomly interleaved on a trial-by-trial basis (i.e., random feedback schedule. In other words, the random feedback schedule precluded participants from predicting whether haptic feedback would be available at the movement goal location. We computed just-noticeable-difference (JND values to determine whether responses adhered to, or violated, the relative psychophysical principles of Weber’s law. Results for the blocked feedback schedule replicated our group’s previous work, whereas in the random feedback schedule PH- and PH+ trials were supported via relative visual information. Accordingly, we propose that a priori knowledge of haptic feedback is necessary to support an absolute visuo-haptic calibration. Moreover, our results demonstrate that the presence and expectancy of haptic feedback is an important consideration in contrasting the behavioral and neural properties of natural and stimulated (i.e., pantomime-grasping grasping.

A Grasp-Pose Generation Method Based on Gaussian Mixture Models

Directory of Open Access Journals (Sweden)

Wenjia Wu

2015-11-01

Full Text Available A Gaussian Mixture Model (GMM-based grasp-pose generation method is proposed in this paper. Through offline training, the GMM is set up and used to depict the distribution of the robot's reachable orientations. By dividing the robot's workspace into small 3D voxels and training the GMM for each voxel, a look-up table covering all the workspace is built with the x, y and z positions as the index and the GMM as the entry. Through the definition of Task Space Regions (TSR, an object's feasible grasp poses are expressed as a continuous region. With the GMM, grasp poses can be preferentially sampled from regions with high reachability probabilities in the online grasp-planning stage. The GMM can also be used as a preliminary judgement of a grasp pose's reachability. Experiments on both a simulated and a real robot show the superiority of our method over the existing method.

Grasps Recognition and Evaluation of Stroke Patients for Supporting Rehabilitation Therapy

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Beatriz Leon

2014-01-01

Full Text Available Stroke survivors often suffer impairments on their wrist and hand. Robot-mediated rehabilitation techniques have been proposed as a way to enhance conventional therapy, based on intensive repeated movements. Amongst the set of activities of daily living, grasping is one of the most recurrent. Our aim is to incorporate the detection of grasps in the machine-mediated rehabilitation framework so that they can be incorporated into interactive therapeutic games. In this study, we developed and tested a method based on support vector machines for recognizing various grasp postures wearing a passive exoskeleton for hand and wrist rehabilitation after stroke. The experiment was conducted with ten healthy subjects and eight stroke patients performing the grasping gestures. The method was tested in terms of accuracy and robustness with respect to intersubjects’ variability and differences between different grasps. Our results show reliable recognition while also indicating that the recognition accuracy can be used to assess the patients’ ability to consistently repeat the gestures. Additionally, a grasp quality measure was proposed to measure the capabilities of the stroke patients to perform grasp postures in a similar way than healthy people. These two measures can be potentially used as complementary measures to other upper limb motion tests.

Collision-Avoidance Characteristics of Grasping. Early Signs in Hand and Arm Kinematics

NARCIS (Netherlands)

Lommertzen, J.; Costa e Silva, E.; Meulenbroek, R.G.J.

2009-01-01

Grasping an object successfully implies avoiding colliding into it before the hand is closed around the object. The present study focuses on prehension kinematics that typically reflect collision-avoidance characteristics of grasping movements. Twelve participants repeatedly grasped

Grasp movement decoding from premotor and parietal cortex.

Science.gov (United States)

Townsend, Benjamin R; Subasi, Erk; Scherberger, Hansjörg

2011-10-05

Despite recent advances in harnessing cortical motor-related activity to control computer cursors and robotic devices, the ability to decode and execute different grasping patterns remains a major obstacle. Here we demonstrate a simple Bayesian decoder for real-time classification of grip type and wrist orientation in macaque monkeys that uses higher-order planning signals from anterior intraparietal cortex (AIP) and ventral premotor cortex (area F5). Real-time decoding was based on multiunit signals, which had similar tuning properties to cells in previous single-unit recording studies. Maximum decoding accuracy for two grasp types (power and precision grip) and five wrist orientations was 63% (chance level, 10%). Analysis of decoder performance showed that grip type decoding was highly accurate (90.6%), with most errors occurring during orientation classification. In a subsequent off-line analysis, we found small but significant performance improvements (mean, 6.25 percentage points) when using an optimized spike-sorting method (superparamagnetic clustering). Furthermore, we observed significant differences in the contributions of F5 and AIP for grasp decoding, with F5 being better suited for classification of the grip type and AIP contributing more toward decoding of object orientation. However, optimum decoding performance was maximal when using neural activity simultaneously from both areas. Overall, these results highlight quantitative differences in the functional representation of grasp movements in AIP and F5 and represent a first step toward using these signals for developing functional neural interfaces for hand grasping.

Decoding Grasping Movements from the Parieto-Frontal Reaching Circuit in the Nonhuman Primate.

Science.gov (United States)

Nelissen, Koen; Fiave, Prosper Agbesi; Vanduffel, Wim

2018-04-01

Prehension movements typically include a reaching phase, guiding the hand toward the object, and a grip phase, shaping the hand around it. The dominant view posits that these components rely upon largely independent parieto-frontal circuits: a dorso-medial circuit involved in reaching and a dorso-lateral circuit involved in grasping. However, mounting evidence suggests a more complex arrangement, with dorso-medial areas contributing to both reaching and grasping. To investigate the role of the dorso-medial reaching circuit in grasping, we trained monkeys to reach-and-grasp different objects in the dark and determined if hand configurations could be decoded from functional magnetic resonance imaging (MRI) responses obtained from the reaching and grasping circuits. Indicative of their established role in grasping, object-specific grasp decoding was found in anterior intraparietal (AIP) area, inferior parietal lobule area PFG and ventral premotor region F5 of the lateral grasping circuit, and primary motor cortex. Importantly, the medial reaching circuit also conveyed robust grasp-specific information, as evidenced by significant decoding in parietal reach regions (particular V6A) and dorsal premotor region F2. These data support the proposed role of dorso-medial "reach" regions in controlling aspects of grasping and demonstrate the value of complementing univariate with more sensitive multivariate analyses of functional MRI (fMRI) data in uncovering information coding in the brain.

The contributions of vision and haptics to reaching and grasping

Directory of Open Access Journals (Sweden)

Kayla Dawn Stone

2015-09-01

Full Text Available This review aims to provide a comprehensive outlook on the sensory (visual and haptic contributions to reaching and grasping. The focus is on studies in developing children, normal and neuropsychological populations, and in sensory-deprived individuals. Studies have suggested a right-hand/left-hemisphere specialization for visually-guided grasping and a left-hand/right-hemisphere specialization for haptically-guided object recognition. This poses the interesting possibility that when vision is not available and grasping relies heavily on the haptic system, there is an advantage to use the left hand. We review the evidence for this possibility and dissect the unique contributions of the visual and haptic systems to grasping. We ultimately discuss how the integration of these two sensory modalities shape hand preference.

The magic grasp: motor expertise in deception.

Directory of Open Access Journals (Sweden)

Cristiana Cavina-Pratesi

2011-02-01

Full Text Available Most of us are poor at faking actions. Kinematic studies have shown that when pretending to pick up imagined objects (pantomimed actions, we move and shape our hands quite differently from when grasping real ones. These differences between real and pantomimed actions have been linked to separate brain pathways specialized for different kinds of visuomotor guidance. Yet professional magicians regularly use pantomimed actions to deceive audiences.In this study, we tested whether, despite their skill, magicians might still show kinematic differences between grasping actions made toward real versus imagined objects. We found that their pantomimed actions in fact closely resembled real grasps when the object was visible (but displaced (Experiment 1, but failed to do so when the object was absent (Experiment 2.We suggest that although the occipito-parietal visuomotor system in the dorsal stream is designed to guide goal-directed actions, prolonged practice may enable it to calibrate actions based on visual inputs displaced from the action.

ESTIMATION OF GRASPING TORQUE USING ROBUST REACTION TORQUE OBSERVER FOR ROBOTIC FORCEPS

OpenAIRE

塚本, 祐介

2015-01-01

Abstract— In this paper, the estimation of the grasping torque of robotic forceps without the use of a force/torque sensor is discussed. To estimate the grasping torque when the robotic forceps driven by a rotary motor with a reduction gear grasps an object, a novel robust reaction torque observer is proposed. In the case where a conventional reaction force/torque observer is applied, the estimated torque includes not only the grasping torque, namely the reaction torque, but also t...

Grasp planning for a reconfigurable parallel robot with an underactuated arm structure

Directory of Open Access Journals (Sweden)

M. Riedel

2010-12-01

Full Text Available In this paper, a novel approach of grasp planning is applied to find out the appropriate grasp points for a reconfigurable parallel robot called PARAGRIP (Parallel Gripping. This new handling system is able to manipulate objects in the six-dimensional Cartesian space by several robotic arms using only six actuated joints. After grasping, the contact elements at the end of the underactuated arm mechanisms are connected to the object which forms a closed loop mechanism similar to the architecture of parallel manipulators. As the mounting and grasp points of the arms can easily be changed, the manipulator can be reconfigured to match the user's preferences and needs. This paper raises the question, how and where these grasp points are to be placed on the object to perform well for a certain manipulation task.

This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

A fingertip force prediction model for grasp patterns characterised from the chaotic behaviour of EEG.

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Roy, Rinku; Sikdar, Debdeep; Mahadevappa, Manjunatha; Kumar, C S

2018-05-19

A stable grasp is attained through appropriate hand preshaping and precise fingertip forces. Here, we have proposed a method to decode grasp patterns from motor imagery and subsequent fingertip force estimation model with a slippage avoidance strategy. We have developed a feature-based classification of electroencephalography (EEG) associated with imagination of the grasping postures. Chaotic behaviour of EEG for different grasping patterns has been utilised to capture the dynamics of associated motor activities. We have computed correlation dimension (CD) as the feature and classified with "one against one" multiclass support vector machine (SVM) to discriminate between different grasping patterns. The result of the analysis showed varying classification accuracies at different subband levels. Broad categories of grasping patterns, namely, power grasp and precision grasp, were classified at a 96.0% accuracy rate in the alpha subband. Furthermore, power grasp subtypes were classified with an accuracy of 97.2% in the upper beta subband, whereas precision grasp subtypes showed relatively lower 75.0% accuracy in the alpha subband. Following assessment of fingertip force distributions while grasping, a nonlinear autoregressive (NAR) model with proper prediction of fingertip forces was proposed for each grasp pattern. A slippage detection strategy has been incorporated with automatic recalibration of the regripping force. Intention of each grasp pattern associated with corresponding fingertip force model was virtualised in this work. This integrated system can be utilised as the control strategy for prosthetic hand in the future. The model to virtualise motor imagery based fingertip force prediction with inherent slippage correction for different grasp types ᅟ.

Slow angled-descent forepaw grasping (SLAG): an innate behavioral task for identification of individual experimental mice possessing functional vision.

Science.gov (United States)

Gil-Pagés, Macarena; Stiles, Robert J; Parks, Christopher A; Neier, Steven C; Radulovic, Maja; Oliveros, Alfredo; Ferrer, Alejandro; Reed, Brendan K; Wilton, Katelynn M; Schrum, Adam G

2013-08-23

There is significant interest in the generation of improved assays to clearly identify experimental mice possessing functional vision, a property that could qualify mice for inclusion in behavioral and neuroscience studies. Widely employed current methods rely on mouse responses to visual cues in assays of reflexes, depth perception, or cognitive memory. However, commonly assessed mouse reflexes can sometimes be ambiguous in their expression, while depth perception assays are sometimes confounded by variation in anxiety responses and exploratory conduct. Furthermore, in situations where experimental groups vary in their cognitive memory capacity, memory assays may not be ideal for assessing differences in vision. We have optimized a non-invasive behavioral assay that relies on an untrained, innate response to identify individual experimental mice possessing functional vision: slow angled-descent forepaw grasping (SLAG). First, we verified that SLAG performance depends on vision and not olfaction. Next, all members of an age-ranged cohort of 158 C57BL/6 mice (57 wild-type, 101 knockout, age range 44-241 days) were assessed for functional vision using the SLAG test without training or conditioning. Subjecting the population to a second innate behavioral test, Dark Chamber preference, corroborated that the functional vision assessment of SLAG was valid. We propose that the SLAG assay is immediately useful to quickly and clearly identify experimental mice possessing functional vision. SLAG is based on a behavioral readout with a significant innate component with no requirement for training. This will facilitate the selection of mice of known sighted status in vision-dependent experiments that focus on other types of behavior, neuroscience, and/or cognitive memory.

Limited Fine Motor and Grasping Skills in Six-month-old Infants at High Risk for Autism

Science.gov (United States)

Libertus, Klaus; Sheperd, Kelly A.; Ross, Samuel W.; Landa, Rebecca J.

2014-01-01

Atypical motor behaviors are common among children with Autism Spectrum Disorders (ASD). However, little is known about onset and functional implications of differences in early motor development among infants later diagnosed with ASD. Two prospective experiments were conducted to investigate motor skills among six-month-olds at increased risk (high-risk) for ASD (N1 = 129; N2 = 46). Infants were assessed using the Mullen Scales of Early Learning (MSEL) and during toy play. Across both experiments, high-risk infants exhibited less mature object manipulation in a highly structured (MSEL) context and reduced grasping activity in an unstructured (free play) context than infants with no family history of ASD. Longitudinal assessments suggest that between six and ten months, grasping activity increases in high-risk infants. PMID:24978128

An electromyographic analysis of two handwriting grasp patterns.

Science.gov (United States)

de Almeida, Pedro Henrique Tavares Queiroz; da Cruz, Daniel Marinho Cezar; Magna, Luis Alberto; Ferrigno, Iracema Serrat Vergotti

2013-08-01

Handwriting is a fundamental skill needed for the development of daily-life activities during lifetime and can be performed using different forms to hold the writing object. In this study, we monitored the sEMG activity of trapezius, biceps brachii, extensor carpi radialis brevis and flexor digitorum superficialis during a handwriting task with two groups of subjects using different grasp patterns. Twenty-four university students (thirteen males and eleven females; mean age of 22.04±2.8years) were included in this study. We randomly invited 12 subjects that used the Dynamic Tripod grasp and 12 subjects that used the Static Tripod grasp. The static tripod group showed statistically significant changes in the sEMG activity of trapezium and biceps brachii muscles during handwriting when compared to dynamic tripod group's subjects. No significant differences were found in extensor carpi radialis brevis and flexor digitorum superficialis activities among the two groups. The findings in this study suggest an increased activity of proximal muscles among subjects using a transitional grasp, indicating potential higher energy expenditure and muscular harm with the maintenance of this motor pattern in handwriting tasks, especially during the progression in academic life. Copyright © 2013 Elsevier Ltd. All rights reserved.

Immediate movement history influences reach-to-grasp action selection in children and adults.

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Kent, Samuel W; Wilson, Andrew D; Plumb, Mandy S; Williams, Justin H G; Mon-Williams, Mark

2009-01-01

Action selection is subject to many biases. Immediate movement history is one such bias seen in young infants. Is this bias strong enough to affect adult behavior? Adult participants reached and grasped a cylinder positioned to require either pronation or supination of the hand. Successive cylinder positions changed either randomly or systematically between trials. Random positioning led to optimized economy of movement. In contrast, systematic changes in position biased action selection toward previously selected actions at the expense of movement economy. Thus, one switches to a new movement only when the savings outweigh the costs of the switch. Immediate movement history had an even larger influence on children aged 7-15 years. This suggests that switching costs are greater in children, which is consistent with their reduced grasping experience. The presence of this effect in adults suggests that immediate movement history exerts a more widespread and pervasive influence on patterns of action selection than researchers had previously recognized.

Stereo vision based automated grasp planning

International Nuclear Information System (INIS)

Wilhelmsen, K.; Huber, L.; Silva, D.; Grasz, E.; Cadapan, L.

1995-02-01

The Department of Energy has a need for treating existing nuclear waste. Hazardous waste stored in old warehouses needs to be sorted and treated to meet environmental regulations. Lawrence Livermore National Laboratory is currently experimenting with automated manipulations of unknown objects for sorting, treating, and detailed inspection. To accomplish these tasks, three existing technologies were expanded to meet the increasing requirements. First, a binocular vision range sensor was combined with a surface modeling system to make virtual images of unknown objects. Then, using the surface model information, stable grasp of the unknown shaped objects were planned algorithmically utilizing a limited set of robotic grippers. This paper is an expansion of previous work and will discuss the grasp planning algorithm

Integration of human behavior expectations in training: human behavior simulator

International Nuclear Information System (INIS)

Obeso Torices, E.

2012-01-01

The analysis of operating experience in nuclear Sta Maria de Garona point to fundamental human factor. After evaluation of the Peer Review, reinforcing behavior expectations was identified as improvement area. The human behavior simulator aims at minimizing human error. Making teamwork practices ensures that the equipment itself reinforces their behavior and performance in the work of the Central. The scope of practice to perform on the simulator includes all phases of execution. The team should analyze the best way to run, the impact of it on the ground and interaction with other sections, being the simulator training environment the situation closer to reality.

Force coordination in static manipulation tasks performed using standard and non-standard grasping techniques.

Science.gov (United States)

de Freitas, Paulo B; Jaric, Slobodan

2009-04-01

We evaluated coordination of the hand grip force (GF; normal component of the force acting at the hand-object contact area) and load force (LF; the tangential component) in a variety of grasping techniques and two LF directions. Thirteen participants exerted a continuous sinusoidal LF pattern against externally fixed handles applying both standard (i.e., using either the tips of the digits or the palms; the precision and palm grasps, respectively) and non-standard grasping techniques (using wrists and the dorsal finger areas; the wrist and fist grasp). We hypothesized (1) that the non-standard grasping techniques would provide deteriorated indices of force coordination when compared with the standard ones, and (2) that the nervous system would be able to adjust GF to the differences in friction coefficients of various skin areas used for grasping. However, most of the indices of force coordination remained similar across the tested grasping techniques, while the GF adjustments for the differences in friction coefficients (highest in the palm and the lowest in the fist and wrist grasp) provided inconclusive results. As hypothesized, GF relative to the skin friction was lowest in the precision grasp, but highest in the palm grasp. Therefore, we conclude that (1) the elaborate coordination of GF and LF consistently seen across the standard grasping techniques could be generalized to the non-standard ones, while (2) the ability to adjust GF using the same grasping technique to the differences in friction of various objects cannot be fully generalized to the GF adjustment when different grasps (i.e., hand segments) are used to manipulate the same object. Due to the importance of the studied phenomena for understanding both the functional and neural control aspects of manipulation, future studies should extend the current research to the transient and dynamic tasks, as well as to the general role of friction in our mechanical interactions with the environment.

Toward autonomous avian-inspired grasping for micro aerial vehicles

International Nuclear Information System (INIS)

Thomas, Justin; Loianno, Giuseppe; Polin, Joseph; Kumar, Vijay; Sreenath, Koushil

2014-01-01

Micro aerial vehicles, particularly quadrotors, have been used in a wide range of applications. However, the literature on aerial manipulation and grasping is limited and the work is based on quasi-static models. In this paper, we draw inspiration from agile, fast-moving birds such as raptors, that are able to capture moving prey on the ground or in water, and develop similar capabilities for quadrotors. We address dynamic grasping, an approach to prehensile grasping in which the dynamics of the robot and its gripper are significant and must be explicitly modeled and controlled for successful execution. Dynamic grasping is relevant for fast pick-and-place operations, transportation and delivery of objects, and placing or retrieving sensors. We show how this capability can be realized (a) using a motion capture system and (b) without external sensors relying only on onboard sensors. In both cases we describe the dynamic model, and trajectory planning and control algorithms. In particular, we present a methodology for flying and grasping a cylindrical object using feedback from a monocular camera and an inertial measurement unit onboard the aerial robot. This is accomplished by mapping the dynamics of the quadrotor to a level virtual image plane, which in turn enables dynamically-feasible trajectory planning for image features in the image space, and a vision-based controller with guaranteed convergence properties. We also present experimental results obtained with a quadrotor equipped with an articulated gripper to illustrate both approaches. (papers)

Kinematic characteristics of tenodesis grasp in C6 quadriplegia.

Science.gov (United States)

Mateo, S; Revol, P; Fourtassi, M; Rossetti, Y; Collet, C; Rode, G

2013-02-01

Descriptive control case study. To analyze the kinematics of tenodesis grasp in participants with C6 quadriplegia and healthy control participants in a pointing task and two daily life tasks involving a whole hand grip (apple) or a lateral grip (floppy disk). France. Four complete participants with C6 quadriplegia were age matched with four healthy control participants. All participants were right-handed. The measured kinematic parameters were the movement time (MT), the peak velocity (PV), the time of PV (TPV) and the wrist angle in the sagittal plane at movement onset, at the TPV and at the movement end point. The participants with C6 quadriplegia had significantly longer MTs in both prehension tasks. No significant differences in TPV were found between the two groups. Unlike control participants, for both prehension tasks the wrist of participants with C6 quadriplegia was in a neutral position at movement onset, in flexion at the TPV, and in extension at the movement end point. Two main kinematic parameters characterize tenodesis grasp movements in C6 quadriplegics: wrist flexion during reaching and wrist extension during the grasping phase, and increased MT reflecting the time required to adjust the wrist's position to achieve the tenodesis grasp. These characteristics were observed for two different grips (whole hand and lateral grip). These results suggest sequential planning of reaching and tenodesis grasp, and should be taken into account for prehension rehabilitation in patients with quadriplegia.

Toward autonomous avian-inspired grasping for micro aerial vehicles.

Science.gov (United States)

Thomas, Justin; Loianno, Giuseppe; Polin, Joseph; Sreenath, Koushil; Kumar, Vijay

2014-06-01

Micro aerial vehicles, particularly quadrotors, have been used in a wide range of applications. However, the literature on aerial manipulation and grasping is limited and the work is based on quasi-static models. In this paper, we draw inspiration from agile, fast-moving birds such as raptors, that are able to capture moving prey on the ground or in water, and develop similar capabilities for quadrotors. We address dynamic grasping, an approach to prehensile grasping in which the dynamics of the robot and its gripper are significant and must be explicitly modeled and controlled for successful execution. Dynamic grasping is relevant for fast pick-and-place operations, transportation and delivery of objects, and placing or retrieving sensors. We show how this capability can be realized (a) using a motion capture system and (b) without external sensors relying only on onboard sensors. In both cases we describe the dynamic model, and trajectory planning and control algorithms. In particular, we present a methodology for flying and grasping a cylindrical object using feedback from a monocular camera and an inertial measurement unit onboard the aerial robot. This is accomplished by mapping the dynamics of the quadrotor to a level virtual image plane, which in turn enables dynamically-feasible trajectory planning for image features in the image space, and a vision-based controller with guaranteed convergence properties. We also present experimental results obtained with a quadrotor equipped with an articulated gripper to illustrate both approaches.

A novel algorithm for fast grasping of unknown objects using C-shape configuration

Science.gov (United States)

Lei, Qujiang; Chen, Guangming; Meijer, Jonathan; Wisse, Martijn

2018-02-01

Increasing grasping efficiency is very important for the robots to grasp unknown objects especially subjected to unfamiliar environments. To achieve this, a new algorithm is proposed based on the C-shape configuration. Specifically, the geometric model of the used under-actuated gripper is approximated as a C-shape. To obtain an appropriate graspable position, this C-shape configuration is applied to fit geometric model of an unknown object. The geometric model of unknown object is constructed by using a single-view partial point cloud. To examine the algorithm using simulations, a comparison of the commonly used motion planners is made. The motion planner with the highest number of solved runs, lowest computing time and the shortest path length is chosen to execute grasps found by this grasping algorithm. The simulation results demonstrate that excellent grasping efficiency is achieved by adopting our algorithm. To validate this algorithm, experiment tests are carried out using a UR5 robot arm and an under-actuated gripper. The experimental results show that steady grasping actions are obtained. Hence, this research provides a novel algorithm for fast grasping of unknown objects.

GRASP55 Senses Glucose Deprivation through O-GlcNAcylation to Promote Autophagosome-Lysosome Fusion.

Science.gov (United States)

Zhang, Xiaoyan; Wang, Leibin; Lak, Behnam; Li, Jie; Jokitalo, Eija; Wang, Yanzhuang

2018-04-23

The Golgi apparatus is the central hub for protein trafficking and glycosylation in the secretory pathway. However, how the Golgi responds to glucose deprivation is so far unknown. Here, we report that GRASP55, the Golgi stacking protein located in medial- and trans-Golgi cisternae, is O-GlcNAcylated by the O-GlcNAc transferase OGT under growth conditions. Glucose deprivation reduces GRASP55 O-GlcNAcylation. De-O-GlcNAcylated GRASP55 forms puncta outside of the Golgi area, which co-localize with autophagosomes and late endosomes/lysosomes. GRASP55 depletion reduces autophagic flux and results in autophagosome accumulation, while expression of an O-GlcNAcylation-deficient mutant of GRASP55 accelerates autophagic flux. Biochemically, GRASP55 interacts with LC3-II on the autophagosomes and LAMP2 on late endosomes/lysosomes and functions as a bridge between LC3-II and LAMP2 for autophagosome and lysosome fusion; this function is negatively regulated by GRASP55 O-GlcNAcylation. Therefore, GRASP55 senses glucose levels through O-GlcNAcylation and acts as a tether to facilitate autophagosome maturation. Copyright © 2018 Elsevier Inc. All rights reserved.

Software for relativistic atomic structure theory: The grasp project at oxford

International Nuclear Information System (INIS)

Parpia, F.A.; Grant, I.P.

1991-01-01

GRASP is an acronym for General-purpose Relativistic Atomic Structure Program. The objective of the GRASP project at Oxford is to produce user-friendly state-of-the-art multiconfiguration Dirac-Fock (MCDF) software packages for rleativistic atomic structure theory

Simulating human behavior for national security human interactions.

Energy Technology Data Exchange (ETDEWEB)

Bernard, Michael Lewis; Hart, Dereck H.; Verzi, Stephen J.; Glickman, Matthew R.; Wolfenbarger, Paul R.; Xavier, Patrick Gordon

2007-01-01

This 3-year research and development effort focused on what we believe is a significant technical gap in existing modeling and simulation capabilities: the representation of plausible human cognition and behaviors within a dynamic, simulated environment. Specifically, the intent of the ''Simulating Human Behavior for National Security Human Interactions'' project was to demonstrate initial simulated human modeling capability that realistically represents intra- and inter-group interaction behaviors between simulated humans and human-controlled avatars as they respond to their environment. Significant process was made towards simulating human behaviors through the development of a framework that produces realistic characteristics and movement. The simulated humans were created from models designed to be psychologically plausible by being based on robust psychological research and theory. Progress was also made towards enhancing Sandia National Laboratories existing cognitive models to support culturally plausible behaviors that are important in representing group interactions. These models were implemented in the modular, interoperable, and commercially supported Umbra{reg_sign} simulation framework.

Grasping convergent evolution in syngnathids: a unique tale of tails

Science.gov (United States)

Neutens, C; Adriaens, D; Christiaens, J; De Kegel, B; Dierick, M; Boistel, R; Van Hoorebeke, L

2014-01-01

Seahorses and pipehorses both possess a prehensile tail, a unique characteristic among teleost fishes, allowing them to grasp and hold onto substrates such as sea grasses. Although studies have focused on tail grasping, the pattern of evolutionary transformations that made this possible is poorly understood. Recent phylogenetic studies show that the prehensile tail evolved independently in different syngnathid lineages, including seahorses, Haliichthys taeniophorus and several types of so-called pipehorses. This study explores the pattern that characterizes this convergent evolution towards a prehensile tail, by comparing the caudal musculoskeletal organization, as well as passive bending capacities in pipefish (representing the ancestral state), pipehorse, seahorse and H. taeniophorus. To study the complex musculoskeletal morphology, histological sectioning, μCT-scanning and phase contrast synchrotron scanning were combined with virtual 3D-reconstructions. Results suggest that the independent evolution towards tail grasping in syngnathids reflects at least two quite different strategies in which the ancestral condition of a heavy plated and rigid system became modified into a highly flexible one. Intermediate skeletal morphologies (between the ancestral condition and seahorses) could be found in the pygmy pipehorses and H. taeniophorus, which are phylogenetically closely affiliated with seahorses. This study suggests that the characteristic parallel myoseptal organization as already described in seahorse (compared with a conical organization in pipefish and pipehorse) may not be a necessity for grasping, but represents an apomorphy for seahorses, as this pattern is not found in other syngnathid species possessing a prehensile tail. One could suggest that the functionality of grasping evolved before the specialized, parallel myoseptal organization seen in seahorses. However, as the grasping system in pipehorses is a totally different one, this cannot be

Patterns of muscle activity underlying object-specific grasp by the macaque monkey.

Science.gov (United States)

Brochier, T; Spinks, R L; Umilta, M A; Lemon, R N

2004-09-01

During object grasp, a coordinated activation of distal muscles is required to shape the hand in relation to the physical properties of the object. Despite the fundamental importance of the grasping action, little is known of the muscular activation patterns that allow objects of different sizes and shapes to be grasped. In a study of two adult macaque monkeys, we investigated whether we could distinguish between EMG activation patterns associated with grasp of 12 differently shaped objects, chosen to evoke a wide range of grasping postures. Each object was mounted on a horizontal shuttle held by a weak spring (load force 1-2 N). Objects were located in separate sectors of a "carousel," and inter-trial rotation of the carousel allowed sequential presentation of the objects in pseudorandom order. EMG activity from 10 to 12 digit, hand, and arm muscles was recorded using chronically implanted electrodes. We show that the grasp of different objects was characterized by complex but distinctive patterns of EMG activation. Cluster analysis shows that these object-related EMG patterns were specific and consistent enough to identify the object unequivocally from the EMG recordings alone. EMG-based object identification required a minimum of six EMGs from simultaneously recorded muscles. EMG patterns were consistent across recording sessions in a given monkey but showed some differences between animals. These results identify the specific patterns of activity required to achieve distinct hand postures for grasping, and they open the way to our understanding of how these patterns are generated by the central motor network.

Sequential phosphorylation of GRASP65 during mitotic Golgi disassembly

Directory of Open Access Journals (Sweden)

Danming Tang

2012-09-01

GRASP65 phosphorylation during mitosis and dephosphorylation after mitosis are required for Golgi disassembly and reassembly during the cell cycle. At least eight phosphorylation sites on GRASP65 have been identified, but whether they are modified in a coordinated fashion during mitosis is so far unknown. In this study, we raised phospho-specific antibodies that recognize phosphorylated T220/T224, S277 and S376 residues of GRASP65, respectively. Biochemical analysis showed that cdc2 phosphorylates all three sites, while plk1 enhances the phosphorylation. Microscopic studies using these antibodies for double and triple labeling demonstrate sequential phosphorylation and dephosphorylation during the cell cycle. S277 and S376 are phosphorylated from late G2 phase through metaphase until telophase when the new Golgi is reassembled. T220/224 is not modified until prophase, but is highly modified from prometaphase to anaphase. In metaphase, phospho-T220/224 signal localizes on both Golgi haze and mitotic Golgi clusters that represent dispersed Golgi vesicles and Golgi remnants, respectively, while phospho-S277 and S376 labeling is more concentrated on mitotic Golgi clusters. Expression of a phosphorylation-resistant GRASP65 mutant T220A/T224A inhibited mitotic Golgi fragmentation to a much larger extent than the expression of the S277A and S376A mutants. In cytokinesis, T220/224 dephosphorylation occurs prior to that of S277, but after S376. This study provides evidence that GRASP65 is sequentially phosphorylated and dephosphorylated during mitosis at different sites to orchestrate Golgi disassembly and reassembly during cell division, with phosphorylation of the T220/224 site being most critical in the process.

Application of a sensor fusion algorithm for improving grasping stability

Energy Technology Data Exchange (ETDEWEB)

Kim, Jae Hyeon; Yoon, Hyun Suck; Moon, Hyung Pil; Choi, Hyouk Ryeol; Koo Ja Choon [Sungkyunkwan University, Suwon (Korea, Republic of)

2015-07-15

A robot hand normally employees various sensors that are packaged in small form factor, perform with delicately accurate, and cost mostly very expensive. Grasping operation of the hand relies especially on accuracy of those sensors. Even with a set of advanced sensory systems embedded in a robot hand, securing a stable grasping is still challenging task. The present work makes an attempt to improve force sensor accuracy by applying sensor fusion method. An optimal weight value sensor fusion method formulated with Kalman filters is presented and tested in the work. Using a set of inexpensive sensors, the work achieves a reliable force sensing and applies the enhanced sensor stability to an object pinch grasping.

Application of a sensor fusion algorithm for improving grasping stability

International Nuclear Information System (INIS)

Kim, Jae Hyeon; Yoon, Hyun Suck; Moon, Hyung Pil; Choi, Hyouk Ryeol; Koo Ja Choon

2015-01-01

A robot hand normally employees various sensors that are packaged in small form factor, perform with delicately accurate, and cost mostly very expensive. Grasping operation of the hand relies especially on accuracy of those sensors. Even with a set of advanced sensory systems embedded in a robot hand, securing a stable grasping is still challenging task. The present work makes an attempt to improve force sensor accuracy by applying sensor fusion method. An optimal weight value sensor fusion method formulated with Kalman filters is presented and tested in the work. Using a set of inexpensive sensors, the work achieves a reliable force sensing and applies the enhanced sensor stability to an object pinch grasping.

Improvement and Neuroplasticity after Combined Rehabilitation to Forced Grasping

Directory of Open Access Journals (Sweden)

Michiko Arima

2017-01-01

Full Text Available The grasp reflex is a distressing symptom but the need to treat or suppress it has rarely been discussed in the literature. We report the case of a 17-year-old man who had suffered cerebral infarction of the right putamen and temporal lobe 10 years previously. Forced grasping of the hemiparetic left upper limb was improved after a unique combined treatment. Botulinum toxin type A (BTX-A was first injected into the left biceps, wrist flexor muscles, and finger flexor muscles. Forced grasping was reduced along with spasticity of the upper limb. In addition, repetitive facilitative exercise and object-related training were performed under low-amplitude continuous neuromuscular electrical stimulation. Since this 2-week treatment improved upper limb function, we compared brain activities, as measured by near-infrared spectroscopy during finger pinching, before and after the combined treatment. Brain activities in the ipsilesional sensorimotor cortex (SMC and medial frontal cortex (MFC during pinching under electrical stimulation after treatment were greater than those before. The results suggest that training under electrical stimulation after BTX-A treatment may modulate the activities of the ipsilesional SMC and MFC and lead to functional improvement of the affected upper limb with forced grasping.

Virtual Control of Prosthetic Hand Based on Grasping Patterns and Estimated Force from Semg

Directory of Open Access Journals (Sweden)

Zhu Gao-Ke

2016-01-01

Full Text Available Myoelectric prosthetic hands aim to serve upper limb amputees. The myoelectric control of the hand grasp action is a kind of real-time or online method. Thus it is of great necessity to carry on a study of online prosthetic hand electrical control. In this paper, the strategy of simultaneous EMG decoding of grasping patterns and grasping force was realized by controlling a virtual multi-degree-freedom prosthetic hand and a real one-degree-freedom prosthetic hand simultaneously. The former realized the grasping patterns from the recognition of the sEMG pattern. The other implemented the grasping force from sEMG force decoding. The results show that the control method is effective and feasible.

Brain Function Overlaps When People Observe Emblems, Speech, and Grasping

Science.gov (United States)

Andric, Michael; Solodkin, Ana; Buccino, Giovanni; Goldin-Meadow, Susan; Rizzolatti, Giacomo; Small, Steven L.

2013-01-01

A hand grasping a cup or gesturing ‘thumbs-up’, while both manual actions, have different purposes and effects. Grasping directly affects the cup, whereas gesturing ‘thumbs-up’ has an effect through an implied verbal (symbolic) meaning. Because grasping and emblematic gestures (‘emblems’) are both goal-oriented hand actions, we pursued the hypothesis that observing each should evoke similar activity in neural regions implicated in processing goal-oriented hand actions. However, because emblems express symbolic meaning, observing them should also evoke activity in regions implicated in interpreting meaning, which is most commonly expressed in language. Using fMRI to test this hypothesis, we had participants watch videos of an actor performing emblems, speaking utterances matched in meaning to the emblems, and grasping objects. Our results show that lateral temporal and inferior frontal regions respond to symbolic meaning, even when it is expressed by a single hand action. In particular, we found that left inferior frontal and right lateral temporal regions are strongly engaged when people observe either emblems or speech. In contrast, we also replicate and extend previous work that implicates parietal and premotor responses in observing goal-oriented hand actions. For hand actions, we found that bilateral parietal and premotor regions are strongly engaged when people observe either emblems or grasping. These findings thus characterize converging brain responses to shared features (e.g., symbolic or manual), despite their encoding and presentation in different stimulus modalities. PMID:23583968

Brain function overlaps when people observe emblems, speech, and grasping.

Science.gov (United States)

Andric, Michael; Solodkin, Ana; Buccino, Giovanni; Goldin-Meadow, Susan; Rizzolatti, Giacomo; Small, Steven L

2013-07-01

A hand grasping a cup or gesturing "thumbs-up", while both manual actions, have different purposes and effects. Grasping directly affects the cup, whereas gesturing "thumbs-up" has an effect through an implied verbal (symbolic) meaning. Because grasping and emblematic gestures ("emblems") are both goal-oriented hand actions, we pursued the hypothesis that observing each should evoke similar activity in neural regions implicated in processing goal-oriented hand actions. However, because emblems express symbolic meaning, observing them should also evoke activity in regions implicated in interpreting meaning, which is most commonly expressed in language. Using fMRI to test this hypothesis, we had participants watch videos of an actor performing emblems, speaking utterances matched in meaning to the emblems, and grasping objects. Our results show that lateral temporal and inferior frontal regions respond to symbolic meaning, even when it is expressed by a single hand action. In particular, we found that left inferior frontal and right lateral temporal regions are strongly engaged when people observe either emblems or speech. In contrast, we also replicate and extend previous work that implicates parietal and premotor responses in observing goal-oriented hand actions. For hand actions, we found that bilateral parietal and premotor regions are strongly engaged when people observe either emblems or grasping. These findings thus characterize converging brain responses to shared features (e.g., symbolic or manual), despite their encoding and presentation in different stimulus modalities. Copyright © 2013 Elsevier Ltd. All rights reserved.

An Introduction of Behavior-Based Safety Program in Nuclear Power Plants

International Nuclear Information System (INIS)

Lee, Yong Hee; Lim, Hyeon Kyo

2011-01-01

There are many methods and approaches for a human error assessment that is valuable for investigating the causes of undesirable events and counter-plans to prevent their recurrence in the nuclear power plants (NPPs). There is behavior-based safety refers to the process of using a proactive approach to safety and health management. It either focuses on risk of behaviors that can lead to an injury, or on safe behaviors that can contribute to injury prevention. Early applications of behavior based safety included the construction and manufacturing industries, but today behavior based safety is applied to a wide variety of industries and service lines. This behavior based safety program can offer a set of significant human error countermeasures to be considered for human error in NPPs as well as other fields of industry. The current methods for the human error prevention in NPPs are several techniques such as Self-Check, Peer Check, Concurrent Verification, 3-way Communication, etc. However, it is not enough to grasp the whole human error problems in operations because the things are needed in fields are a behavior technique not a simple knowledge. Therefore, we applied a behavior based safety program on the current methods

Continuous grasp algorithm applied to economic dispatch problem of thermal units

Energy Technology Data Exchange (ETDEWEB)

Vianna Neto, Julio Xavier [Pontifical Catholic University of Parana - PUCPR, Curitiba, PR (Brazil). Undergraduate Program at Mechatronics Engineering; Bernert, Diego Luis de Andrade; Coelho, Leandro dos Santos [Pontifical Catholic University of Parana - PUCPR, Curitiba, PR (Brazil). Industrial and Systems Engineering Graduate Program, LAS/PPGEPS], e-mail: leandro.coelho@pucpr.br

2010-07-01

The economic dispatch problem (EDP) is one of the fundamental issues in power systems to obtain benefits with the stability, reliability and security. Its objective is to allocate the power demand among committed generators in the most economical manner, while all physical and operational constraints are satisfied. The cost of power generation, particularly in fossil fuel plants, is very high and economic dispatch helps in saving a significant amount of revenue. Recently, as an alternative to the conventional mathematical approaches, modern heuristic optimization techniques such as simulated annealing, evolutionary algorithms, neural networks, ant colony, and tabu search have been given much attention by many researchers due to their ability to find an almost global optimal solution in EDPs. On other hand, continuous GRASP (C-GRASP) is a stochastic local search meta-heuristic for finding cost-efficient solutions to continuous global optimization problems subject to box constraints. Like a greedy randomized adaptive search procedure (GRASP), a C-GRASP is a multi-start procedure where a starting solution for local improvement is constructed in a greedy randomized fashion. The C-GRASP algorithm is validated for a test system consisting of fifteen units, test system that takes into account spinning reserve and prohibited operating zones constrains. (author)

Responses of mirror neurons in area F5 to hand and tool grasping observation

Science.gov (United States)

Rochat, Magali J.; Caruana, Fausto; Jezzini, Ahmad; Escola, Ludovic; Intskirveli, Irakli; Grammont, Franck; Gallese, Vittorio; Rizzolatti, Giacomo

2010-01-01

Mirror neurons are a distinct class of neurons that discharge both during the execution of a motor act and during observation of the same or similar motor act performed by another individual. However, the extent to which mirror neurons coding a motor act with a specific goal (e.g., grasping) might also respond to the observation of a motor act having the same goal, but achieved with artificial effectors, is not yet established. In the present study, we addressed this issue by recording mirror neurons from the ventral premotor cortex (area F5) of two monkeys trained to grasp objects with pliers. Neuron activity was recorded during the observation and execution of grasping performed with the hand, with pliers and during observation of an experimenter spearing food with a stick. The results showed that virtually all neurons responding to the observation of hand grasping also responded to the observation of grasping with pliers and, many of them to the observation of spearing with a stick. However, the intensity and pattern of the response differed among conditions. Hand grasping observation determined the earliest and the strongest discharge, while pliers grasping and spearing observation triggered weaker responses at longer latencies. We conclude that F5 grasping mirror neurons respond to the observation of a family of stimuli leading to the same goal. However, the response pattern depends upon the similarity between the observed motor act and the one executed by the hand, the natural motor template. PMID:20577726

Development of Reaching and Grasping skills in infants with Down syndrome

NARCIS (Netherlands)

de Campos, A.C.; Rocha, N.A.C.F.; Savelsbergh, G.J.P.

2010-01-01

Reaching and grasping skills have been described to emerge from a dynamic interaction between intrinsic and extrinsic factors. The aims of the study were to investigate the effect of such intrinsic factors as age and Down syndrome on the development of reaching and grasping skills and on overall

Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems

Directory of Open Access Journals (Sweden)

Tao Liu

2017-02-01

Full Text Available Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments.

Statistical Identification of Composed Visual Features Indicating High Likelihood of Grasp Success

DEFF Research Database (Denmark)

Thomsen, Mikkel Tang; Bodenhagen, Leon; Krüger, Norbert

2013-01-01

configurations of three 3D surface features that predict grasping actions with a high success probability. The strategy is based on first computing spatial relations between visual entities and secondly, exploring the cross-space of these relational feature space and grasping actions. The data foundation...... for identifying such indicative feature constellations is generated in a simulated environment wherein visual features are extracted and a large amount of grasping actions are evaluated through dynamic simulation. Based on the identified feature constellations, we validate by applying the acquired knowledge...

Limited fine motor and grasping skills in 6-month-old infants at high risk for autism.

Science.gov (United States)

Libertus, Klaus; Sheperd, Kelly A; Ross, Samuel W; Landa, Rebecca J

2014-01-01

Atypical motor behaviors are common among children with autism spectrum disorders (ASD). However, little is known about onset and functional implications of differences in early motor development among infants later diagnosed with ASD. Two prospective experiments were conducted to investigate motor skills among 6-month-olds at increased risk (high risk) for ASD (N1  = 129; N2  = 46). Infants were assessed using the Mullen Scales of Early Learning (MSEL) and during toy play. Across both experiments, high-risk infants exhibited less mature object manipulation in a highly structured (MSEL) context and reduced grasping activity in an unstructured (free-play) context than infants with no family history of ASD. Longitudinal assessments suggest that between 6 and 10 months, grasping activity increases in high-risk infants. © 2014 The Authors. Child Development © 2014 Society for Research in Child Development, Inc.

Manipulation of Unknown Objects to Improve the Grasp Quality Using Tactile Information.

Science.gov (United States)

Montaño, Andrés; Suárez, Raúl

2018-05-03

This work presents a novel and simple approach in the area of manipulation of unknown objects considering both geometric and mechanical constraints of the robotic hand. Starting with an initial blind grasp, our method improves the grasp quality through manipulation considering the three common goals of the manipulation process: improving the hand configuration, the grasp quality and the object positioning, and, at the same time, prevents the object from falling. Tactile feedback is used to obtain local information of the contacts between the fingertips and the object, and no additional exteroceptive feedback sources are considered in the approach. The main novelty of this work lies in the fact that the grasp optimization is performed on-line as a reactive procedure using the tactile and kinematic information obtained during the manipulation. Experimental results are shown to illustrate the efficiency of the approach.

Robust Robot Grasp Detection in Multimodal Fusion

Directory of Open Access Journals (Sweden)

Zhang Qiang

2017-01-01

Full Text Available Accurate robot grasp detection for model free objects plays an important role in robotics. With the development of RGB-D sensors, object perception technology has made great progress. Reach feature expression by the colour and the depth data is a critical problem that needs to be addressed in order to accomplish the grasping task. To solve the problem of data fusion, this paper proposes a convolutional neural networks (CNN based approach combined with regression and classification. In the CNN model, the colour and the depth modal data are deeply fused together to achieve accurate feature expression. Additionally, Welsch function is introduced into the approach to enhance robustness of the training process. Experiment results demonstrates the superiority of the proposed method.

Are we real when we fake? Attunement to object weight in natural and pantomimed grasping movements

Directory of Open Access Journals (Sweden)

Caterina Ansuini

2016-09-01

Full Text Available Behavioural and neuropsychological studies suggest that real actions and pantomimed actions tap, at least in part, different neural systems. Inspired by studies showing weight-attunement in real grasps, here we asked whether (and to what extent kinematics of pantomimed reach-to-grasp movement can reveal the weight of the pretended target. To address this question, we instructed participants (n =15 either to grasp or pretend to grasp towards two differently weighted objects, i.e., a light object and heavy object. Using linear discriminant analysis, we then proceeded to classify the weight of the target – either real or pretended – on the basis of the recorded movement patterns. Classification analysis revealed that pantomimed reach-to-grasp movements retained information about object weight, although to a lesser extent than real grasp movements. These results are discussed in relation to the mechanisms underlying the control of real and pantomimed grasping movements.

Grasping completions: Towards a new paradigm

NARCIS (Netherlands)

Lommertzen, J.; Meulenbroek, R.G.J.; Lier, R.J. van

2006-01-01

We studied contextual effects of amodal completion in both a primed-matching task, and a grasping task in a within-subjects design with twenty-nine participants. Stimuli were partly occluded cylindrical objects that could have indentations (or protrusions) at regular intervals along the contour. The

Motivational state, reward value, and Pavlovian cues differentially affect skilled forelimb grasping in rats

Science.gov (United States)

de Clauser, Larissa; Kasper, Hansjörg; Schwab, Martin E.

2016-01-01

Motor skills represent high-precision movements performed at optimal speed and accuracy. Such motor skills are learned with practice over time. Besides practice, effects of motivation have also been shown to influence speed and accuracy of movements, suggesting that fast movements are performed to maximize gained reward over time as noted in previous studies. In rodents, skilled motor performance has been successfully modeled with the skilled grasping task, in which animals use their forepaw to grasp for sugar pellet rewards through a narrow window. Using sugar pellets, the skilled grasping task is inherently tied to motivation processes. In the present study, we performed three experiments modulating animals’ motivation during skilled grasping by changing the motivational state, presenting different reward value ratios, and displaying Pavlovian stimuli. We found in all three studies that motivation affected the speed of skilled grasping movements, with the strongest effects seen due to motivational state and reward value. Furthermore, accuracy of the movement, measured in success rate, showed a strong dependence on motivational state as well. Pavlovian cues had only minor effects on skilled grasping, but results indicate an inverse Pavlovian-instrumental transfer effect on movement speed. These findings have broad implications considering the increasing use of skilled grasping in studies of motor system structure, function, and recovery after injuries. PMID:27194796

Modelling the shape hierarchy for visually guided grasping

Directory of Open Access Journals (Sweden)

Omid eRezai

2014-10-01

Full Text Available The monkey anterior intraparietal area (AIP encodes visual information about three-dimensional object shape that is used to shape the hand for grasping. We modelled shape tuning in visual AIP neurons and its relationship with curvature and gradient information from the caudal intraparietal area (CIP. The main goal was to gain insight into the kinds of shape parameterizations that can account for AIP tuning and that are consistent with both the inputs to AIP and the role of AIP in grasping. We first experimented with superquadric shape parameters. We considered superquadrics because they occupy a role in robotics that is similar to AIP, in that superquadric fits are derived from visual input and used for grasp planning. We also experimented with an alternative shape parameterization that was based on an Isomap dimension reduction of spatial derivatives of depth (i.e. distance from the observer to the object surface. We considered an Isomap-based model because its parameters lacked discontinuities between similar shapes. When we matched the dimension of the Isomap to the number of superquadric parameters, the superquadric model fit the AIP data somewhat more closely. However, higher-dimensional Isomaps provided excellent fits. Also, we found that the Isomap parameters could be approximated much more accurately than superquadric parameters by feedforward neural networks with CIP-like inputs. We conclude that Isomaps, or perhaps alternative dimension reductions of visual inputs to AIP, provide a promising model of AIP electrophysiology data. However (in contrast with superquadrics further work is needed to test whether such shape parameterizations actually provide an effective basis for grasp control.

Multisession, noninvasive closed-loop neuroprosthetic control of grasping by upper limb amputees.

Science.gov (United States)

Agashe, H A; Paek, A Y; Contreras-Vidal, J L

2016-01-01

Upper limb amputation results in a severe reduction in the quality of life of affected individuals due to their inability to easily perform activities of daily living. Brain-machine interfaces (BMIs) that translate grasping intent from the brain's neural activity into prosthetic control may increase the level of natural control currently available in myoelectric prostheses. Current BMI techniques demonstrate accurate arm position and single degree-of-freedom grasp control but are invasive and require daily recalibration. In this study we tested if transradial amputees (A1 and A2) could control grasp preshaping in a prosthetic device using a noninvasive electroencephalography (EEG)-based closed-loop BMI system. Participants attempted to grasp presented objects by controlling two grasping synergies, in 12 sessions performed over 5 weeks. Prior to closed-loop control, the first six sessions included a decoder calibration phase using action observation by the participants; thereafter, the decoder was fixed to examine neuroprosthetic performance in the absence of decoder recalibration. Ability of participants to control the prosthetic was measured by the success rate of grasping; ie, the percentage of trials within a session in which presented objects were successfully grasped. Participant A1 maintained a steady success rate (63±3%) across sessions (significantly above chance [41±5%] for 11 sessions). Participant A2, who was under the influence of pharmacological treatment for depression, hormone imbalance, pain management (for phantom pain as well as shoulder joint inflammation), and drug dependence, achieved a success rate of 32±2% across sessions (significantly above chance [27±5%] in only two sessions). EEG signal quality was stable across sessions, but the decoders created during the first six sessions showed variation, indicating EEG features relevant to decoding at a smaller timescale (100ms) may not be stable. Overall, our results show that (a) an EEG

Capacity of small groups of muscles to accomplish precision grasping tasks.

Science.gov (United States)

Towles, Joseph D; Valero-Cuevas, Francisco J; Hentz, Vincent R

2013-01-01

An understanding of the capacity or ability of various muscle groups to generate endpoint forces that enable grasping tasks could provide a stronger biomechanical basis for the design of reconstructive surgery or rehabilitation for the treatment of the paralyzed or paretic hand. We quantified two-dimensional endpoint force distributions for every combination of the muscles of the index finger, in cadaveric specimens, to understand the capability of muscle groups to produce endpoint forces that accomplish three common types of grasps-tripod, tip and lateral pinch-characterized by a representative level of Coulomb friction. We found that muscle groups of 4 or fewer muscles were capable of generating endpoint forces that enabled performance of each of the grasping tasks examined. We also found that flexor muscles were crucial to accomplish tripod pinch; intrinsic muscles, tip pinch; and the dorsal interosseus muscle, lateral pinch. The results of this study provide a basis for decision making in the design of reconstructive surgeries and rehabilitation approaches that attempt to restore the ability to perform grasping tasks with small groups of muscles.

A soft-contact model for computing safety margins in human prehension.

Science.gov (United States)

Singh, Tarkeshwar; Ambike, Satyajit

2017-10-01

The soft human digit tip forms contact with grasped objects over a finite area and applies a moment about an axis normal to the area. These moments are important for ensuring stability during precision grasping. However, the contribution of these moments to grasp stability is rarely investigated in prehension studies. The more popular hard-contact model assumes that the digits exert a force vector but no free moment on the grasped object. Many sensorimotor studies use this model and show that humans estimate friction coefficients to scale the normal force to grasp objects stably, i.e. the smoother the surface, the tighter the grasp. The difference between the applied normal force and the minimal normal force needed to prevent slipping is called safety margin and this index is widely used as a measure of grasp planning. Here, we define and quantify safety margin using a more realistic contact model that allows digits to apply both forces and moments. Specifically, we adapt a soft-contact model from robotics and demonstrate that the safety margin thus computed is a more accurate and robust index of grasp planning than its hard-contact variant. Previously, we have used the soft-contact model to propose two indices of grasp planning that show how humans account for the shape and inertial properties of an object. A soft-contact based safety margin offers complementary insights by quantifying how humans may account for surface properties of the object and skin tissue during grasp planning and execution. Copyright © 2017 Elsevier B.V. All rights reserved.

Humanism vs. Behaviorism

Science.gov (United States)

Hunter, Madeline

1977-01-01

Author argues that humanism and behaviorism are not necessarily exclusive of one another, and that principles of behaviorism, when thoughtfully applied, can lead to the achievement of humanistic goals. (RW)

Gaze anchoring guides real but not pantomime reach-to-grasp: support for the action-perception theory.

Science.gov (United States)

Kuntz, Jessica R; Karl, Jenni M; Doan, Jon B; Whishaw, Ian Q

2018-04-01

Reach-to-grasp movements feature the integration of a reach directed by the extrinsic (location) features of a target and a grasp directed by the intrinsic (size, shape) features of a target. The action-perception theory suggests that integration and scaling of a reach-to-grasp movement, including its trajectory and the concurrent digit shaping, are features that depend upon online action pathways of the dorsal visuomotor stream. Scaling is much less accurate for a pantomime reach-to-grasp movement, a pretend reach with the target object absent. Thus, the action-perception theory proposes that pantomime movement is mediated by perceptual pathways of the ventral visuomotor stream. A distinguishing visual feature of a real reach-to-grasp movement is gaze anchoring, in which a participant visually fixates the target throughout the reach and disengages, often by blinking or looking away/averting the head, at about the time that the target is grasped. The present study examined whether gaze anchoring is associated with pantomime reaching. The eye and hand movements of participants were recorded as they reached for a ball of one of three sizes, located on a pedestal at arms' length, or pantomimed the same reach with the ball and pedestal absent. The kinematic measures for real reach-to-grasp movements were coupled to the location and size of the target, whereas the kinematic measures for pantomime reach-to-grasp, although grossly reflecting target features, were significantly altered. Gaze anchoring was also tightly coupled to the target for real reach-to-grasp movements, but there was no systematic focus for gaze, either in relation with the virtual target, the previous location of the target, or the participant's reaching hand, for pantomime reach-to-grasp. The presence of gaze anchoring during real vs. its absence in pantomime reach-to-grasp supports the action-perception theory that real, but not pantomime, reaches are online visuomotor actions and is discussed in

Software engineering capability for Ada (GRASP/Ada Tool)

Science.gov (United States)

Cross, James H., II

1995-01-01

The GRASP/Ada project (Graphical Representations of Algorithms, Structures, and Processes for Ada) has successfully created and prototyped a new algorithmic level graphical representation for Ada software, the Control Structure Diagram (CSD). The primary impetus for creation of the CSD was to improve the comprehension efficiency of Ada software and, as a result, improve reliability and reduce costs. The emphasis has been on the automatic generation of the CSD from Ada PDL or source code to support reverse engineering and maintenance. The CSD has the potential to replace traditional prettyprinted Ada Source code. A new Motif compliant graphical user interface has been developed for the GRASP/Ada prototype.

Development of Reaching and Grasping Skills in Infants with Down Syndrome

Science.gov (United States)

de Campos, Ana Carolina; Rocha, Nelci Adriana Cicuto Ferreira; Savelsbergh, Geert J. P.

2010-01-01

Reaching and grasping skills have been described to emerge from a dynamic interaction between intrinsic and extrinsic factors. The aims of the study were to investigate the effect of such intrinsic factors as age and Down syndrome on the development of reaching and grasping skills and on overall gross motor skill, and to test the influence of the…

Classification of right-hand grasp movement based on EMOTIV Epoc+

Science.gov (United States)

Tobing, T. A. M. L.; Prawito, Wijaya, S. K.

2017-07-01

Combinations of BCT elements for right-hand grasp movement have been obtained, providing the average value of their classification accuracy. The aim of this study is to find a suitable combination for best classification accuracy of right-hand grasp movement based on EEG headset, EMOTIV Epoc+. There are three movement classifications: grasping hand, relax, and opening hand. These classifications take advantage of Event-Related Desynchronization (ERD) phenomenon that makes it possible to differ relaxation, imagery, and movement state from each other. The combinations of elements are the usage of Independent Component Analysis (ICA), spectrum analysis by Fast Fourier Transform (FFT), maximum mu and beta power with their frequency as features, and also classifier Probabilistic Neural Network (PNN) and Radial Basis Function (RBF). The average values of classification accuracy are ± 83% for training and ± 57% for testing. To have a better understanding of the signal quality recorded by EMOTIV Epoc+, the result of classification accuracy of left or right-hand grasping movement EEG signal (provided by Physionet) also be given, i.e.± 85% for training and ± 70% for testing. The comparison of accuracy value from each combination, experiment condition, and external EEG data are provided for the purpose of value analysis of classification accuracy.

Optimal grasp planning for a dexterous robotic hand using the volume of a generalized force ellipsoid during accepted flattening

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Peng Jia

2017-01-01

Full Text Available A grasp planning method based on the volume and flattening of a generalized force ellipsoid is proposed to improve the grasping ability of a dexterous robotic hand. First, according to the general solution of joint torques for a dexterous robotic hand, a grasping indicator for the dexterous hand—the maximum volume of a generalized external force ellipsoid and the minimum volume of a generalized contact internal force ellipsoid during accepted flattening—is proposed. Second, an optimal grasp planning method based on a task is established using the grasping indicator as an objective function. Finally, a simulation analysis and grasping experiment are performed. Results show that when the grasping experiment is conducted with the grasping configuration and positions of contact points optimized using the proposed grasping indicator, the root-mean-square values of the joint torques and contact internal forces of the dexterous hand are at a minimum. The effectiveness of the proposed grasping planning method is thus demonstrated.

How Weight Affects the Perceived Spacing between the Thumb and Fingers during Grasping.

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Annie A Butler

Full Text Available We know much about mechanisms determining the perceived size and weight of lifted objects, but little about how these properties of size and weight affect the body representation (e.g. grasp aperture of the hand. Without vision, subjects (n = 16 estimated spacing between fingers and thumb (perceived grasp aperture while lifting canisters of the same width (6.6cm but varied weights (300, 600, 900, and 1200 g. Lifts were performed by movement of either the wrist, elbow or shoulder to examine whether lifting with different muscle groups affects the judgement of grasp aperture. Results for perceived grasp aperture were compared with changes in perceived weight of objects of different sizes (5.2, 6.6, and 10 cm but the same weight (600 g. When canisters of the same width but different weights were lifted, perceived grasp aperture decreased 4.8% [2.2 ‒ 7.4] (mean [95% CI]; P < 0.001 from the lightest to the heaviest canister, no matter how they were lifted. For objects of the same weight but different widths, perceived weight decreased 42.3% [38.2 ‒ 46.4] from narrowest to widest (P < 0.001, as expected from the size-weight illusion. Thus, despite a highly distorted perception of the weight of objects based on their size, we conclude that proprioceptive afferents maintain a reasonably stable perception of the aperture of the grasping hand over a wide range of object weights. Given the small magnitude of this 'weight-grasp aperture' illusion, we propose the brain has access to a relatively stable 'perceptual ruler' to aid the manipulation of different objects.

Grip type and task goal modify reach-to-grasp performance in post-stroke hemiparesis

Science.gov (United States)

Schaefer, Sydney Y.; DeJong, Stacey L.; Cherry, Kendra M.; Lang, Catherine E.

2011-01-01

This study investigated whether grip type and/or task goal influenced reaching and grasping performance in post-stroke hemiparesis. Sixteen adults with post-stroke hemiparesis and twelve healthy adults reached to and grasped a cylindrical object using one of two grip types (3-finger or palmar) to achieve one of two task goals (hold or lift). Performance of the stroke group was characteristic of hemiparetic limb movement during reach-to-grasp, with more curved handpaths and slower velocities compared to the control group. These effects were present regardless of grip type or task goal. Other measures of reaching (reach time and reach velocity at object contact) and grasping (peak thumb-index finger aperture during the reach and peak grip force during the grasp) were differentially affected by grip type, task goal, or both, despite the presence of hemiparesis, providing new evidence that changes in motor patterns after stroke may occur to compensate for stroke-related motor impairment. PMID:22357103

Grip type and task goal modify reach-to-grasp performance in post-stroke hemiparesis.

Science.gov (United States)

Schaefer, Sydney Y; DeJong, Stacey L; Cherry, Kendra M; Lang, Catherine E

2012-04-01

This study investigated whether grip type and/or task goal influenced reaching and grasping performance in poststroke hemiparesis. Sixteen adults with poststroke hemiparesis and twelve healthy adults reached to and grasped a cylindrical object using one of two grip types (3-finger or palmar) to achieve one of two task goals (hold or lift). Performance of the stroke group was characteristic of hemiparetic limb movement during reach-to-grasp, with more curved handpaths and slower velocities compared with the control group. These effects were present regardless of grip type or task goal. Other measures of reaching (reach time and reach velocity at object contact) and grasping (peak thumb-index finger aperture during the reach and peak grip force during the grasp) were differentially affected by grip type, task goal, or both, despite the presence of hemiparesis, providing new evidence that changes in motor patterns after stroke may occur to compensate for stroke-related motor impairment.

An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping

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Cabbar Veysel Baysal

2010-11-01

Full Text Available This paper presents a novel Intelligent Inference System (IIS for the determination of an optimum preshape for multifingered robot hand grasping, given object under a manipulation task. The IIS is formed as hybrid agent architecture, by the synthesis of object properties, manipulation task characteristics, grasp space partitioning, lowlevel kinematical analysis, evaluation of contact wrench patterns via fuzzy approximate reasoning and ANN structure for incremental learning. The IIS is implemented in software with a robot hand simulation.

Bimanual reach to grasp movements after cervical spinal cord injury.

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Laura Britten

Full Text Available Injury to the cervical spinal cord results in bilateral deficits in arm/hand function reducing functional independence and quality of life. To date little research has been undertaken to investigate control strategies of arm/hand movements following cervical spinal cord injury (cSCI. This study aimed to investigate unimanual and bimanual coordination in patients with acute cSCI using 3D kinematic analysis as they performed naturalistic reach to grasp actions with one hand, or with both hands together (symmetrical task, and compare this to the movement patterns of uninjured younger and older adults. Eighteen adults with a cSCI (mean 61.61 years with lesions at C4-C8, with an American Spinal Injury Association (ASIA grade B to D and 16 uninjured younger adults (mean 23.68 years and sixteen uninjured older adults (mean 70.92 years were recruited. Participants with a cSCI produced reach-to-grasp actions which took longer, were slower, and had longer deceleration phases than uninjured participants. These differences were exacerbated during bimanual reach-to-grasp tasks. Maximal grasp aperture was no different between groups, but reached earlier by people with cSCI. Participants with a cSCI were less synchronous than younger and older adults but all groups used the deceleration phase for error correction to end the movement in a synchronous fashion. Overall, this study suggests that after cSCI a level of bimanual coordination is retained. While there seems to be a greater reliance on feedback to produce both the reach to grasp, we observed minimal disruption of the more impaired limb on the less impaired limb. This suggests that bimanual movements should be integrated into therapy.

A Strategy for Grasping unknown Objects based on Co-Planarity and Colour Information

DEFF Research Database (Denmark)

Popovic, Mila; Kraft, Dirk; Bodenhagen, Leon

2010-01-01

with a reasonable success rate in rather complex environments (i.e., cluttered scenes with multiple objects). Moreover, we have embedded the algorithm within a cognitive system that allows for autonomous exploration and learning in different contexts. First, the system is able to perform long action sequences which......, although the grasping attempts not being always successful, can recover from mistakes and more importantly, is able to evaluate the success of the grasps autonomously by haptic feedback (i.e., by a force torque sensor at the wrist and proprioceptive information about the distance of the gripper after...... a gasping attempt). Such labelled data is then used for improving the initially hard-wired algorithm by learning. Moreover, the grasping behaviour has been used in a cognitive system to trigger higher level processes such as object learning and learning of object specific grasping....

Genes, Environment, and Human Behavior.

Science.gov (United States)

Bloom, Mark V.; Cutter, Mary Ann; Davidson, Ronald; Dougherty, Michael J.; Drexler, Edward; Gelernter, Joel; McCullough, Laurence B.; McInerney, Joseph D.; Murray, Jeffrey C.; Vogler, George P.; Zola, John

This curriculum module explores genes, environment, and human behavior. This book provides materials to teach about the nature and methods of studying human behavior, raise some of the ethical and public policy dilemmas emerging from the Human Genome Project, and provide professional development for teachers. An extensive Teacher Background…

Electrotactile feedback improves performance and facilitates learning in the routine grasping task

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Milica Isaković

2016-06-01

Full Text Available Aim of this study was to investigate the feasibility of electrotactile feedback in closed loop training of force control during the routine grasping task. The feedback was provided using an array electrode and a simple six-level spatial coding, and the experiment was conducted in three amputee subjects. The psychometric tests confirmed that the subjects could perceive and interpret the electrotactile feedback with a high success rate. The subjects performed the routine grasping task comprising 4 blocks of 60 grasping trials. In each trial, the subjects employed feedforward control to close the hand and produce the desired grasping force (four levels. First (baseline and the last (validation session were performed in open loop, while the second and the third session (training included electrotactile feedback. The obtained results confirmed that using the feedback improved the accuracy and precision of the force control. In addition, the subjects performed significantly better in the validation vs. baseline session, therefore suggesting that electrotactile feedback can be used for learning and training of myoelectric control.

Electrotactile Feedback Improves Performance and Facilitates Learning in the Routine Grasping Task.

Science.gov (United States)

Isaković, Milica; Belić, Minja; Štrbac, Matija; Popović, Igor; Došen, Strahinja; Farina, Dario; Keller, Thierry

2016-06-13

Aim of this study was to investigate the feasibility of electrotactile feedback in closed loop training of force control during the routine grasping task. The feedback was provided using an array electrode and a simple six-level spatial coding, and the experiment was conducted in three amputee subjects. The psychometric tests confirmed that the subjects could perceive and interpret the electrotactile feedback with a high success rate. The subjects performed the routine grasping task comprising 4 blocks of 60 grasping trials. In each trial, the subjects employed feedforward control to close the hand and produce the desired grasping force (four levels). First (baseline) and the last (validation) session were performed in open loop, while the second and the third session (training) included electrotactile feedback. The obtained results confirmed that using the feedback improved the accuracy and precision of the force control. In addition, the subjects performed significantly better in the validation vs. baseline session, therefore suggesting that electrotactile feedback can be used for learning and training of myoelectric control.

TRANSGENIC STRATEGY FOR IDENTIFYING SYNAPTIC CONNECTIONS IN MICE BY FLUORESCENCE COMPLEMENTATION (GRASP

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Masahito eYamagata

2012-02-01

Full Text Available In the "GFP reconstitution across synaptic partners" (GRASP method, non-fluorescent fragments of GFP are expressed in two different neurons; the fragments self-assemble at synapses between the two to form a fluorophore. GRASP has proven useful for light microscopic identification of synapses in two invertebrate species, Caenorhabditis elegans and Drosophila melanogaster, but has not yet been applied to vertebrates. Here, we describe GRASP constructs that function in mammalian cells and implement a transgenic strategy in which a Cre-dependent gene switch leads to expression of the two fragments in mutually exclusive neuronal subsets in mice. Using a transgenic line that expresses Cre selectively in rod photoreceptors, we demonstrate labeling of synapses in the outer plexiform layer of the retina. Labeling is specific, in that synapses made by rods remain labeled for at least 6 months whereas nearby synapses made by intercalated cone photoreceptors on many of the same interneurons remain unlabeled. We also generated antisera that label reconstituted GFP but neither fragment in order to amplify the GRASP signal and thereby increase the sensitivity of the method.

Exploration of Hand Grasp Patterns Elicitable Through Non-Invasive Proximal Nerve Stimulation.

Science.gov (United States)

Shin, Henry; Watkins, Zach; Hu, Xiaogang

2017-11-29

Various neurological conditions, such as stroke or spinal cord injury, result in an impaired control of the hand. One method of restoring this impairment is through functional electrical stimulation (FES). However, traditional FES techniques often lead to quick fatigue and unnatural ballistic movements. In this study, we sought to explore the capabilities of a non-invasive proximal nerve stimulation technique in eliciting various hand grasp patterns. The ulnar and median nerves proximal to the elbow joint were activated transcutanously using a programmable stimulator, and the resultant finger flexion joint angles were recorded using a motion capture system. The individual finger motions averaged across the three joints were analyzed using a cluster analysis, in order to classify the different hand grasp patterns. With low current intensity (grasp patterns including single finger movement and coordinated multi-finger movements. This study provides initial evidence on the feasibility of a proximal nerve stimulation technique in controlling a variety of finger movements and grasp patterns. Our approach could also be developed into a rehabilitative/assistive tool that can result in flexible movements of the fingers.

GRASP2: visualization, surface properties, and electrostatics of macromolecular structures and sequences.

Science.gov (United States)

Petrey, Donald; Honig, Barry

2003-01-01

The widespread use of the original version of GRASP revealed the importance of the visualization of physicochemical and structural properties on the molecular surface. This chapter describes a new version of GRASP that contains many new capabilities. In terms of analysis tools, the most notable new features are sequence and structure analysis and alignment tools and the graphical integration of sequence and structural information. Not all the new GRASP2 could be described here and more capabilities are continually being added. An on-line manual, details on obtaining the software, and technical notes about the program and the Troll software library can be found at the Honig laboratory Web site (http://trantor.bioc.columbia.edu).

Impaired anticipatory control of grasp during obstacle crossing in Parkinson's disease.

Science.gov (United States)

McIsaac, Tara L; Diermayr, Gudrun; Albert, Frederic

2012-05-16

During self-paced walking, people with Parkinson's disease maintain anticipatory control during object grasping. However, common functional tasks often include carrying an object while changing step patterns mid-path and maneuvering over obstacles, increasing task complexity and attentional demands. Thus, the present study investigated the effect of Parkinson's disease on the modulation of grasping force changes as a function of gait-related inertial forces. Subjects with Parkinson's disease maintained the ability to scale and to couple over time their grip and inertial forces while walking at irregular step lengths, but were unable to maintain the temporal coupling of grasping forces compared to controls during obstacle crossing. We suggest that this deterioration in anticipatory control is associated with the increased demands of task complexity and attention during obstacle crossing. Copyright © 2012 Elsevier Ireland Ltd. All rights reserved.

A circular feature-based pose measurement method for metal part grasping

International Nuclear Information System (INIS)

Wu, Chenrui; He, Zaixing; Zhang, Shuyou; Zhao, Xinyue

2017-01-01

The grasping of circular metal parts such as bearings and flanges is a common task in industry. Limited by low texture and repeated features, the point-feature-based method is not applicable in pose measurement of these parts. In this paper, we propose a novel pose measurement method for grasping circular metal parts. This method is based on cone degradation and involves a monocular camera. To achieve higher measurement accuracy, a position-based visual servoing method is presented to continuously control an eye-in-hand, six-degrees-of-freedom robot arm to grasp the part. The uncertainty of the part’s coordinate frame during the control process is solved by defining a fixed virtual coordinate frame. Experimental results are provided to illustrate the effectiveness of the proposed method and the factors that affect measurement accuracy are analyzed. (paper)

Closed-loop control of grasping with a myoelectric hand prosthesis: which are the relevant feedback variables for force control?

Science.gov (United States)

Ninu, Andrei; Dosen, Strahinja; Muceli, Silvia; Rattay, Frank; Dietl, Hans; Farina, Dario

2014-09-01

In closed-loop control of grasping by hand prostheses, the feedback information sent to the user is usually the actual controlled variable, i.e., the grasp force. Although this choice is intuitive and logical, the force production is only the last step in the process of grasping. Therefore, this study evaluated the performance in controlling grasp strength using a hand prosthesis operated through a complete grasping sequence while varying the feedback variables (e.g., closing velocity, grasping force), which were provided to the user visually or through vibrotactile stimulation. The experiments were conducted on 13 volunteers who controlled the Otto Bock Sensor Hand Speed prosthesis. Results showed that vibrotactile patterns were able to replace the visual feedback. Interestingly, the experiments demonstrated that direct force feedback was not essential for the control of grasping force. The subjects were indeed able to control the grip strength, predictively, by estimating the grasping force from the prosthesis velocity of closing. Therefore, grasping without explicit force feedback is not completely blind, contrary to what is usually assumed. In our study we analyzed grasping with a specific prosthetic device, but the outcomes are also applicable for other devices, with one or more degrees-of-freedom. The necessary condition is that the electromyography (EMG) signal directly and proportionally controls the velocity/grasp force of the hand, which is a common approach among EMG controlled prosthetic devices. The results provide important indications on the design of closed-loop EMG controlled prosthetic systems.

Preschool children adapt grasping movements to upcoming object manipulations: Evidence from a dial rotation task.

Science.gov (United States)

Herbort, Oliver; Büschelberger, Juliane; Janczyk, Markus

2018-03-01

In adults, the motor plans for object-directed grasping movements reflects the anticipated requirements of intended future object manipulations. This prospective mode of planning has been termed second-order planning. Surprisingly, second-order planning is thought to be fully developed only by 10 years of age, when children master seemingly more complex motor skills. In this study, we tested the hypothesis that already 5- and 6-year-old children consistently use second-order planning but that this ability does not become apparent in tasks that are traditionally used to probe it. We asked 5- and 6-year-olds and adults to grasp and rotate a circular dial in a clockwise or counterclockwise direction. Although children's grasp selections were less consistent on an intra- and inter-individual level than adults' grasp selections, all children adjusted their grasps to the upcoming dial rotations. By contrast, in an also administered bar rotation task, only a subset of children adjusted their grasps to different bar rotations, thereby replicating previous results. The results indicate that 5- and 6-year-olds consistently use second-order planning in a dial rotation task, although this ability does not become apparent in bar rotation tasks. Copyright © 2017 Elsevier Inc. All rights reserved.

Concatenation of observed grasp phases with observer's distal movements: a behavioural and TMS study.

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Elisa De Stefani

Full Text Available The present study aimed at determining how actions executed by two conspecifics can be coordinated with each other, or more specifically, how the observation of different phases of a reaching-grasping action is temporary related to the execution of a movement of the observer. Participants observed postures of initial finger opening, maximal finger aperture, and final finger closing of grasp after observation of an initial hand posture. Then, they opened or closed their right thumb and index finger (experiments 1, 2 and 3. Response times decreased, whereas acceleration and velocity of actual finger movements increased when observing the two late phases of grasp. In addition, the results ruled out the possibility that this effect was due to salience of the visual stimulus when the hand was close to the target and confirmed an effect of even hand postures in addition to hand apparent motion due to the succession of initial hand posture and grasp phase. In experiments 4 and 5, the observation of grasp phases modulated even foot movements and pronunciation of syllables. Finally, in experiment 6, transcranial magnetic stimulation applied to primary motor cortex 300 ms post-stimulus induced an increase in hand motor evoked potentials of opponens pollicis muscle when observing the two late phases of grasp. These data suggest that the observation of grasp phases induced simulation which was stronger during observation of finger closing. This produced shorter response times, greater acceleration and velocity of the successive movement. In general, our data suggest best concatenation between two movements (one observed and the other executed when the observed (and simulated movement was to be accomplished. The mechanism joining the observation of a conspecific's action with our own movement may be precursor of social functions. It may be at the basis for interactions between conspecifics, and related to communication between individuals.

Concatenation of observed grasp phases with observer's distal movements: a behavioural and TMS study.

Science.gov (United States)

De Stefani, Elisa; Innocenti, Alessandro; De Marco, Doriana; Gentilucci, Maurizio

2013-01-01

The present study aimed at determining how actions executed by two conspecifics can be coordinated with each other, or more specifically, how the observation of different phases of a reaching-grasping action is temporary related to the execution of a movement of the observer. Participants observed postures of initial finger opening, maximal finger aperture, and final finger closing of grasp after observation of an initial hand posture. Then, they opened or closed their right thumb and index finger (experiments 1, 2 and 3). Response times decreased, whereas acceleration and velocity of actual finger movements increased when observing the two late phases of grasp. In addition, the results ruled out the possibility that this effect was due to salience of the visual stimulus when the hand was close to the target and confirmed an effect of even hand postures in addition to hand apparent motion due to the succession of initial hand posture and grasp phase. In experiments 4 and 5, the observation of grasp phases modulated even foot movements and pronunciation of syllables. Finally, in experiment 6, transcranial magnetic stimulation applied to primary motor cortex 300 ms post-stimulus induced an increase in hand motor evoked potentials of opponens pollicis muscle when observing the two late phases of grasp. These data suggest that the observation of grasp phases induced simulation which was stronger during observation of finger closing. This produced shorter response times, greater acceleration and velocity of the successive movement. In general, our data suggest best concatenation between two movements (one observed and the other executed) when the observed (and simulated) movement was to be accomplished. The mechanism joining the observation of a conspecific's action with our own movement may be precursor of social functions. It may be at the basis for interactions between conspecifics, and related to communication between individuals.

Challenges in human behavior understanding

NARCIS (Netherlands)

Salah, A.A.; Gevers, T.; Sebe, N.; Vinciarelli, A.

2010-01-01

Recent advances in pattern recognition has allowed computer scientists and psychologists to jointly address automatic analysis of of human behavior via computers. The Workshop on Human Behavior Understanding at the International Conference on Pattern Recognition explores a number of different

Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter

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Nobutomo Morita

2018-01-01

Full Text Available The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces—such as metal, paper, film, and so on—thus suggesting the potential application of LDV as a slip sensor for grasping various objects. However, the use of LDV as a slip sensor has not yet been reported because the size of LDVs is too large to be installed on a robotic fingertip. We have solved the size problem and enabled the performance of a feasibility test with a few-millimeter-scale LDV referred to as micro-LDV (μ-LDV by modifying the design which was adopted from MEMS (microelectromechanical systems fabrication process. In this paper, by applying our developed μ-LDV as a slip sensor, we have successfully demonstrated grasping force control with three target objects—aluminum block, wood block, and white acrylic block—considering that various objects made of these materials can be found in homes and factories, without grasping force feedback. We provide proofs that LDV is a new promising candidate slip sensor for grasping force control to execute target grasping.

Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter.

Science.gov (United States)

Morita, Nobutomo; Nogami, Hirofumi; Higurashi, Eiji; Sawada, Renshi

2018-01-23

The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV) and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces-such as metal, paper, film, and so on-thus suggesting the potential application of LDV as a slip sensor for grasping various objects. However, the use of LDV as a slip sensor has not yet been reported because the size of LDVs is too large to be installed on a robotic fingertip. We have solved the size problem and enabled the performance of a feasibility test with a few-millimeter-scale LDV referred to as micro-LDV (μ-LDV) by modifying the design which was adopted from MEMS (microelectromechanical systems) fabrication process. In this paper, by applying our developed μ-LDV as a slip sensor, we have successfully demonstrated grasping force control with three target objects-aluminum block, wood block, and white acrylic block-considering that various objects made of these materials can be found in homes and factories, without grasping force feedback. We provide proofs that LDV is a new promising candidate slip sensor for grasping force control to execute target grasping.

Managing distributed dynamic systems with spatial grasp technology

CERN Document Server

Sapaty, Peter Simon

2017-01-01

The book describes a novel ideology and supporting information technology for integral management of both civil and defence-orientated large, distributed dynamic systems. The approach is based on a high-level Spatial Grasp Language, SGL, expressing solutions in physical, virtual, executive and combined environments in the form of active self-evolving and self-propagating patterns spatially matching the systems to be created, modified and controlled. The communicating interpreters of SGL can be installed in key system points, which may be in large numbers (up to millions and billions) and represent equipped humans, robots, laptops, smartphones, smart sensors, etc. Operating under gestalt-inspired scenarios in SGL initially injected from any points, these systems can be effectively converted into goal-driven spatial machines (rather than computers as dealing with physical matter too) capable of responding to numerous challenges caused by growing world dynamics in the 21st century. Including numerous practical e...

Differences between kinematic synergies and muscle synergies during two-digit grasping

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Michele eTagliabue

2015-03-01

Full Text Available The large number of mechanical degrees of freedom of the hand is not fully exploited during actual movements such as grasping. Usually, angular movements in various joints tend to be coupled, and EMG activities in different hand muscles tend to be correlated. The occurrence of covariation in the former was termed kinematic synergies, in the latter muscle synergies. This study addresses two questions: (i Whether kinematic and muscle synergies can simultaneously accommodate for kinematic and kinetic constraints. (ii If so, whether there is an interrelation between kinematic and muscle synergies. We used a reach-grasp-and-pull paradigm and recorded the hand kinematics as well as 8 surface EMGs. Subjects had to either perform a precision grip or side grip and had to modify their grip force in order to displace an object against a low or high load. The analysis was subdivided into three epochs: reach, grasp-and-pull, and static hold. Principal component analysis (PCA, temporal or static was performed separately for all three epochs, in the kinematic and in the EMG domain. PCA revealed that (i Kinematic- and muscle-synergies can simultaneously accommodate kinematic (grip type and kinetic task constraints (load condition. (ii Upcoming grip and load conditions of the grasp are represented in kinematic- and muscle-synergies already during reach. Phase plane plots of the principal muscle-synergy against the principal kinematic synergy revealed (iii that the muscle-synergy is linked (correlated, and in phase advance to the kinematic synergy during reach and during grasp-and-pull. Furthermore (iv, pair-wise correlations of EMGs during hold suggest that muscle-synergies are (in part implemented by coactivation of muscles through common input. Together, these results suggest that kinematic synergies have (at least in part their origin not just in muscular activation, but in synergiestic muscle activation. In short: kinematic synergies may result from muscle

Volitional and automatic control of the hand when reaching to grasp objects.

Science.gov (United States)

Chen, Zhongting; Saunders, Jeffrey Allen

2018-02-26

When picking up an object, we tend to grasp at contact points that allow a stable grip. Recent studies have demonstrated that appropriate grasp points can be selected during an ongoing movement in response to unexpected perturbations of the target object. In this study, we tested whether such online grip adjustments are automatic responses or can be controlled volitionally. Subjects performed virtual grasping movements toward target 2D shapes that sometimes changed shape or orientation during movement. Unlike in previous studies, the conditions and task requirements discouraged any online adjustments toward the perturbed shapes. In Experiment 1, target shapes were perturbed briefly (200 ms) during movement before reverting to the original shape, and subjects were instructed to ignore the transient perturbations. Despite subjects' intentions, we observed online adjustments of grip orientation that were toward the expected grip axis of the briefly presented shape. In Experiment 2, we added a stop-signal to the grasping task, with target perturbation as the stop cue. We again observed unnecessary online adjustments toward the grip axis of the perturbed shape, with similar latency. Furthermore, the grip adjustments continued after the forward motion of the hand had stopped, indicating that the automatic response to the perturbed target shape co-occurred with the volitional response to the perturbation onset. Our results provide evidence that automatic control mechanisms are used to guide the fingers to appropriate grasp points and suggest that these mechanisms are distinct from those involved with volitional control. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

Comparison of grasping movements made by healthy subjects in a 3-dimensional immersive virtual versus physical environment.

Science.gov (United States)

Magdalon, Eliane C; Michaelsen, Stella M; Quevedo, Antonio A; Levin, Mindy F

2011-09-01

Virtual reality (VR) technology is being used with increasing frequency as a training medium for motor rehabilitation. However, before addressing training effectiveness in virtual environments (VEs), it is necessary to identify if movements made in such environments are kinematically similar to those made in physical environments (PEs) and the effect of provision of haptic feedback on these movement patterns. These questions are important since reach-to-grasp movements may be inaccurate when visual or haptic feedback is altered or absent. Our goal was to compare kinematics of reaching and grasping movements to three objects performed in an immersive three-dimensional (3D) VE with haptic feedback (cyberglove/grasp system) viewed through a head-mounted display to those made in an equivalent physical environment (PE). We also compared movements in PE made with and without wearing the cyberglove/grasp haptic feedback system. Ten healthy subjects (8 women, 62.1±8.8years) reached and grasped objects requiring 3 different grasp types (can, diameter 65.6mm, cylindrical grasp; screwdriver, diameter 31.6mm, power grasp; pen, diameter 7.5mm, precision grasp) in PE and visually similar virtual objects in VE. Temporal and spatial arm and trunk kinematics were analyzed. Movements were slower and grip apertures were wider when wearing the glove in both the PE and the VE compared to movements made in the PE without the glove. When wearing the glove, subjects used similar reaching trajectories in both environments, preserved the coordination between reaching and grasping and scaled grip aperture to object size for the larger object (cylindrical grasp). However, in VE compared to PE, movements were slower and had longer deceleration times, elbow extension was greater when reaching to the smallest object and apertures were wider for the power and precision grip tasks. Overall, the differences in spatial and temporal kinematics of movements between environments were greater than

G3DB: A database of successful and failed grasps with RGB-D images, point clouds, mesh models and gripper parameters

CSIR Research Space (South Africa)

Kleinhans, A

2015-05-01

Full Text Available likely values for them, and adapt to actual object properties during the grasp. Another key piece of information that is missing is the object’s 3D shape. Humans and mobile robots perceive the world from a single viewpoint, making the back and often...

The visual neuroscience of robotic grasping achieving sensorimotor skills through dorsal-ventral stream integration

CERN Document Server

Chinellato, Eris

2016-01-01

This book presents interdisciplinary research that pursues the mutual enrichment of neuroscience and robotics. Building on experimental work, and on the wealth of literature regarding the two cortical pathways of visual processing - the dorsal and ventral streams - we define and implement, computationally and on a real robot, a functional model of the brain areas involved in vision-based grasping actions. Grasping in robotics is largely an unsolved problem, and we show how the bio-inspired approach is successful in dealing with some fundamental issues of the task. Our robotic system can safely perform grasping actions on different unmodeled objects, denoting especially reliable visual and visuomotor skills. The computational model and the robotic experiments help in validating theories on the mechanisms employed by the brain areas more directly involved in grasping actions. This book offers new insights and research hypotheses regarding such mechanisms, especially for what concerns the interaction between the...

Human fMRI Reveals That Delayed Action Re-Recruits Visual Perception

OpenAIRE

Singhal, Anthony; Monaco, Simona; Kaufman, Liam D.; Culham, Jody C.

2013-01-01

Behavioral and neuropsychological research suggests that delayed actions rely on different neural substrates than immediate actions; however, the specific brain areas implicated in the two types of actions remain unknown. We used functional magnetic resonance imaging (fMRI) to measure human brain activation during delayed grasping and reaching. Specifically, we examined activation during visual stimulation and action execution separated by a 18-s delay interval in which subjects had to rememb...

Grasping and manipulation of deformable objects based on internal force requirements

Directory of Open Access Journals (Sweden)

Sohil Garg

2008-11-01

Full Text Available In this paper an analysis of grasping and manipulation of deformable objects by a three finger robot hand has been carried out. It is proved that the required fingertip grasping forces and velocities vary with change in object size due to deformation. The variation of the internal force with the change in fingertip and object contact angle has been investigated in detail. From the results it is concluded that it is very difficult to manipulate an object if the finger contact angle is not between 30 o and 70 o, as the internal forces or velocities become very large outside this range. Hence even if the object is inside the work volume of the three fingers it would still not be possible to manipulate it. A simple control model is proposed which can control the grasping and manipulation of a deformable object. Experimental results are also presented to prove the proposed method.

On the road to a neuroprosthetic hand: a novel hand grasp orthosis based on functional electrical stimulation.

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Leeb, Robert; Gubler, Miguel; Tavella, Michele; Miller, Heather; Del Millan, Jose R

2010-01-01

To patients who have lost the functionality of their hands as a result of a severe spinal cord injury or brain stroke, the development of new techniques for grasping is indispensable for reintegration and independency in daily life. Functional Electrical Stimulation (FES) of residual muscles can reproduce the most dominant grasping tasks and can be initialized by brain signals. However, due to the very complex hand anatomy and current limitations in FES-technology with surface electrodes, these grasp patterns cannot be smoothly executed. In this paper, we present an adaptable passive hand orthosis which is capable of producing natural and smooth movements when coupled with FES. It evenly synchronizes the grasping movements and applied forces on all fingers, allowing for naturalistic gestures and functional grasps of everyday objects. The orthosis is also equipped with a lock, which allows it to remain in the desired position without the need for long-term stimulation. Furthermore, we quantify improvements offered by the orthosis compare them with natural grasps on healthy subjects.

Modeling the shape hierarchy for visually guided grasping

CSIR Research Space (South Africa)

Rezai, O

2014-10-01

Full Text Available The monkey anterior intraparietal area (AIP) encodes visual information about three-dimensional object shape that is used to shape the hand for grasping. We modeled shape tuning in visual AIP neurons and its relationship with curvature and gradient...

Modelling primate control of grasping for robotics applications

CSIR Research Space (South Africa)

Kleinhans, A

2014-09-01

Full Text Available The neural circuits that control grasping and perform related visual processing have been studied extensively in Macaque monkeys. We are developing a computational model of this system, in order to better understand its function, and to explore...

Bridging Humanism and Behaviorism.

Science.gov (United States)

Chu, Lily

1980-01-01

Humanistic behaviorism may provide the necessary bridge between behaviorism and humanism. Perhaps the most humanistic approach to teaching is to learn how certain changes will help students and how these changes can be accomplished. (Author/MLF)

Behavioral Signal Processing: Deriving Human Behavioral Informatics From Speech and Language

Science.gov (United States)

Narayanan, Shrikanth; Georgiou, Panayiotis G.

2013-01-01

The expression and experience of human behavior are complex and multimodal and characterized by individual and contextual heterogeneity and variability. Speech and spoken language communication cues offer an important means for measuring and modeling human behavior. Observational research and practice across a variety of domains from commerce to healthcare rely on speech- and language-based informatics for crucial assessment and diagnostic information and for planning and tracking response to an intervention. In this paper, we describe some of the opportunities as well as emerging methodologies and applications of human behavioral signal processing (BSP) technology and algorithms for quantitatively understanding and modeling typical, atypical, and distressed human behavior with a specific focus on speech- and language-based communicative, affective, and social behavior. We describe the three important BSP components of acquiring behavioral data in an ecologically valid manner across laboratory to real-world settings, extracting and analyzing behavioral cues from measured data, and developing models offering predictive and decision-making support. We highlight both the foundational speech and language processing building blocks as well as the novel processing and modeling opportunities. Using examples drawn from specific real-world applications ranging from literacy assessment and autism diagnostics to psychotherapy for addiction and marital well being, we illustrate behavioral informatics applications of these signal processing techniques that contribute to quantifying higher level, often subjectively described, human behavior in a domain-sensitive fashion. PMID:24039277

The Control of Behavior: Human and Environmental

Science.gov (United States)

Burhoe, Ralph Wendell

1972-01-01

Theological perspective on human and environmental behavior, with a view toward man's ultimate concerns or longest range values and the ultimate controls of behavior. Maintains that all human behavior and destiny is ultimately in the hand of a transcendent power which prevails over any human errors.'' (LK)

Quantitative model of transport-aperture coordination during reach-to-grasp movements.

Science.gov (United States)

Rand, Miya K; Shimansky, Y P; Hossain, Abul B M I; Stelmach, George E

2008-06-01

It has been found in our previous studies that the initiation of aperture closure during reach-to-grasp movements occurs when the hand distance to target crosses a threshold that is a function of peak aperture amplitude, hand velocity, and hand acceleration. Thus, a stable relationship between those four movement parameters is observed at the moment of aperture closure initiation. Based on the concept of optimal control of movements (Naslin 1969) and its application for reach-to-grasp movement regulation (Hoff and Arbib 1993), it was hypothesized that the mathematical equation expressing that relationship can be generalized to describe coordination between hand transport and finger aperture during the entire reach-to-grasp movement by adding aperture velocity and acceleration to the above four movement parameters. The present study examines whether this hypothesis is supported by the data obtained in experiments in which young adults performed reach-to-grasp movements in eight combinations of two reach-amplitude conditions and four movement-speed conditions. It was found that linear approximation of the mathematical model described the relationship among the six movement parameters for the entire aperture-closure phase with very high precision for each condition, thus supporting the hypothesis for that phase. Testing whether one mathematical model could approximate the data across all the experimental conditions revealed that it was possible to achieve the same high level of data-fitting precision only by including in the model two additional, condition-encoding parameters and using a nonlinear, artificial neural network-based approximator with two hidden layers comprising three and two neurons, respectively. This result indicates that transport-aperture coordination, as a specific relationship between the parameters of hand transport and finger aperture, significantly depends on the condition-encoding variables. The data from the aperture-opening phase also fit a

Concatenation of Observed Grasp Phases with Observer’s Distal Movements: A Behavioural and TMS Study

Science.gov (United States)

De Stefani, Elisa; Innocenti, Alessandro; De Marco, Doriana; Gentilucci, Maurizio

2013-01-01

The present study aimed at determining how actions executed by two conspecifics can be coordinated with each other, or more specifically, how the observation of different phases of a reaching-grasping action is temporary related to the execution of a movement of the observer. Participants observed postures of initial finger opening, maximal finger aperture, and final finger closing of grasp after observation of an initial hand posture. Then, they opened or closed their right thumb and index finger (experiments 1, 2 and 3). Response times decreased, whereas acceleration and velocity of actual finger movements increased when observing the two late phases of grasp. In addition, the results ruled out the possibility that this effect was due to salience of the visual stimulus when the hand was close to the target and confirmed an effect of even hand postures in addition to hand apparent motion due to the succession of initial hand posture and grasp phase. In experiments 4 and 5, the observation of grasp phases modulated even foot movements and pronunciation of syllables. Finally, in experiment 6, transcranial magnetic stimulation applied to primary motor cortex 300 ms post-stimulus induced an increase in hand motor evoked potentials of opponens pollicis muscle when observing the two late phases of grasp. These data suggest that the observation of grasp phases induced simulation which was stronger during observation of finger closing. This produced shorter response times, greater acceleration and velocity of the successive movement. In general, our data suggest best concatenation between two movements (one observed and the other executed) when the observed (and simulated) movement was to be accomplished. The mechanism joining the observation of a conspecific’s action with our own movement may be precursor of social functions. It may be at the basis for interactions between conspecifics, and related to communication between individuals. PMID:24278395

Grasp Representations Depend on Knowledge and Attention

Science.gov (United States)

Chua, Kao-Wei; Bub, Daniel N.; Masson, Michael E. J.; Gauthier, Isabel

2018-01-01

Seeing pictures of objects activates the motor cortex and can have an influence on subsequent grasping actions. However, the exact nature of the motor representations evoked by these pictures is unclear. For example, action plans engaged by pictures could be most affected by direct visual input and computed online based on object shape.…

Deep learning-based artificial vision for grasp classification in myoelectric hands

Science.gov (United States)

Ghazaei, Ghazal; Alameer, Ali; Degenaar, Patrick; Morgan, Graham; Nazarpour, Kianoush

2017-06-01

Objective. Computer vision-based assistive technology solutions can revolutionise the quality of care for people with sensorimotor disorders. The goal of this work was to enable trans-radial amputees to use a simple, yet efficient, computer vision system to grasp and move common household objects with a two-channel myoelectric prosthetic hand. Approach. We developed a deep learning-based artificial vision system to augment the grasp functionality of a commercial prosthesis. Our main conceptual novelty is that we classify objects with regards to the grasp pattern without explicitly identifying them or measuring their dimensions. A convolutional neural network (CNN) structure was trained with images of over 500 graspable objects. For each object, 72 images, at {{5}\\circ} intervals, were available. Objects were categorised into four grasp classes, namely: pinch, tripod, palmar wrist neutral and palmar wrist pronated. The CNN setting was first tuned and tested offline and then in realtime with objects or object views that were not included in the training set. Main results. The classification accuracy in the offline tests reached 85 % for the seen and 75 % for the novel objects; reflecting the generalisability of grasp classification. We then implemented the proposed framework in realtime on a standard laptop computer and achieved an overall score of 84 % in classifying a set of novel as well as seen but randomly-rotated objects. Finally, the system was tested with two trans-radial amputee volunteers controlling an i-limb UltraTM prosthetic hand and a motion controlTM prosthetic wrist; augmented with a webcam. After training, subjects successfully picked up and moved the target objects with an overall success of up to 88 % . In addition, we show that with training, subjects’ performance improved in terms of time required to accomplish a block of 24 trials despite a decreasing level of visual feedback. Significance. The proposed design constitutes a substantial

Vision-based autonomous grasping of unknown piled objects

International Nuclear Information System (INIS)

Johnson, R.K.

1994-01-01

Computer vision techniques have been used to develop a vision-based grasping capability for autonomously picking and placing unknown piled objects. This work is currently being applied to the problem of hazardous waste sorting in support of the Department of Energy's Mixed Waste Operations Program

From a meso- to micro-scale connectome: Array Tomography and mGRASP

Directory of Open Access Journals (Sweden)

Jinhyun eKim

2015-06-01

Full Text Available Mapping mammalian synaptic connectivity has long been an important goal of neuroscience because knowing how neurons and brain areas are connected underpins an understanding of brain function. Meeting this goal requires advanced techniques with single synapse resolution and large-scale capacity, especially at multiple scales tethering the meso- and micro-scale connectome. Among several advanced LM-based connectome technologies, Array Tomography (AT and mammalian GFP-Reconstitution Across Synaptic Partners (mGRASP can provide relatively high-throughput mapping synaptic connectivity at multiple scales. AT- and mGRASP-assisted circuit mapping (ATing and mGRASPing, combined with techniques such as retrograde virus, brain clearing techniques, and activity indicators will help unlock the secrets of complex neural circuits. Here, we discuss these useful new tools to enable mapping of brain circuits at multiple scales, some functional implications of spatial synaptic distribution, and future challenges and directions of these endeavors.

The influence of grasping habits and object orientation on motor planning in children and adults.

Science.gov (United States)

Jovanovic, Bianca; Schwarzer, Gudrun

2017-12-01

We investigated the influence of habitual grasp strategies and object orientation on motor planning in 3-year-olds and 4- to 5-year-old children and adults. Participants were required to rotate different vertically oriented objects around 180°. Usually, adults perform this task by grasping objects with an awkward grip (thumb and index finger pointing downward) at the beginning of the movement, in order to finish it with a comfortable hand position. This pattern corresponds to the well-known end-state comfort effect (ESC) in grasp planning. The presented objects were associated with different habitual grasp orientations that either corresponded with the grasp direction required to reach end-state comfort (downward) or implied a contrary grasp orientation (upward). Additionally, they were presented either in their usual, canonical orientation (e.g., shovel with the blade oriented downward versus cup with its opening oriented upward) or upside down. As dependent variable we analyzed the number of grips conforming to the end-state comfort principle (ESC score) realized in each object type and orientation condition. The number of grips conforming to ESC strongly increased with age. In addition, the extent to which end-state comfort was considered was influenced by the actual orientation of the objects' functional parts. Thus, in all age-groups the ESC score was highest when the functional parts of the objects were oriented downward (shovel presented canonically with blade pointing downward, cup presented upside down) and corresponded to the hand orientation needed to realize ESC. © 2017 Wiley Periodicals, Inc.

Scaling behavior of online human activity

Science.gov (United States)

Zhao, Zhi-Dan; Cai, Shi-Min; Huang, Junming; Fu, Yan; Zhou, Tao

2012-11-01

The rapid development of the Internet technology enables humans to explore the web and record the traces of online activities. From the analysis of these large-scale data sets (i.e., traces), we can get insights about the dynamic behavior of human activity. In this letter, the scaling behavior and complexity of human activity in the e-commerce, such as music, books, and movies rating, are comprehensively investigated by using the detrended fluctuation analysis technique and the multiscale entropy method. Firstly, the interevent time series of rating behaviors of these three types of media show similar scaling properties with exponents ranging from 0.53 to 0.58, which implies that the collective behaviors of rating media follow a process embodying self-similarity and long-range correlation. Meanwhile, by dividing the users into three groups based on their activities (i.e., rating per unit time), we find that the scaling exponents of the interevent time series in the three groups are different. Hence, these results suggest that a stronger long-range correlations exist in these collective behaviors. Furthermore, their information complexities vary in the three groups. To explain the differences of the collective behaviors restricted to the three groups, we study the dynamic behavior of human activity at the individual level, and find that the dynamic behaviors of a few users have extremely small scaling exponents associated with long-range anticorrelations. By comparing the interevent time distributions of four representative users, we can find that the bimodal distributions may bring forth the extraordinary scaling behaviors. These results of the analysis of the online human activity in the e-commerce may not only provide insight into its dynamic behaviors but may also be applied to acquire potential economic interest.

Discrimination of complex human behavior by pigeons (Columba livia and humans.

Directory of Open Access Journals (Sweden)

Muhammad A J Qadri

Full Text Available The cognitive and neural mechanisms for recognizing and categorizing behavior are not well understood in non-human animals. In the current experiments, pigeons and humans learned to categorize two non-repeating, complex human behaviors ("martial arts" vs. "Indian dance". Using multiple video exemplars of a digital human model, pigeons discriminated these behaviors in a go/no-go task and humans in a choice task. Experiment 1 found that pigeons already experienced with discriminating the locomotive actions of digital animals acquired the discrimination more rapidly when action information was available than when only pose information was available. Experiments 2 and 3 found this same dynamic superiority effect with naïve pigeons and human participants. Both species used the same combination of immediately available static pose information and more slowly perceived dynamic action cues to discriminate the behavioral categories. Theories based on generalized visual mechanisms, as opposed to embodied, species-specific action networks, offer a parsimonious account of how these different animals recognize behavior across and within species.

Introduction: the human sciences and Cold War America.

Science.gov (United States)

Isaac, Joel

2011-01-01

Studies of the history of the human sciences during the Cold War era have proliferated over the past decade--in JHBS and elsewhere. This special issue focuses on the connections between the behavioral sciences and the culture and politics of the Cold War in the United States. In the recent literature, there is a tendency to identify the Cold War human sciences with two main paradigms: that of psychocultural analysis, on the one hand, and of the systems sciences, on the other. The essays in the special issue both extend understanding of each of these interpretive frameworks and help us to grasp their interconnection. © 2011 Wiley Periodicals, Inc.

Explicit knowledge about the availability of visual feedback affects grasping with the left but not the right hand.

Science.gov (United States)

Tang, Rixin; Whitwell, Robert L; Goodale, Melvyn A

2014-01-01

Previous research (Whitwell et al. in Exp Brain Res 188:603-611, 2008; Whitwell and Goodale in Exp Brain Res 194:619-629, 2009) has shown that trial history, but not anticipatory knowledge about the presence or absence of visual feedback on an upcoming trial, plays a vital role in determining how that feedback is exploited when grasping with the right hand. Nothing is known about how the non-dominant left hand behaves under the same feedback regimens. In present study, therefore, we compared peak grip aperture (PGA) for left- and right-hand grasps executed with and without visual feedback (i.e., closed- vs. open-loop conditions) in right-handed individuals under three different trial schedules: the feedback conditions were blocked separately, they were randomly interleaved, or they were alternated. When feedback conditions were blocked, the PGA was much larger for open-loop trials as compared to closed-loop trials, although this difference was more pronounced for right-hand grasps than left-hand grasps. Like Whitwell et al., we found that mixing open- and closed-loop trials together, compared to blocking them separately, homogenized the PGA for open- and closed-loop grasping in the right hand (i.e., the PGAs became smaller on open-loop trials and larger on closed-loop trials). In addition, the PGAs for right-hand grasps were entirely determined by trial history and not by knowledge of whether or not visual feedback would be available on an upcoming trial. In contrast to grasps made with the right hand, grasps made by the left hand were affected both by trial history and by anticipatory knowledge of the upcoming visual feedback condition. But these effects were observed only on closed-loop trials, i.e., the PGAs of grasps made with the left hand on closed-loop trials were smaller when participants could anticipate the availability of feedback on an upcoming trial (alternating trials) than when they could not (randomized trials). In contrast, grasps made with the

Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

Directory of Open Access Journals (Sweden)

Huangsheng Xie

2014-01-01

Full Text Available This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a new kind of artificial object mark based on QR (Quick Response Code is designed, which can be affixed to the surface of household objects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator’s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results show that QR Code-based artificial object mark can overcome the difficulties brought by household objects’ variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently.

Anticipatory planning and control of grasp positions and forces for dexterous two-digit manipulation.

Science.gov (United States)

Fu, Qiushi; Zhang, Wei; Santello, Marco

2010-07-07

Dexterous object manipulation requires anticipatory control of digit positions and forces. Despite extensive studies on sensorimotor learning of digit forces, how humans learn to coordinate digit positions and forces has never been addressed. Furthermore, the functional role of anticipatory modulation of digit placement to object properties remains to be investigated. We addressed these questions by asking human subjects (12 females, 12 males) to grasp and lift an inverted T-shaped object using precision grip at constrained or self-chosen locations. The task requirement was to minimize object roll during lift. When digit position was not constrained, subjects could have implemented many equally valid digit position-force coordination patterns. However, choice of digit placement might also have resulted in large trial-to-trial variability of digit position, hence challenging the extent to which the CNS could have relied on sensorimotor memories for anticipatory control of digit forces. We hypothesized that subjects would modulate digit placement for optimal force distribution and digit forces as a function of variable digit positions. All subjects learned to minimize object roll within the first three trials, and the unconstrained device was associated with significantly smaller grip forces but larger variability of digit positions. Importantly, however, digit load force modulation compensated for position variability, thus ensuring consistent object roll minimization on each trial. This indicates that subjects learned object manipulation by integrating sensorimotor memories with sensory feedback about digit positions. These results are discussed in the context of motor equivalence and sensorimotor integration of grasp kinematics and kinetics.

Dynamic optimal grasping of a circular object with gravity using robotic soft-fingertips

Directory of Open Access Journals (Sweden)

García-Rodríguez Rodolfo

2016-06-01

Full Text Available Object manipulation usually requires dexterity, encoded as the ability to roll, which is very difficult to achieve with robotic hands based on point contact models (subject to holonomic constraints. As an alternative for dexterous manipulation, deformable contact with hemispherical shape fingertips has been proposed to yield naturally a rolling constraint. It entails dexterity at the expense of dealing with normal and tangential forces, as well as more elaborated models and control schemes. Furthermore, the essential feature of the quality of grasp can be addressed with this type of robot hands, but it has been overlooked for deformable contact. In this paper, a passivity-based controller that considers an optimal grasping measure is proposed for robotic hands with hemispherical deformable fingertips, to manipulate circular dynamic objects. Optimal grasping that minimizes the contact wrenches is achieved through fingertip rolling until normal forces pass through the center of mass of the object, aligning the relative angle between these normal forces. The case of a circular object is developed in detail, though our proposal can be extended to objects with an arbitrary shape that admit a local decomposition by a circular curvature. Simulation and experimental results show convergence under various conditions, wherein rolling and tangent forces become instrumental to achieve such a quality of grasp.

Development of Object and Grasping Knowledge by Robot Exploration

DEFF Research Database (Denmark)

Kraft, Dirk; Detry, Renaud; Pugeault, Nicolas

2010-01-01

We describe a bootstrapping cognitive robot system that—mainly based on pure exploration—acquires rich object representations and associated object-specific grasp affordances. Such bootstrapping becomes possible by combining innate competences and behaviours by which the system gradually enriches...

CONTROL OF APERTURE CLOSURE INITIATION DURING TRUNK-ASSISTED REACH-TO-GRASP MOVEMENTS

Science.gov (United States)

Rand, Miya K.; Van Gemmert, Arend W. A.; Hossain, Abul B.M.I.; Shimansky, Yury P.; Stelmach, George E.

2012-01-01

The present study investigated how the involvement and direction of trunk movement during reach-to-grasp movements affect the coordination between the transport and grasping components. Seated young adults made prehensile movements in which the involvement of the trunk was varied; the trunk was not involved, moved forward (flexion), or moved backward (extension) in the sagittal plane during the reach to the object. Each of the trunk movements was combined with an extension or flexion motion of the arm during the reach. Regarding the relation between the trunk and arm motion for arm transport, the onset of wrist motion relative to that of the trunk was delayed to a greater extent for the trunk extension than for the trunk flexion. The variability of the time period from the peak of wrist velocity to the peak of trunk velocity was also significantly greater for trunk extension compared to trunk flexion. These findings indicate that trunk flexion was better integrated into the control of wrist transport than trunk extension. In terms of the temporal relationship between wrist transport and grip aperture, the relation between the time of peak wrist velocity and the time of peak grip aperture did not change or became less steady across conditions. Therefore, the stability of temporal coordination between wrist transport and grip aperture was maintained despite the variation of the pattern of intersegmental coordination between the arm and the trunk during arm transport. The transport-aperture coordination was further assessed in terms of the control law according to which the initiation of aperture closure during the reach occurs when the hand crosses a hand-to-target distance threshold for grasp initiation that is a function of peak aperture, wrist velocity and acceleration, trunk velocity and acceleration, and trunk-to-target distance at the time of aperture closure initiation. The participants increased the hand-to-target distance threshold for grasp initiation in

Control of aperture closure initiation during trunk-assisted reach-to-grasp movements.

Science.gov (United States)

Rand, Miya K; Van Gemmert, Arend W A; Hossain, Abul B M I; Shimansky, Yury P; Stelmach, George E

2012-06-01

The present study investigated how the involvement and direction of trunk movement during reach-to-grasp movements affect the coordination between the transport and grasping components. Seated young adults made prehensile movements in which the involvement of the trunk was varied; the trunk was not involved, moved forward (flexion), or moved backward (extension) in the sagittal plane during the reach to the object. Each of the trunk movements was combined with an extension or flexion motion of the arm during the reach. Regarding the relationship between the trunk and arm motion for arm transport, the onset of wrist motion relative to that of the trunk was delayed to a greater extent for the trunk extension than for the trunk flexion. The variability of the time period from the peak of wrist velocity to the peak of trunk velocity was also significantly greater for trunk extension compared to trunk flexion. These findings indicate that trunk flexion was better integrated into the control of wrist transport than trunk extension. In terms of the temporal relationship between wrist transport and grip aperture, the relationship between the time of peak wrist velocity and the time of peak grip aperture did not change or become less steady across conditions. Therefore, the stability of temporal coordination between wrist transport and grip aperture was maintained despite the variation of the pattern of intersegmental coordination between the arm and the trunk during arm transport. The transport-aperture coordination was further assessed in terms of the control law according to which the initiation of aperture closure during the reach occurs when the hand crosses a hand-to-target distance threshold for grasp initiation, which is a function of peak aperture, wrist velocity and acceleration, trunk velocity and acceleration, and trunk-to-target distance at the time of aperture closure initiation. The participants increased the hand-to-target distance threshold for grasp

Detection, Location and Grasping Objects Using a Stereo Sensor on UAV in Outdoor Environments

Directory of Open Access Journals (Sweden)

Pablo Ramon Soria

2017-01-01

Full Text Available The article presents a vision system for the autonomous grasping of objects with Unmanned Aerial Vehicles (UAVs in real time. Giving UAVs the capability to manipulate objects vastly extends their applications, as they are capable of accessing places that are difficult to reach or even unreachable for human beings. This work is focused on the grasping of known objects based on feature models. The system runs in an on-board computer on a UAV equipped with a stereo camera and a robotic arm. The algorithm learns a feature-based model in an offline stage, then it is used online for detection of the targeted object and estimation of its position. This feature-based model was proved to be robust to both occlusions and the presence of outliers. The use of stereo cameras improves the learning stage, providing 3D information and helping to filter features in the online stage. An experimental system was derived using a rotary-wing UAV and a small manipulator for final proof of concept. The robotic arm is designed with three degrees of freedom and is lightweight due to payload limitations of the UAV. The system has been validated with different objects, both indoors and outdoors.

An Aircraft Service Staff Rostering using a Hybrid GRASP Algorithm

Directory of Open Access Journals (Sweden)

W.H. Ip

2009-10-01

Full Text Available The aircraft ground service company is responsible for carrying out the regular tasks to aircraft maintenace between their arrival at and departure from the airport. This paper presents the application of a hybrid approach based upon greedy randomized adaptive search procedure (GRASP for rostering technical staff such that they are assigned predefined shift patterns. The rostering of staff is posed as an optimization problem with an aim of minimizing the violations of hard and soft constraints. The proposed algorithm iteratively constructs a set of solutions by GRASP. Furthermore, with multi-agent techniques, we efficiently identify an optimal roster with minimal constraint violations and fair to employees. Experimental results are included to demonstrate the effectiveness of the proposed algorithm.

Minimal Reducts with Grasp

Directory of Open Access Journals (Sweden)

Iris Iddaly Mendez Gurrola

2011-03-01

Full Text Available The proper detection of patient level of dementia is important to offer the suitable treatment. The diagnosis is based on certain criteria, reflected in the clinical examinations. From these examinations emerge the limitations and the degree in which each patient is in. In order to reduce the total of limitations to be evaluated, we used the rough set theory, this theory has been applied in areas of the artificial intelligence such as decision analysis, expert systems, knowledge discovery, classification with multiple attributes. In our case this theory is applied to find the minimal limitations set or reduct that generate the same classification that considering all the limitations, to fulfill this purpose we development an algorithm GRASP (Greedy Randomized Adaptive Search Procedure.

Viewing geometry determines the contribution of binocular vision to the online control of grasping.

Science.gov (United States)

Keefe, Bruce D; Watt, Simon J

2017-12-01

Binocular vision is often assumed to make a specific, critical contribution to online visual control of grasping by providing precise information about the separation between digits and object. This account overlooks the 'viewing geometry' typically encountered in grasping, however. Separation of hand and object is rarely aligned precisely with the line of sight (the visual depth dimension), and analysis of the raw signals suggests that, for most other viewing angles, binocular feedback is less precise than monocular feedback. Thus, online grasp control relying selectively on binocular feedback would not be robust to natural changes in viewing geometry. Alternatively, sensory integration theory suggests that different signals contribute according to their relative precision, in which case the role of binocular feedback should depend on viewing geometry, rather than being 'hard-wired'. We manipulated viewing geometry, and assessed the role of binocular feedback by measuring the effects on grasping of occluding one eye at movement onset. Loss of binocular feedback resulted in a significantly less extended final slow-movement phase when hand and object were separated primarily in the frontoparallel plane (where binocular information is relatively imprecise), compared to when they were separated primarily along the line of sight (where binocular information is relatively precise). Consistent with sensory integration theory, this suggests the role of binocular (and monocular) vision in online grasp control is not a fixed, 'architectural' property of the visuo-motor system, but arises instead from the interaction of viewer and situation, allowing robust online control across natural variations in viewing geometry.

Visually and memory-guided grasping: aperture shaping exhibits a time-dependent scaling to Weber's law.

Science.gov (United States)

Holmes, Scott A; Mulla, Ali; Binsted, Gordon; Heath, Matthew

2011-09-01

The 'just noticeable difference' (JND) represents the minimum amount by which a stimulus must change to produce a noticeable variation in one's perceptual experience and is related to initial stimulus magnitude (i.e., Weber's law). The goal of the present study was to determine whether aperture shaping for visually derived and memory-guided grasping elicit a temporally dependent or temporally independent adherence to Weber's law. Participants were instructed to grasp differently sized objects (20, 30, 40, 50 and 60mm) in conditions wherein vision of the grasping environment was available throughout the response (i.e., closed-loop), when occluded at movement onset (i.e., open-loop), and when occluded for a brief (i.e., 0ms) or longer (i.e., 2000ms) delay in advance of movement onset. Within-participant standard deviations of grip aperture (i.e., the JNDs) computed at decile increments of normalized grasping time were used to determine participant's sensitivity to detecting changes in object size. Results showed that JNDs increased linearly with increasing object size from 10% to 40% of grasping time; that is, the trial-to-trial stability (i.e., visuomotor certainty) of grip aperture (i.e., the comparator) decreased with increasing object size (i.e., the initial stimulus). However, a null JND/object size scaling was observed during the middle and late stages of the response (i.e., >50% of grasping time). Most notably, the temporal relationship between JNDs and object size scaling was similar across the different visual conditions used here. Thus, our results provide evidence that aperture shaping elicits a time-dependent early, but not late, adherence to the psychophysical principles of Weber's law. Copyright © 2011 Elsevier Ltd. All rights reserved.

Grounded Object and Grasp Representations in a Cognitive Architecture

DEFF Research Database (Denmark)

Kraft, Dirk

developed. This work presents a system that is able to learn autonomously about objects and applicable grasps in an unknown environment through exploratory manipulation and to then use this grounded knowledge in a planning setup to address complex tasks. A set of different subsystems is needed to achieve....... The topics are ordered so that we proceed from the more general integration works towards the works describing the individual components. The first chapter gives an overview over the system that is able to learn a grounded visual object representation and a grounded grasp representation. In the following...... part, we describe how this grounding procedures can be embedded in a three cognitive level architecture. Our initial work to use a tactile sensor to enrichen the object representations as well as allow for more complex actions is presented here as well. Since our system is concerned with learning about...

The Consequences of Human Behavior

Directory of Open Access Journals (Sweden)

Derek Hodgson

2012-12-01

Full Text Available Human behavior is founded on a complex interaction of influences that derive from sources both extraneous and intrinsic to the brain. It is the ways these various influences worked together in the past to fashion modern human cognition that can help elucidate the probable course of future human endeavor. A particular concern of this chapter is the way cognition has been shaped and continues to depend on prevailing environmental and ecological conditions. Whether the human predicament can be regarded simply as another response to such conditions similar to that of other organisms or something special will also be addressed. More specifically, it will be shown that, although the highly artificial niche in which most humans now live has had profound effects on ways of thinking, constraints deriving from a shared evolutionary heritage continue to have substantial effects on behavior. The way these exigencies interact will be explored in order to understand the implications for the future wellbeing of humanity.

The anterior intraparietal sulcus mediates grasp execution, independent of requirement to update: new insights from transcranial magnetic stimulation.

Science.gov (United States)

Rice, Nichola J; Tunik, Eugene; Grafton, Scott T

2006-08-02

Although a role of the intraparietal sulcus (IPS) in grasping is becoming evident, the specific contribution of regions within the IPS remains undefined. In this vein, transcranial magnetic stimulation (TMS) was delivered to the anterior (aIPS), middle (mIPS), and caudal (cIPS) IPS in two tasks designed to dissociate the potential roles of the IPS in either grasp planning or execution (task 1) and its involvement in error detection or error correction (task 2). Determining the involvement of specific regions of the IPS in perceptual (planning and error detection) versus motor (execution and correction) components of grasping allowed us to assess the ecological validity of competing computational models attempting to simulate reach-to-grasp movements. In task 1, we demonstrate that, when no on-line adjustment is necessary, TMS to aIPS (but not mIPS or cIPS) disrupts grasping; this disruption is only elicited when TMS is applied during the execution (but not the planning) phase of the movement. Task 2 reveals that TMS to aIPS (but not mIPS or cIPS) disrupts grasping in the presence of a perturbation; this disruption is only elicited when TMS is applied during the error correction (but not error detection) phase of the movement. We propose that the specific contribution of the aIPS in grasping is in the on-line computation of a difference vector based on motor goal, efference copy, and sensory inputs. This computation is performed for both stable and perturbed motor goals.

Rana computatrix to human language: towards a computational neuroethology of language evolution.

Science.gov (United States)

Arbib, Michael A

2003-10-15

Walter's Machina speculatrix inspired the name Rana computatrix for a family of models of visuomotor coordination in the frog, which contributed to the development of computational neuroethology. We offer here an 'evolutionary' perspective on models in the same tradition for rat, monkey and human. For rat, we show how the frog-like taxon affordance model provides a basis for the spatial navigation mechanisms that involve the hippocampus and other brain regions. For monkey, we recall two models of neural mechanisms for visuomotor coordination. The first, for saccades, shows how interactions between the parietal and frontal cortex augment superior colliculus seen as the homologue of frog tectum. The second, for grasping, continues the theme of parieto-frontal interactions, linking parietal affordances to motor schemas in premotor cortex. It further emphasizes the mirror system for grasping, in which neurons are active both when the monkey executes a specific grasp and when it observes a similar grasp executed by others. The model of human-brain mechanisms is based on the mirror-system hypothesis of the evolution of the language-ready brain, which sees the human Broca's area as an evolved extension of the mirror system for grasping.

Hand Preference for Precision Grasping Predicts Language Lateralization

Science.gov (United States)

Gonzalez, Claudia L. R.; Goodale, Melvyn A.

2009-01-01

We investigated whether or not there is a relationship between hand preference for grasping and hemispheric dominance for language--and how each of these is related to other traditional measures of handedness. To do this we asked right- and left-handed participants to put together two different sets of 3D puzzles made out of big or very small…

Development of a non-invasive, multifunctional grasp neuroprosthesis and its evaluation in an individual with a high spinal cord injury.

Science.gov (United States)

Rupp, Rüdiger; Kreilinger, Alex; Rohm, Martin; Kaiser, Vera; Müller-Putz, Gernot R

2012-01-01

Over the last decade the improvement of a missing hand function by application of neuroprostheses in particular the implantable Freehand system has been successfully shown in high spinal cord injured individuals. The clinically proven advantages of the Freehand system is its ease of use, the reproducible generation of two distinct functional grasp patterns and an analog control scheme based on movements of the contralateral shoulder. However, after the Freehand system is not commercially available for more than ten years, alternative grasp neuroprosthesis with a comparable functionality are still missing. Therefore, the aim of this study was to develop a non-invasive neuroprosthesis and to show that a degree of functional restoration can be provided to end users comparable to implanted devices. By introduction of an easy to handle forearm electrode sleeve the reproducible generation of two grasp patterns has been achieved. Generated grasp forces of the palmar grasp are in the range of the implanted system. Though pinch force of the lateral grasp is significantly lower, it can effectively used by a tetraplegic subject to perform functional tasks. The non-invasive grasp neuroprosthesis developed in this work may serve as an easy to apply and inexpensive way to restore a missing hand and finger function at any time after spinal cord injury.

Deficits of reach-to-grasp coordination following stroke: Comparison of instructed and natural movements.

Science.gov (United States)

Baak, Benjamin; Bock, Otmar; Dovern, Anna; Saliger, Jochen; Karbe, Hans; Weiss, Peter H

2015-10-01

The present work evaluates whether stroke-induced deficits of reach-to-grasp movements, established by typical laboratory paradigms, transfer unconditionally to more natural situations. Sixteen patients with a stroke to the motor-dominant left hemisphere and 16 age- and gender-matched healthy control subjects executed grasping movements with their left (ipsilesional, non-dominant) hand. All movements started in the same position, were aimed at the same object positioned in the same location, and were followed by forward displacement of that object along the same path. Twenty movements were performed as a repetitive, externally triggered task executed for their own sake (context L, as in typical laboratory tasks). Twenty movements were performed as part of a self-initiated action sequence aimed at winning a reward (context E, similar to many everyday situations). The kinematics and dynamics of the transport, grasp and manipulation component of each reach-to-grasp movement were quantified by 41 parameters. Analyses of variance yielded a significant effect of Context for 29 parameters, a significant effect of Group for 9 parameters (mostly related to the coupling of hand transport and grip aperture), and a significant interaction for 5 parameters (all related to the coupling of hand transport and grip aperture). The interaction reflected the fact that stroke patients' movement parameters were more abnormal in context E than in context L. Our data indicate that unilateral stroke degrades the grasp-transport coupling, and that stroke-related motor deficits may be more pronounced in a natural than in a laboratory context. Thus, for stroke patients, assessments and rehabilitation regimes should mainly use activities that are as natural as possible. Copyright © 2015 Elsevier Ltd. All rights reserved.

Noninvasive Electroencephalogram Based Control of a Robotic Arm for Reach and Grasp Tasks

Science.gov (United States)

Meng, Jianjun; Zhang, Shuying; Bekyo, Angeliki; Olsoe, Jaron; Baxter, Bryan; He, Bin

2016-01-01

Brain-computer interface (BCI) technologies aim to provide a bridge between the human brain and external devices. Prior research using non-invasive BCI to control virtual objects, such as computer cursors and virtual helicopters, and real-world objects, such as wheelchairs and quadcopters, has demonstrated the promise of BCI technologies. However, controlling a robotic arm to complete reach-and-grasp tasks efficiently using non-invasive BCI has yet to be shown. In this study, we found that a group of 13 human subjects could willingly modulate brain activity to control a robotic arm with high accuracy for performing tasks requiring multiple degrees of freedom by combination of two sequential low dimensional controls. Subjects were able to effectively control reaching of the robotic arm through modulation of their brain rhythms within the span of only a few training sessions and maintained the ability to control the robotic arm over multiple months. Our results demonstrate the viability of human operation of prosthetic limbs using non-invasive BCI technology. PMID:27966546

Human Guidance Behavior Decomposition and Modeling

Science.gov (United States)

Feit, Andrew James

Trained humans are capable of high performance, adaptable, and robust first-person dynamic motion guidance behavior. This behavior is exhibited in a wide variety of activities such as driving, piloting aircraft, skiing, biking, and many others. Human performance in such activities far exceeds the current capability of autonomous systems in terms of adaptability to new tasks, real-time motion planning, robustness, and trading safety for performance. The present work investigates the structure of human dynamic motion guidance that enables these performance qualities. This work uses a first-person experimental framework that presents a driving task to the subject, measuring control inputs, vehicle motion, and operator visual gaze movement. The resulting data is decomposed into subspace segment clusters that form primitive elements of action-perception interactive behavior. Subspace clusters are defined by both agent-environment system dynamic constraints and operator control strategies. A key contribution of this work is to define transitions between subspace cluster segments, or subgoals, as points where the set of active constraints, either system or operator defined, changes. This definition provides necessary conditions to determine transition points for a given task-environment scenario that allow a solution trajectory to be planned from known behavior elements. In addition, human gaze behavior during this task contains predictive behavior elements, indicating that the identified control modes are internally modeled. Based on these ideas, a generative, autonomous guidance framework is introduced that efficiently generates optimal dynamic motion behavior in new tasks. The new subgoal planning algorithm is shown to generate solutions to certain tasks more quickly than existing approaches currently used in robotics.

Temporal-spatial parameters of the upper limb during a Reach & Grasp Cycle for children.

Science.gov (United States)

Butler, Erin E; Ladd, Amy L; Lamont, Lauren E; Rose, Jessica

2010-07-01

The objective of this study was to characterize normal temporal-spatial patterns during the Reach & Grasp Cycle and to identify upper limb motor deficits in children with cerebral palsy (CP). The Reach & Grasp Cycle encompasses six sequential tasks: reach, grasp cylinder, transport to self (T(1)), transport back to table (T(2)), release cylinder, and return to initial position. Three-dimensional motion data were recorded from 25 typically developing children (11 males, 14 females; ages 5-18 years) and 12 children with hemiplegic CP (2 males, 10 females; ages 5-17 years). Within-day and between-day coefficients of variation for the control group ranged from 0 to 0.19, indicating good repeatability of all parameters. The mean duration of the Cycle for children with CP was nearly twice as long as controls, 9.5±4.3s versus 5.1±1.2s (U=37.0, P=.002), partly due to prolonged grasp and release durations. Peak hand velocity occurred at approximately 40% of each phase and was greater during the transport (T(1), T(2)) than non-transport phases (reach, return) in controls (PGrasp Cycle (rho=.957, PGrasp Cycle for quantitative evaluation of upper limb motor deficits. Copyright © 2010 Elsevier B.V. All rights reserved.

Goal inferences about robot behavior : goal inferences and human response behaviors

NARCIS (Netherlands)

Broers, H.A.T.; Ham, J.R.C.; Broeders, R.; De Silva, P.; Okada, M.

2014-01-01

This explorative research focused on the goal inferences human observers draw based on a robot's behavior, and the extent to which those inferences predict people's behavior in response to that robot. Results show that different robot behaviors cause different response behavior from people.

Teaching grasping points using natural movements

OpenAIRE

Isleyici, Yalim

2014-01-01

Research about tasks that robotic maids should be able to perform is an emerging research area such as cooking and cleaning. Among them, manipulation of clothes is one of the hardest tasks due to the fact that textile is highly deformable and it is hard to model a good grasping point on them. In literature there are certain algorithms depending on 3D information of the cloth but most of them are not robust. Among them, Fast Integral Normal 3D (FINDDD) descriptors is a promising way for ...

GRASP [GRound-Water Adjunct Sensitivity Program]: A computer code to perform post-SWENT [simulator for water, energy, and nuclide transport] adjoint sensitivity analysis of steady-state ground-water flow: Technical report

International Nuclear Information System (INIS)

Wilson, J.L.; RamaRao, B.S.; McNeish, J.A.

1986-11-01

GRASP (GRound-Water Adjunct Senstivity Program) computes measures of the behavior of a ground-water system and the system's performance for waste isolation, and estimates the sensitivities of these measures to system parameters. The computed measures are referred to as ''performance measures'' and include weighted squared deviations of computed and observed pressures or heads, local Darcy velocity components and magnitudes, boundary fluxes, and travel distance and time along travel paths. The sensitivities are computed by the adjoint method and are exact derivatives of the performance measures with respect to the parameters for the modeled system, taken about the assumed parameter values. GRASP presumes steady-state, saturated grondwater flow, and post-processes the results of a multidimensional (1-D, 2-D, 3-D) finite-difference flow code. This document describes the mathematical basis for the model, the algorithms and solution techniques used, and the computer code design. The implementation of GRASP is verified with simple one- and two-dimensional flow problems, for which analytical expressions of performance measures and sensitivities are derived. The linkage between GRASP and multidimensional finite-difference flow codes is described. This document also contains a detailed user's manual. The use of GRASP to evaluate nuclear waste disposal issues has been emphasized throughout the report. The performance measures and their sensitivities can be employed to assist in directing data collection programs, expedite model calibration, and objectively determine the sensitivity of projected system performance to parameters

The Sliced Pineapple Grid Feature for Predicting Grasping Affordances

DEFF Research Database (Denmark)

Thomsen, Mikkel Tang; Kraft, Dirk; Krüger, Norbert

2017-01-01

The problem of grasping unknown objects utilising vision is addressed in this work by introducing a novel feature, the Sliced Pineapple Grid Feature (SPGF). The SPGF encode semi-local surfaces and allows for distinguishing structures such as “walls”,“edges” and “rims”. These structures are shown...

Optimizing a Biobjective Production-Distribution Planning Problem Using a GRASP

Directory of Open Access Journals (Sweden)

Martha-Selene Casas-Ramírez

2018-01-01

Full Text Available This paper addresses a biobjective production-distribution planning problem. The problem is formulated as a mixed integer programming problem with two objectives. The objectives are to minimize the total costs and to balance the total workload of the supply chain, which consist of plants and depots, considering that it represents a company vertically integrated. In order to solve the model, we propose an adapted biobjective GRASP to obtain an approximation of the Pareto front. To evaluate the performance of the proposed algorithm, numerical experimentations are conducted over a set of instances used for similar problems. Results indicate that the proposed GRASP obtains a relatively small number of nondominated solutions for each tested instance in very short computational time. The approximated Pareto fronts are discontinuous and nonconvex. Moreover, the solutions clearly show the compromise between both objective functions.

Control of aperture closure during reach-to-grasp movements in Parkinson's disease.

Science.gov (United States)

Rand, M K; Smiley-Oyen, A L; Shimansky, Y P; Bloedel, J R; Stelmach, G E

2006-01-01

This study examined whether the pattern of coordination between arm-reaching toward an object (hand transport) and the initiation of aperture closure for grasping is different between PD patients and healthy individuals, and whether that pattern is affected by the necessity to quickly adjust the reach-to-grasp movement in response to an unexpected shift of target location. Subjects reached for and grasped a vertical dowel, the location of which was indicated by illuminating one of the three dowels placed on a horizontal plane. In control conditions, target location was fixed during the trial. In perturbation conditions, target location was shifted instantaneously by switching the illumination to a different dowel during the reach. The hand distance from the target at which the subject initiated aperture closure (aperture closure distance) was similar for both the control and perturbation conditions within each group of subjects. However, that distance was significantly closer to the target in the PD group than in the control group. The timing of aperture closure initiation varied considerably across the trials in both groups of subjects. In contrast, aperture closure distance was relatively invariant, suggesting that aperture closure initiation was determined by spatial parameters of arm kinematics rather than temporal parameters. The linear regression analysis of aperture closure distance showed that the distance was highly predictable based on the following three parameters: the amplitude of maximum grip aperture, hand velocity, and hand acceleration. This result implies that a control law, the arguments of which include the above parameters, governs the initiation of aperture closure. Further analysis revealed that the control law was very similar between the subject groups under each condition as well as between the control and perturbation conditions for each group. Consequently, the shorter aperture closure distance observed in PD patients apparently is a

Using an accelerometer for analyzing a reach-to-grasp movement after stroke

Directory of Open Access Journals (Sweden)

Stella Maris Michaelsen

2013-12-01

Full Text Available The purpose of this study was using an accelerometer to access the kinematics of reach-to-grasp movements in subjects with hemiparesis. Eight subjects (59.4 ± 6.9 years old with chronic hemiparesis (50.9 ± 25.8 months post-stroke participated in this study. Kinematic assessment was performed using a triaxial accelerometer (EMG Systems, Brazil attached to the subjects' forearm. Ten reach-to-grasp movements of grabbing a 500ml-size bottle were performed by the subjects with the paretic and the non-paretic upper limbs (ULs. The following space-temporal variables were calculated and used to compare the paretic and non-paretic ULs: movement time (MT, time to reach the peak velocity, absolute and relative (TPV and TPV%MT, relative deceleration duration (DEC%MT, time to peak acceleration (TPA and peak hand acceleration (PA. Movements were slower in the paretic UL with increased MT, TPA and DEC. The accelerometer allowed to identify of changes in reaching-to-grasp movements of subjects with hemiparesis. When complex systems are not available, accelerometers can be an alternative to measure UL movements.

A General Contact Force Analysis of an Under-Actuated Finger in Robot Hand Grasping

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Xuan Vinh Ha

2016-02-01

Full Text Available This paper develops a mathematical analysis of contact forces for the under-actuated finger in a general under-actuated robotic hand during grasping. The concept of under-actuation in robotic grasping with fewer actuators than degrees of freedom (DOF, through the use of springs and mechanical limits, allows the hand to adjust itself to an irregularly shaped object without complex control strategies and sensors. Here the main concern is the contact forces, which are important elements in grasping tasks, based on the proposed mathematical analysis of their distributions of the n-DOF under-actuated finger. The simulation results, along with the 3-DOF finger from the ADAMS model, show the effectiveness of the mathematical analysis method, while comparing them with the measured results. The system can find magnitudes of the contact forces at the contact positions between the phalanges and the object.

Ecological Environment in Terms of Human Behavior

OpenAIRE

Chen, Xiaogang; Zhou, Dehu; Lin, Hui

2013-01-01

In terms of human behavior, company and government policy, it is proposed that the ecological behavior of human being is the basis of influence on the ecological environment construction in Poyang Lake and measures to ensure the sustainable development of ecological environment in Poyang Lake.

Development of prosthesis grasp control systems on a robotic testbed

NARCIS (Netherlands)

Peerdeman, B.; Fabrizi, Ugo; Palli, Gianluca; Melchiorri, Claudio; Stramigioli, Stefano; Misra, Sarthak

2012-01-01

Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand

Force Myography for Monitoring Grasping in Individuals with Stroke with Mild to Moderate Upper-Extremity Impairments: A Preliminary Investigation in a Controlled Environment

Directory of Open Access Journals (Sweden)

Gautam P. Sadarangani

2017-07-01

Full Text Available There is increasing research interest in technologies that can detect grasping, to encourage functional use of the hand as part of daily living, and thus promote upper-extremity motor recovery in individuals with stroke. Force myography (FMG has been shown to be effective for providing biofeedback to improve fine motor function in structured rehabilitation settings, involving isolated repetitions of a single grasp type, elicited at a predictable time, without upper-extremity movements. The use of FMG, with machine learning techniques, to detect and distinguish between grasping and no grasping, continues to be an active area of research, in healthy individuals. The feasibility of classifying FMG for grasp detection in populations with upper-extremity impairments, in the presence of upper-extremity movements, as would be expected in daily living, has yet to be established. We explore the feasibility of FMG for this application by establishing and comparing (1 FMG-based grasp detection accuracy and (2 the amount of training data necessary for accurate grasp classification, in individuals with stroke and healthy individuals. FMG data were collected using a flexible forearm band, embedded with six force-sensitive resistors (FSRs. Eight participants with stroke, with mild to moderate upper-extremity impairments, and eight healthy participants performed 20 repetitions of three tasks that involved reaching, grasping, and moving an object in different planes of movement. A validation sensor was placed on the object to label data as corresponding to a grasp or no grasp. Grasp detection performance was evaluated using linear and non-linear classifiers. The effect of training set size on classification accuracy was also determined. FMG-based grasp detection demonstrated high accuracy of 92.2% (σ = 3.5% for participants with stroke and 96.0% (σ = 1.6% for healthy volunteers using a support vector machine (SVM. The use of a training set that was 50

Testing of Visual Field with Virtual Reality Goggles in Manual and Visual Grasp Modes

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Dariusz Wroblewski

2014-01-01

Full Text Available Automated perimetry is used for the assessment of visual function in a variety of ophthalmic and neurologic diseases. We report development and clinical testing of a compact, head-mounted, and eye-tracking perimeter (VirtualEye that provides a more comfortable test environment than the standard instrumentation. VirtualEye performs the equivalent of a full threshold 24-2 visual field in two modes: (1 manual, with patient response registered with a mouse click, and (2 visual grasp, where the eye tracker senses change in gaze direction as evidence of target acquisition. 59 patients successfully completed the test in manual mode and 40 in visual grasp mode, with 59 undergoing the standard Humphrey field analyzer (HFA testing. Large visual field defects were reliably detected by VirtualEye. Point-by-point comparison between the results obtained with the different modalities indicates: (1 minimal systematic differences between measurements taken in visual grasp and manual modes, (2 the average standard deviation of the difference distributions of about 5 dB, and (3 a systematic shift (of 4–6 dB to lower sensitivities for VirtualEye device, observed mostly in high dB range. The usability survey suggested patients’ acceptance of the head-mounted device. The study appears to validate the concepts of a head-mounted perimeter and the visual grasp mode.

Testing of visual field with virtual reality goggles in manual and visual grasp modes.

Science.gov (United States)

Wroblewski, Dariusz; Francis, Brian A; Sadun, Alfredo; Vakili, Ghazal; Chopra, Vikas

2014-01-01

Automated perimetry is used for the assessment of visual function in a variety of ophthalmic and neurologic diseases. We report development and clinical testing of a compact, head-mounted, and eye-tracking perimeter (VirtualEye) that provides a more comfortable test environment than the standard instrumentation. VirtualEye performs the equivalent of a full threshold 24-2 visual field in two modes: (1) manual, with patient response registered with a mouse click, and (2) visual grasp, where the eye tracker senses change in gaze direction as evidence of target acquisition. 59 patients successfully completed the test in manual mode and 40 in visual grasp mode, with 59 undergoing the standard Humphrey field analyzer (HFA) testing. Large visual field defects were reliably detected by VirtualEye. Point-by-point comparison between the results obtained with the different modalities indicates: (1) minimal systematic differences between measurements taken in visual grasp and manual modes, (2) the average standard deviation of the difference distributions of about 5 dB, and (3) a systematic shift (of 4-6 dB) to lower sensitivities for VirtualEye device, observed mostly in high dB range. The usability survey suggested patients' acceptance of the head-mounted device. The study appears to validate the concepts of a head-mounted perimeter and the visual grasp mode.

Modeling and simulating human teamwork behaviors using intelligent agents

Science.gov (United States)

Fan, Xiaocong; Yen, John

2004-12-01

Among researchers in multi-agent systems there has been growing interest in using intelligent agents to model and simulate human teamwork behaviors. Teamwork modeling is important for training humans in gaining collaborative skills, for supporting humans in making critical decisions by proactively gathering, fusing, and sharing information, and for building coherent teams with both humans and agents working effectively on intelligence-intensive problems. Teamwork modeling is also challenging because the research has spanned diverse disciplines from business management to cognitive science, human discourse, and distributed artificial intelligence. This article presents an extensive, but not exhaustive, list of work in the field, where the taxonomy is organized along two main dimensions: team social structure and social behaviors. Along the dimension of social structure, we consider agent-only teams and mixed human-agent teams. Along the dimension of social behaviors, we consider collaborative behaviors, communicative behaviors, helping behaviors, and the underpinning of effective teamwork-shared mental models. The contribution of this article is that it presents an organizational framework for analyzing a variety of teamwork simulation systems and for further studying simulated teamwork behaviors.

Information about the weight of grasped objects from vision and internal models interacts within the primary motor cortex.

Science.gov (United States)

Loh, Morrison N; Kirsch, Louise; Rothwell, John C; Lemon, Roger N; Davare, Marco

2010-05-19

When grasping and lifting different objects, visual cues and previously acquired knowledge enable us to prepare the upcoming grasp by scaling the fingertip forces according to the actual weight of the object. However, when no visual information is available, the weight of the object has to be predicted based on information learned from previous grasps. Here, we investigated how changes in corticospinal excitability (CSE) and grip force scaling depend on the presence of visual cues and the weight of previously lifted objects. CSE was assessed by delivering transcranial magnetic stimulation (TMS) at different times before grasp of the object. In conditions in which visual information was not provided, the size of motor evoked potentials (MEP) was larger when the object lifted was preceded by a heavy relative to a light object. Interestingly, the previous lift also affected MEP amplitude when visual cues about object weight were available but only in the period immediately after object presentation (50 ms); this effect had already declined for TMS delivered 150 ms after presentation. In a second experiment, we demonstrated that these CSE changes are used by the motor system to scale grip force. This suggests that the corticospinal system stores a "sensorimotor memory" of the grasp of different objects and relies on this memory when no visual cues are present. Moreover, visual information about weight interacts with this stored representation and allows the corticospinal system to switch rapidly to a different model of predictive grasp control.

An Integrated Framework for Human-Robot Collaborative Manipulation.

Science.gov (United States)

Sheng, Weihua; Thobbi, Anand; Gu, Ye

2015-10-01

This paper presents an integrated learning framework that enables humanoid robots to perform human-robot collaborative manipulation tasks. Specifically, a table-lifting task performed jointly by a human and a humanoid robot is chosen for validation purpose. The proposed framework is split into two phases: 1) phase I-learning to grasp the table and 2) phase II-learning to perform the manipulation task. An imitation learning approach is proposed for phase I. In phase II, the behavior of the robot is controlled by a combination of two types of controllers: 1) reactive and 2) proactive. The reactive controller lets the robot take a reactive control action to make the table horizontal. The proactive controller lets the robot take proactive actions based on human motion prediction. A measure of confidence of the prediction is also generated by the motion predictor. This confidence measure determines the leader/follower behavior of the robot. Hence, the robot can autonomously switch between the behaviors during the task. Finally, the performance of the human-robot team carrying out the collaborative manipulation task is experimentally evaluated on a platform consisting of a Nao humanoid robot and a Vicon motion capture system. Results show that the proposed framework can enable the robot to carry out the collaborative manipulation task successfully.

Electrotactile EMG feedback improves the control of prosthesis grasping force

Science.gov (United States)

Schweisfurth, Meike A.; Markovic, Marko; Dosen, Strahinja; Teich, Florian; Graimann, Bernhard; Farina, Dario

2016-10-01

Objective. A drawback of active prostheses is that they detach the subject from the produced forces, thereby preventing direct mechanical feedback. This can be compensated by providing somatosensory feedback to the user through mechanical or electrical stimulation, which in turn may improve the utility, sense of embodiment, and thereby increase the acceptance rate. Approach. In this study, we compared a novel approach to closing the loop, namely EMG feedback (emgFB), to classic force feedback (forceFB), using electrotactile interface in a realistic task setup. Eleven intact-bodied subjects and one transradial amputee performed a routine grasping task while receiving emgFB or forceFB. The two feedback types were delivered through the same electrotactile interface, using a mixed spatial/frequency coding to transmit 8 discrete levels of the feedback variable. In emgFB, the stimulation transmitted the amplitude of the processed myoelectric signal generated by the subject (prosthesis input), and in forceFB the generated grasping force (prosthesis output). The task comprised 150 trials of routine grasping at six forces, randomly presented in blocks of five trials (same force). Interquartile range and changes in the absolute error (AE) distribution (magnitude and dispersion) with respect to the target level were used to assess precision and overall performance, respectively. Main results. Relative to forceFB, emgFB significantly improved the precision of myoelectric commands (min/max of the significant levels) for 23%/36% as well as the precision of force control for 12%/32%, in intact-bodied subjects. Also, the magnitude and dispersion of the AE distribution were reduced. The results were similar in the amputee, showing considerable improvements. Significance. Using emgFB, the subjects therefore decreased the uncertainty of the forward pathway. Since there is a correspondence between the EMG and force, where the former anticipates the latter, the emgFB allowed for

GRASP/Ada 95: Reverse Engineering Tools for Ada

Science.gov (United States)

Cross, James H., II

1996-01-01

The GRASP/Ada project (Graphical Representations of Algorithms, Structures, and Processes for Ada) has successfully created and prototyped an algorithmic level graphical representation for Ada software, the Control Structure Diagram (CSD), and a new visualization for a fine-grained complexity metric called the Complexity Profile Graph (CPG). By synchronizing the CSD and the CPG, the CSD view of control structure, nesting, and source code is directly linked to the corresponding visualization of statement level complexity in the CPG. GRASP has been integrated with GNAT, the GNU Ada 95 Translator to provide a comprehensive graphical user interface and development environment for Ada 95. The user may view, edit, print, and compile source code as a CSD with no discernible addition to storage or computational overhead. The primary impetus for creation of the CSD was to improve the comprehension efficiency of Ada software and, as a result, improve reliability and reduce costs. The emphasis has been on the automatic generation of the CSD from Ada 95 source code to support reverse engineering and maintenance. The CSD has the potential to replace traditional prettyprinted Ada source code. The current update has focused on the design and implementation of a new Motif compliant user interface, and a new CSD generator consisting of a tagger and renderer. The Complexity Profile Graph (CPG) is based on a set of functions that describes the context, content, and the scaling for complexity on a statement by statement basis. When combined graphicafly, the result is a composite profile of complexity for the program unit. Ongoing research includes the development and refinement of the associated functions, and the development of the CPG generator prototype. The current Version 5.0 prototype provides the capability for the user to generate CSDs and CPGs from Ada 95 source code in a reverse engineering as well as forward engineering mode with a level of flexibility suitable for

Rational Emotive Behavior Therapy: Humanism in Action.

Science.gov (United States)

Hill, Larry K.

1996-01-01

Claims that humanism, in both concept and philosophy, is encased in a literature that is predominantly abstract, making humanism difficult to translate into tangible day-to-day action. Argues that rational emotive behavior therapy (REBT), however, provides a detailed method for translating humanist concepts into humanist behavior. (RJM)

Retrieval of aerosol profiles combining sunphotometer and ceilometer measurements in GRASP code

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Román, R.; Benavent-Oltra, J. A.; Casquero-Vera, J. A.; Lopatin, A.; Cazorla, A.; Lyamani, H.; Denjean, C.; Fuertes, D.; Pérez-Ramírez, D.; Torres, B.; Toledano, C.; Dubovik, O.; Cachorro, V. E.; de Frutos, A. M.; Olmo, F. J.; Alados-Arboledas, L.

2018-05-01

In this paper we present an approach for the profiling of aerosol microphysical and optical properties combining ceilometer and sun/sky photometer measurements in the GRASP code (General Retrieval of Aerosol and Surface Properties). For this objective, GRASP is used with sun/sky photometer measurements of aerosol optical depth (AOD) and sky radiances, both at four wavelengths and obtained from AErosol RObotic NETwork (AERONET), and ceilometer measurements of range corrected signal (RCS) at 1064 nm. A sensitivity study with synthetic data evidences the capability of the method to retrieve aerosol properties such as size distribution and profiles of volume concentration (VC), especially for coarse particles. Aerosol properties obtained by the mentioned method are compared with airborne in-situ measurements acquired during two flights over Granada (Spain) within the framework of ChArMEx/ADRIMED (Chemistry-Aerosol Mediterranean Experiment/Aerosol Direct Radiative Impact on the regional climate in the MEDiterranean region) 2013 campaign. The retrieved aerosol VC profiles agree well with the airborne measurements, showing a mean bias error (MBE) and a mean absolute bias error (MABE) of 0.3 μm3/cm3 (12%) and 5.8 μm3/cm3 (25%), respectively. The differences between retrieved VC and airborne in-situ measurements are within the uncertainty of GRASP retrievals. In addition, the retrieved VC at 2500 m a.s.l. is shown and compared with in-situ measurements obtained during summer 2016 at a high-atitude mountain station in the framework of the SLOPE I campaign (Sierra Nevada Lidar AerOsol Profiling Experiment). VC from GRASP presents high correlation (r = 0.91) with the in-situ measurements, but overestimates them, MBE and MABE being equal to 23% and 43%.

Role of vision in aperture closure control during reach-to-grasp movements.

Science.gov (United States)

Rand, Miya K; Lemay, Martin; Squire, Linda M; Shimansky, Yury P; Stelmach, George E

2007-08-01

We have previously shown that the distance from the hand to the target at which finger closure is initiated during the reach (aperture closure distance) depends on the amplitude of peak aperture, as well as hand velocity and acceleration. This dependence suggests the existence of a control law according to which a decision to initiate finger closure during the reach is made when the hand distance to target crosses a threshold that is a function of the above movement-related parameters. The present study examined whether the control law is affected by manipulating the visibility of the hand and the target. Young adults made reach-to-grasp movements to a dowel under conditions in which the target or the hand or both were either visible or not visible. Reaching for and grasping a target when the hand and/or target were not visible significantly increased transport time and widened peak aperture. Aperture closure distance was significantly lengthened and wrist peak velocity was decreased only when the target was not visible. Further analysis showed that the control law was significantly different between the visibility-related conditions. When either the hand or target was not visible, the aperture closure distance systematically increased compared to its value for the same amplitude of peak aperture, hand velocity, and acceleration under full visibility. This implies an increase in the distance-related safety margin for grasping when the hand or target is not visible. It has been also found that the same control law can be applied to all conditions, if variables describing hand and target visibility were included in the control law model, as the parameters of the task-related environmental context, in addition to the above movement-related parameters. This suggests that that the CNS utilizes those variables for controlling grasp initiation based on a general control law.

Mimesis: Linking Postmodern Theory to Human Behavior

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Dybicz, Phillip

2010-01-01

This article elaborates mimesis as a theory of causality used to explain human behavior. Drawing parallels to social constructionism's critique of positivism and naturalism, mimesis is offered as a theory of causality explaining human behavior that contests the current dominance of Newton's theory of causality as cause and effect. The contestation…

GRASP (Greedy Randomized Adaptive Search Procedures) applied to optimization of petroleum products distribution in pipeline networks; GRASP (Greedy Randomized Adaptative Search Procedures) aplicado ao 'scheduling' de redes de distribuicao de petroleo e derivados

Energy Technology Data Exchange (ETDEWEB)

Conte, Viviane Cristhyne Bini; Arruda, Lucia Valeria Ramos de; Yamamoto, Lia [Universidade Tecnologica Federal do Parana (UTFPR), Curitiba, PR (Brazil)

2008-07-01

Planning and scheduling of the pipeline network operations aim the most efficient use of the resources resulting in a better performance of the network. A petroleum distribution pipeline network is composed by refineries, sources and/or storage parks, connected by a set of pipelines, which operate the transportation of petroleum and derivatives among adjacent areas. In real scenes, this problem is considered a combinatorial problem, which has difficult solution, which makes necessary methodologies of the resolution that present low computational time. This work aims to get solutions that attempt the demands and minimize the number of batch fragmentations on the sent operations of products for the pipelines in a simplified model of a real network, through by application of the local search metaheuristic GRASP. GRASP does not depend of solutions of previous iterations and works in a random way so it allows the search for the solution in an ampler and diversified search space. GRASP utilization does not demand complex calculation, even the construction stage that requires more computational effort, which provides relative rapidity in the attainment of good solutions. GRASP application on the scheduling of the operations of this network presented feasible solutions in a low computational time. (author)

Grasping an object comfortably: orientation information is held in memory

NARCIS (Netherlands)

Roche, K; Verheij, R.; Voudouris, D.; Chainay, H.; Smeets, J.B.J.

2015-01-01

It has been shown that memorized information can influence real-time visuomotor control. For instance, a previously seen object (prime) influences grasping movements toward a target object. In this study, we examined how general the priming effect is: does it depend on the orientation of the target

Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings

Science.gov (United States)

Su, Chen; Jiang, Xiaobo

2017-01-01

The reach-to-grasp activities play an important role in our daily lives. The developed RUPERT for stroke patients with high stiffness in arm flexor muscles is a low-cost lightweight portable exoskeleton rehabilitation robot whose joints are unidirectionally actuated by pneumatic artificial muscles (PAMs). In order to expand the useful range of RUPERT especially for patients with flaccid paralysis, functional electrical stimulation (FES) is taken to activate paralyzed arm muscles. As both the exoskeleton robot driven by PAMs and the neuromuscular skeletal system under FES possess the highly nonlinear and time-varying characteristics, iterative learning control (ILC) is studied and is taken to control this newly designed hybrid rehabilitation system for reaching trainings. Hand function rehabilitation refers to grasping. Because of tiny finger muscles, grasping and releasing are realized by FES array electrodes and matrix scan method. By using the surface electromyography (EMG) technique, the subject's active intent is identified. The upper limb rehabilitation robot powered by PAMs cooperates with FES arrays to realize active reach-to-grasp trainings, which was verified through experiments. PMID:29065566

Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings

Directory of Open Access Journals (Sweden)

Xikai Tu

2017-01-01

Full Text Available The reach-to-grasp activities play an important role in our daily lives. The developed RUPERT for stroke patients with high stiffness in arm flexor muscles is a low-cost lightweight portable exoskeleton rehabilitation robot whose joints are unidirectionally actuated by pneumatic artificial muscles (PAMs. In order to expand the useful range of RUPERT especially for patients with flaccid paralysis, functional electrical stimulation (FES is taken to activate paralyzed arm muscles. As both the exoskeleton robot driven by PAMs and the neuromuscular skeletal system under FES possess the highly nonlinear and time-varying characteristics, iterative learning control (ILC is studied and is taken to control this newly designed hybrid rehabilitation system for reaching trainings. Hand function rehabilitation refers to grasping. Because of tiny finger muscles, grasping and releasing are realized by FES array electrodes and matrix scan method. By using the surface electromyography (EMG technique, the subject’s active intent is identified. The upper limb rehabilitation robot powered by PAMs cooperates with FES arrays to realize active reach-to-grasp trainings, which was verified through experiments.

Information about the weight of grasped objects from vision and from internal models interacts within the primary motor cortex

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Loh, Morrison N; Kirsch, Louise; Rothwell, John C; Lemon, Roger N; Davare, Marco

2010-01-01

When grasping and lifting different objects, visual cues and previously acquired knowledge enable us to prepare the upcoming grasp by scaling the fingertip forces according to the actual weight of the object. However, when no visual information is available, the object’s weight has to be predicted based on information learned from previous grasps. Here, we investigated changes in corticospinal excitability (CSE) and grip force scaling depending on the presence of visual cues and the weight of previously lifted objects. CSE was assessed by delivering transcranial magnetic stimulation (TMS) at different times before grasp of the object. In conditions where visual information was not provided, the size of motor evoked potentials (MEP) was larger when the object lifted was preceded by a heavy relative to a light object. Interestingly, the previous lift also affected MEP amplitude when visual cues about object weight were available, but only in the period immediately after (50 ms) object presentation; this effect had already declined for TMS delivered 150 ms after presentation. In a second experiment, we demonstrated that these CSE changes are used by the motor system to scale grip force. This suggests that the corticospinal system stores a ‘sensorimotor memory’ of the grasp of different objects and relies on this memory when no visual cues are present. Moreover, visual information about weight interacts with this stored representation and allows the corticospinal system to switch rapidly to a different model of predictive grasp control. PMID:20484640

Control of aperture closure during reach-to-grasp movements in parkinson’s disease

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Rand, M. K.; Smiley-Oyen, A. L.; Shimansky, Y. P.; Bloedel, J. R.; Stelmach, G. E.

2007-01-01

This study examined whether the pattern of coordination between arm-reaching toward an object (hand transport) and the initiation of aperture closure for grasping is different between PD patients and healthy individuals, and whether that pattern is affected by the necessity to quickly adjust the reach-to-grasp movement in response to an unexpected shift of target location. Subjects reached for and grasped a vertical dowel, the location of which was indicated by illuminating one of the three dowels placed on a horizontal plane. In control conditions, target location was fixed during the trial. In perturbation conditions, target location was shifted instantaneously by switching the illumination to a different dowel during the reach. The hand distance from the target at which the subject initiated aperture closure (aperture closure distance) was similar for both the control and perturbation conditions within each group of subjects. However, that distance was significantly closer to the target in the PD group than in the control group. The timing of aperture closure initiation varied considerably across the trials in both groups of subjects. In contrast, aperture closure distance was relatively invariant, suggesting that aperture closure initiation was determined by spatial parameters of arm kinematics rather than temporal parameters. The linear regression analysis of aperture closure distance showed that the distance was highly predictable based on the following three parameters: the amplitude of maximum grip aperture, hand velocity, and hand acceleration. This result implies that a control law, the arguments of which include the above parameters, governs the initiation of aperture closure. Further analysis revealed that the control law was very similar between the subject groups under each condition as well as between the control and perturbation conditions for each group. Consequently, the shorter aperture closure distance observed in PD patients apparently is a

Grasp it loudly! Supporting actions with semantically congruent spoken action words.

Directory of Open Access Journals (Sweden)

Raphaël Fargier

Full Text Available Evidence for cross-talk between motor and language brain structures has accumulated over the past several years. However, while a significant amount of research has focused on the interaction between language perception and action, little attention has been paid to the potential impact of language production on overt motor behaviour. The aim of the present study was to test whether verbalizing during a grasp-to-displace action would affect motor behaviour and, if so, whether this effect would depend on the semantic content of the pronounced word (Experiment I. Furthermore, we sought to test the stability of such effects in a different group of participants and investigate at which stage of the motor act language intervenes (Experiment II. For this, participants were asked to reach, grasp and displace an object while overtly pronouncing verbal descriptions of the action ("grasp" and "put down" or unrelated words (e.g. "butterfly" and "pigeon". Fine-grained analyses of several kinematic parameters such as velocity peaks revealed that when participants produced action-related words their movements became faster compared to conditions in which they did not verbalize or in which they produced words that were not related to the action. These effects likely result from the functional interaction between semantic retrieval of the words and the planning and programming of the action. Therefore, links between (action language and motor structures are significant to the point that language can refine overt motor behaviour.

SEOM's Sentinel-3/OLCI' project CAWA: advanced GRASP aerosol retrieval

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Dubovik, Oleg; litvinov, Pavel; Huang, Xin; Aspetsberger, Michael; Fuertes, David; Brockmann, Carsten; Fischer, Jürgen; Bojkov, Bojan

2016-04-01

The CAWA "Advanced Clouds, Aerosols and WAter vapour products for Sentinel-3/OLCI" ESA-SEOM project aims on the development of advanced atmospheric retrieval algorithms for the Sentinel-3/OLCI mission, and is prepared using Envisat/MERIS and Aqua/MODIS datasets. This presentation discusses mainly CAWA aerosol product developments and results. CAWA aerosol retrieval uses recently developed GRASP algorithm (Generalized Retrieval of Aerosol and Surface Properties) algorithm described by Dubovik et al. (2014). GRASP derives extended set of atmospheric parameters using multi-pixel concept - a simultaneous fitting of a large group of pixels under additional a priori constraints limiting the time variability of surface properties and spatial variability of aerosol properties. Over land GRASP simultaneously retrieves properties of both aerosol and underlying surface even over bright surfaces. GRAPS doesn't use traditional look-up-tables and performs retrieval as search in continuous space of solution. All radiative transfer calculations are performed as part of the retrieval. The results of comprehensive sensitivity tests, as well as results obtained from real Envisat/MERIS data will be presented. The tests analyze various aspects of aerosol and surface reflectance retrieval accuracy. In addition, the possibilities of retrieval improvement by means of implementing synergetic inversion of a combination of OLCI data with observations by SLSTR are explored. Both the results of numerical tests, as well as the results of processing several years of Envisat/MERIS data illustrate demonstrate reliable retrieval of AOD (Aerosol Optical Depth) and surface BRDF. Observed retrieval issues and advancements will be discussed. For example, for some situations we illustrate possibilities of retrieving aerosol absorption - property that hardly accessible from satellite observations with no multi-angular and polarimetric capabilities.

Nonlinear dynamics in human behavior

Energy Technology Data Exchange (ETDEWEB)

Huys, Raoul [Centre National de la Recherche Scientifique (CNRS), 13 - Marseille (France); Marseille Univ. (France). Movement Science Inst.; Jirsa, Viktor K. (eds.) [Centre National de la Recherche Scientifique (CNRS), 13 - Marseille (France); Marseille Univ. (France). Movement Science Inst.; Florida Atlantic Univ., Boca Raton, FL (United States). Center for Complex Systems and Brain Sciences

2010-07-01

Humans engage in a seemingly endless variety of different behaviors, of which some are found across species, while others are conceived of as typically human. Most generally, behavior comes about through the interplay of various constraints - informational, mechanical, neural, metabolic, and so on - operating at multiple scales in space and time. Over the years, consensus has grown in the research community that, rather than investigating behavior only from bottom up, it may be also well understood in terms of concepts and laws on the phenomenological level. Such top down approach is rooted in theories of synergetics and self-organization using tools from nonlinear dynamics. The present compendium brings together scientists from all over the world that have contributed to the development of their respective fields departing from this background. It provides an introduction to deterministic as well as stochastic dynamical systems and contains applications to motor control and coordination, visual perception and illusion, as well as auditory perception in the context of speech and music. (orig.)

GRASP para o PQA: um limite de aceitação para soluções iniciais

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Range Maria Cristina

2000-01-01

Full Text Available O Problema Quadrático de Alocação (PQA pertence à classe dos problemas NP-Hard e desafia os pesquisadores tanto em sua teoria quanto em sua parte computacional. Pela sua alta complexidade muitos métodos heurísticos têm sido desenvolvidos para tentar resolvê-lo aproximadamente. A metaheurística GRASP (greedy randomized adaptive search procedures se mostrou bastante eficiente. Neste trabalho, uma proposta para descartar soluções iniciais supostamente ruins é apresentada com base na normalização de custos calculadas num intervalo entre limites de solução. Para este GRASP restrito, foi observada uma redução do tempo computacional para encontrar as soluções ótimas ou soluções viáveis de boa qualidade quando comparado ao GRASP original.

Human body scents: do they influence our behavior?

Science.gov (United States)

Mildner, Sophie; Buchbauer, Gerhard

2013-11-01

Pheromonal communication in the animal world has been of great research interest for a long time. While extraordinary discoveries in this field have been made, the importance of the human sense of smell was of far lower interest. Humans are seen as poor smellers and therefore research about human olfaction remains quite sparse compared with other animals. Nevertheless amazing achievements have been made during the past 15 years. This is a collection of available data on this topic and a controversial discussion on the role of putative human pheromones in our modem way of living. While the focus was definitely put on behavioral changes evoked by putative human pheromones this article also includes other important aspects such as the possible existence of a human vomeronasal organ. If pheromones do have an influence on human behavior there has to be a receptor organ. How are human body scents secreted and turned into odorous substances? And how can con-specifics detect those very odors and transmit them to the brain? Apart from that the most likely candidates for human pheromones are taken on account and their impact on human behavior is shown in various detail.

Adaptation of reach-to-grasp movement in response to force perturbations.

Science.gov (United States)

Rand, M K; Shimansky, Y; Stelmach, G E; Bloedel, J R

2004-01-01

This study examined how reach-to-grasp movements are modified during adaptation to external force perturbations applied on the arm during reach. Specifically, we examined whether the organization of these movements was dependent upon the condition under which the perturbation was applied. In response to an auditory signal, all subjects were asked to reach for a vertical dowel, grasp it between the index finger and thumb, and lift it a short distance off the table. The subjects were instructed to do the task as fast as possible. The perturbation was an elastic load acting on the wrist at an angle of 105 deg lateral to the reaching direction. The condition was modified by changing the predictability with which the perturbation was applied in a given trial. After recording unperturbed control trials, perturbations were applied first on successive trials (predictable perturbations) and then were applied randomly (unpredictable perturbations). In the early predictable perturbation trials, reach path length became longer and reaching duration increased. As more predictable perturbations were applied, the reach path length gradually decreased and became similar to that of control trials. Reaching duration also decreased gradually as the subjects adapted by exerting force against the perturbation. In addition, the amplitude of peak grip aperture during arm transport initially increased in response to repeated perturbations. During the course of learning, it reached its maximum and thereafter slightly decreased. However, it did not return to the normal level. The subjects also adapted to the unpredictable perturbations through changes in both arm transport and grasping components, indicating that they can compensate even when the occurrence of the perturbation cannot be predicted during the inter-trial interval. Throughout random perturbation trials, large grip aperture values were observed, suggesting that a conservative aperture level is set regardless of whether the

Rasmussen's model of human behavior in laparoscopy training.

Science.gov (United States)

Wentink, M; Stassen, L P S; Alwayn, I; Hosman, R J A W; Stassen, H G

2003-08-01

Compared to aviation, where virtual reality (VR) training has been standardized and simulators have proven their benefits, the objectives, needs, and means of VR training in minimally invasive surgery (MIS) still have to be established. The aim of the study presented is to introduce Rasmussen's model of human behavior as a practical framework for the definition of the training objectives, needs, and means in MIS. Rasmussen distinguishes three levels of human behavior: skill-, rule-, and knowledge-based behaviour. The training needs of a laparoscopic novice can be determined by identifying the specific skill-, rule-, and knowledge-based behavior that is required for performing safe laparoscopy. Future objectives of VR laparoscopy trainers should address all three levels of behavior. Although most commercially available simulators for laparoscopy aim at training skill-based behavior, especially the training of knowledge-based behavior during complications in surgery will improve safety levels. However, the cost and complexity of a training means increases when the training objectives proceed from the training of skill-based behavior to the training of complex knowledge-based behavior. In aviation, human behavior models have been used successfully to integrate the training of skill-, rule-, and knowledge-based behavior in a full flight simulator. Understanding surgeon behavior is one of the first steps towards a future full-scale laparoscopy simulator.

Influence of human behavior on cholera dynamics.

Science.gov (United States)

Wang, Xueying; Gao, Daozhou; Wang, Jin

2015-09-01

This paper is devoted to studying the impact of human behavior on cholera infection. We start with a cholera ordinary differential equation (ODE) model that incorporates human behavior via modeling disease prevalence dependent contact rates for direct and indirect transmissions and infectious host shedding. Local and global dynamics of the model are analyzed with respect to the basic reproduction number. We then extend the ODE model to a reaction-convection-diffusion partial differential equation (PDE) model that accounts for the movement of both human hosts and bacteria. Particularly, we investigate the cholera spreading speed by analyzing the traveling wave solutions of the PDE model, and disease threshold dynamics by numerically evaluating the basic reproduction number of the PDE model. Our results show that human behavior can reduce (a) the endemic and epidemic levels, (b) cholera spreading speeds and (c) the risk of infection (characterized by the basic reproduction number). Copyright © 2015 The Authors. Published by Elsevier Inc. All rights reserved.

Comparison of Object Recognition Behavior in Human and Monkey

Science.gov (United States)

Rajalingham, Rishi; Schmidt, Kailyn

2015-01-01

Although the rhesus monkey is used widely as an animal model of human visual processing, it is not known whether invariant visual object recognition behavior is quantitatively comparable across monkeys and humans. To address this question, we systematically compared the core object recognition behavior of two monkeys with that of human subjects. To test true object recognition behavior (rather than image matching), we generated several thousand naturalistic synthetic images of 24 basic-level objects with high variation in viewing parameters and image background. Monkeys were trained to perform binary object recognition tasks on a match-to-sample paradigm. Data from 605 human subjects performing the same tasks on Mechanical Turk were aggregated to characterize “pooled human” object recognition behavior, as well as 33 separate Mechanical Turk subjects to characterize individual human subject behavior. Our results show that monkeys learn each new object in a few days, after which they not only match mean human performance but show a pattern of object confusion that is highly correlated with pooled human confusion patterns and is statistically indistinguishable from individual human subjects. Importantly, this shared human and monkey pattern of 3D object confusion is not shared with low-level visual representations (pixels, V1+; models of the retina and primary visual cortex) but is shared with a state-of-the-art computer vision feature representation. Together, these results are consistent with the hypothesis that rhesus monkeys and humans share a common neural shape representation that directly supports object perception. SIGNIFICANCE STATEMENT To date, several mammalian species have shown promise as animal models for studying the neural mechanisms underlying high-level visual processing in humans. In light of this diversity, making tight comparisons between nonhuman and human primates is particularly critical in determining the best use of nonhuman primates to

Update of GRASP/Ada reverse engineering tools for Ada

Science.gov (United States)

Cross, James H., II

1993-01-01

The GRASP/Ada project (Graphical Representations of Algorithms, Structures, and Processes for Ada) successfully created and prototyped a new algorithmic level graphical representation for Ada software, the Control Structure Diagram (CSD). The primary impetus for creation of the CSD was to improve the comprehension efficiency of Ada software and, as a result, improve reliability and reduce costs. The emphasis was on the automatic generation of the CSD from Ada PDL or source code to support reverse engineering and maintenance. The CSD has the potential to replace traditional pretty printed Ada source code. In Phase 1 of the GRASP/Ada project, the CSD graphical constructs were created and applied manually to several small Ada programs. A prototype CSD generator (Version 1) was designed and implemented using FLEX and BISON running under VMS on a VAX 11-780. In Phase 2, the prototype was improved and ported to the Sun 4 platform under UNIX. A user interface was designed and partially implemented using the HP widget toolkit and the X Windows System. In Phase 3, the user interface was extensively reworked using the Athena widget toolkit and X Windows. The prototype was applied successfully to numerous Ada programs ranging in size from several hundred to several thousand lines of source code. Following Phase 3,e two update phases were completed. Update'92 focused on the initial analysis of evaluation data collected from software engineering students at Auburn University and the addition of significant enhancements to the user interface. Update'93 (the current update) focused on the statistical analysis of the data collected in the previous update and preparation of Version 3.4 of the prototype for limited distribution to facilitate further evaluation. The current prototype provides the capability for the user to generate CSD's from Ada PDL or source code in a reverse engineering as well as forward engineering mode with a level of flexibility suitable for practical

Adding randomness controlling parameters in GRASP method applied in school timetabling problem

Directory of Open Access Journals (Sweden)

Renato Santos Pereira

2017-09-01

Full Text Available This paper studies the influence of randomness controlling parameters (RCP in first stage GRASP method applied in graph coloring problem, specifically school timetabling problems in a public high school. The algorithm (with the inclusion of RCP was based on critical variables identified through focus groups, whose weights can be adjusted by the user in order to meet the institutional needs. The results of the computational experiment, with 11-year-old data (66 observations processed at the same high school show that the inclusion of RCP leads to significantly lowering the distance between initial solutions and local minima. The acceptance and the use of the solutions found allow us to conclude that the modified GRASP, as has been constructed, can make a positive contribution to this timetabling problem of the school in question.

Distinct olfactory cross-modal effects on the human motor system.

Directory of Open Access Journals (Sweden)

Simone Rossi

Full Text Available BACKGROUND: Converging evidence indicates that action observation and action-related sounds activate cross-modally the human motor system. Since olfaction, the most ancestral sense, may have behavioural consequences on human activities, we causally investigated by transcranial magnetic stimulation (TMS whether food odour could additionally facilitate the human motor system during the observation of grasping objects with alimentary valence, and the degree of specificity of these effects. METHODOLOGY/PRINCIPAL FINDINGS: In a repeated-measure block design, carried out on 24 healthy individuals participating to three different experiments, we show that sniffing alimentary odorants immediately increases the motor potentials evoked in hand muscles by TMS of the motor cortex. This effect was odorant-specific and was absent when subjects were presented with odorants including a potentially noxious trigeminal component. The smell-induced corticospinal facilitation of hand muscles during observation of grasping was an additive effect which superimposed to that induced by the mere observation of grasping actions for food or non-food objects. The odour-induced motor facilitation took place only in case of congruence between the sniffed odour and the observed grasped food, and specifically involved the muscle acting as prime mover for hand/fingers shaping in the observed action. CONCLUSIONS/SIGNIFICANCE: Complex olfactory cross-modal effects on the human corticospinal system are physiologically demonstrable. They are odorant-specific and, depending on the experimental context, muscle- and action-specific as well. This finding implies potential new diagnostic and rehabilitative applications.

Effect of pencil grasp on the speed and legibility of handwriting after a 10-minute copy task in Grade 4 children.

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Schwellnus, Heidi; Carnahan, Heather; Kushki, Azadeh; Polatajko, Helene; Missiuna, Cheryl; Chau, Tom

2012-06-01

To investigate the impact of common pencil grasp patterns on the speed and legibility of handwriting after a 10-minute copy task, intended to induce muscle fatigue, in typically developing children and in those non-proficient in handwriting. A total of 120 Grade 4 students completed a standardised handwriting assessment before and after a 10-minute copy task. The students indicated the perceived difficulty of the handwriting task at baseline and after 10 minutes. The students also completed a self-report questionnaire regarding their handwriting proficiency upon completion. The majority of the students rated higher effort after the 10-minute copy task than at baseline (rank sum: P = 0.00001). The effort ratings were similar for the different grasp patterns (multiple linear regression: F = 0.37, P = 0.895). For both typically developing children and those with handwriting issues, the legibility of the writing samples decreased after the 10-minute copy task but the speed of writing increased. CONCLUSIONS AND SIGNIFICANCE OF THE STUDY: The quality of the handwriting decreased after the 10-minute copy task; however, there was no difference in the quality or speed scores among the different pencil grasps before and after the copy task. The dynamic tripod pencil grasp did not offer any advantage over the lateral tripod or the dynamic or lateral quadrupod pencil grasps in terms of quality of handwriting after a 10-minute copy task. These four pencil grasp patterns performed equivalently. Our findings question the practice of having students adopt the dynamic tripod pencil grasp. © 2012 The Authors Australian Occupational Therapy Journal © 2012 Occupational Therapy Australia.

XD-GRASP: Golden-angle radial MRI with reconstruction of extra motion-state dimensions using compressed sensing.

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Feng, Li; Axel, Leon; Chandarana, Hersh; Block, Kai Tobias; Sodickson, Daniel K; Otazo, Ricardo

2016-02-01

To develop a novel framework for free-breathing MRI called XD-GRASP, which sorts dynamic data into extra motion-state dimensions using the self-navigation properties of radial imaging and reconstructs the multidimensional dataset using compressed sensing. Radial k-space data are continuously acquired using the golden-angle sampling scheme and sorted into multiple motion-states based on respiratory and/or cardiac motion signals derived directly from the data. The resulting undersampled multidimensional dataset is reconstructed using a compressed sensing approach that exploits sparsity along the new dynamic dimensions. The performance of XD-GRASP is demonstrated for free-breathing three-dimensional (3D) abdominal imaging, two-dimensional (2D) cardiac cine imaging and 3D dynamic contrast-enhanced (DCE) MRI of the liver, comparing against reconstructions without motion sorting in both healthy volunteers and patients. XD-GRASP separates respiratory motion from cardiac motion in cardiac imaging, and respiratory motion from contrast enhancement in liver DCE-MRI, which improves image quality and reduces motion-blurring artifacts. XD-GRASP represents a new use of sparsity for motion compensation and a novel way to handle motions in the context of a continuous acquisition paradigm. Instead of removing or correcting motion, extra motion-state dimensions are reconstructed, which improves image quality and also offers new physiological information of potential clinical value. © 2015 Wiley Periodicals, Inc.

Changes in gross grasp strength and fine motor skills in adolescents with pediatric multiple sclerosis.

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Squillace, Mary; Ray, Sharon; Milazzo, Maria

2015-01-01

This study examined the gross grasp strength and fine motor dexterity of adolescents, who are diagnosed with multiple sclerosis (MS). A total sample size of 72 participants between the ages of 13 to 17 was studied. Thirty six with a diagnosis of pediatric relapse remitting MS and 36 matched control participants were selected from various local youth groups. Data on hand strength and dexterity was collected using a dynamometer, nine hole peg board and Purdue pegboard on both groups. Utilizing ANCOVA to describe the differences across the two groups by diagnosis, controlling for age and gender, it was found that the MS group demonstrated significantly decreased dexterity when compared to age and gender matched controls. There was no significant difference in gross grasp strength by diagnostic group. This preliminary study showed that children with a diagnosis of pediatric MS may have differences in fine motor dexterity, but not gross grasp strength from their peers who do not have the diagnosis. Further study is indicated to examine this phenomenon.

First contacts and the common behavior of human beings

OpenAIRE

Van Brakel, Jaap

2005-01-01

In this paper my aim is to shed light on the common behavior of human beings by looking at '' first contacts '': the situation where people with unshared histories first meet (who don't speak one an others' language, don't have access to interpreters, etc.). The limits of the human life form are given by what is similar in the common behavior(s) of human beings. But what is similar should not be understood as something that is biologically or psychologically or transcendentally shared by all ...

Coordination of Reach-to-Grasp Kinematics in Individuals With Childhood-Onset Dystonia Due to Hemiplegic Cerebral Palsy.

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Kukke, Sahana N; Curatalo, Lindsey A; de Campos, Ana Carolina; Hallett, Mark; Alter, Katharine E; Damiano, Diane L

2016-05-01

Functional reaching is impaired in dystonia. Here, we analyze upper extremity kinematics to quantify timing and coordination abnormalities during unimanual reach-to-grasp movements in individuals with childhood-onset unilateral wrist dystonia. Kinematics were measured during movements of both upper limbs in a patient group ( n = 11, age = 17.5 ±5 years), and a typically developing control group ( n = 9, age = 16.6 ±5 years). Hand aperture was computed to study the coordination of reach and grasp. Time-varying joint synergies within one upper limb were calculated using a novel technique based on principal component analysis to study intra-limb coordination. In the non-dominant arm, results indicate reduced coordination between reach and grasp in patients who could not lift the grasped object compared to those who could lift it. Lifters exhibit incoordination in distal upper extremity joints later in the movement and non-lifters lacked coordination throughout the movement and in the whole upper limb. The amount of atypical coordination correlates with dystonia severity in patients. Reduced coordination during movement may reflect deficits in the execution of simultaneous movements, motor planning, or muscle activation. Rehabilitation efforts can focus on particular time points when kinematic patterns deviate abnormally to improve functional reaching in individuals with childhood-onset dystonia.

Television and Human Behavior.

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Comstock, George; And Others

To compile a comprehensive review of English language scientific literature regarding the effects of television on human behavior, the authors of this book evaluated more than 2,500 books, articles, reports, and other documents. Rather than taking a traditional approach, the authors followed a new model for the retrieval and synthesis of…

To drink or grasp? How bullet ants ( Paraponera clavata) differentiate between sugars and proteins in liquids

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Jandt, Jennifer; Larson, Hannah K.; Tellez, Peter; McGlynn, Terrence P.

2013-12-01

Flexibility in behavior can increase the likelihood that a forager may respond optimally in a fluctuating environment. Nevertheless, physiological or neuronal constraints may result in suboptimal responses to stimuli. We observed foraging workers of the giant tropical ant (also referred to as the "bullet ant"), Paraponera clavata, as they reacted to liquid solutions with varying concentrations of sugar and protein. We show that when protein/sucrose concentration is high, many bullet ants will often try to grasp at the droplet, rather than gather it by drinking. Because P. clavata actively hunt for prey, fixed action patterns and rapid responses to protein may be adaptively important, regardless of the medium in which it is presented. We conclude that, in P. clavata, food-handling decisions are made in response to the nutrient content of the food rather than the texture of the food. Further, we suggest that colonies that maintain a mixture of individuals with consistent fixed or flexible behavioral responses to food-handling decisions may be better adapted to fluctuating environmental conditions, and we propose future studies that could address this.

Self-gated fetal cardiac MRI with tiny golden angle iGRASP: A feasibility study.

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Haris, Kostas; Hedström, Erik; Bidhult, Sebastian; Testud, Frederik; Maglaveras, Nicos; Heiberg, Einar; Hansson, Stefan R; Arheden, Håkan; Aletras, Anthony H

2017-07-01

To develop and assess a technique for self-gated fetal cardiac cine magnetic resonance imaging (MRI) using tiny golden angle radial sampling combined with iGRASP (iterative Golden-angle RAdial Sparse Parallel) for accelerated acquisition based on parallel imaging and compressed sensing. Fetal cardiac data were acquired from five volunteers in gestational week 29-37 at 1.5T using tiny golden angles for eddy currents reduction. The acquired multicoil radial projections were input to a principal component analysis-based compression stage. The cardiac self-gating (CSG) signal for cardiac gating was extracted from the acquired radial projections and the iGRASP reconstruction procedure was applied. In all acquisitions, a total of 4000 radial spokes were acquired within a breath-hold of less than 15 seconds using a balanced steady-state free precession pulse sequence. The images were qualitatively compared by two independent observers (on a scale of 1-4) to a single midventricular cine image from metric optimized gating (MOG) and real-time acquisitions. For iGRASP and MOG images, good overall image quality (2.8 ± 0.4 and 2.6 ± 1.3, respectively, for observer 1; 3.6 ± 0.5 and 3.4 ± 0.9, respectively, for observer 2) and cardiac diagnostic quality (3.8 ± 0.4 and 3.4 ± 0.9, respectively, for observer 1; 3.6 ± 0.5 and 3.6 ± 0.9, respectively, for observer 2) were obtained, with visualized myocardial thickening over the cardiac cycle and well-defined myocardial borders to ventricular lumen and liver/lung tissue. For iGRASP, MOG, and real time, left ventricular lumen diameter (14.1 ± 2.2 mm, 14.2 ± 1.9 mm, 14.7 ± 1.1 mm, respectively) and wall thickness (2.7 ± 0.3 mm, 2.6 ± 0.3 mm, 3.0 ± 0.4, respectively) showed agreement and no statistically significant difference was found (all P > 0.05). Images with iGRASP tended to have higher overall image quality scores compared with MOG and particularly

Left neglected, but only in far space: Spatial biases in healthy participants revealed in a visually-guided grasping task

Directory of Open Access Journals (Sweden)

Natalie ede Bruin

2014-01-01

Full Text Available Hemispatial neglect is a common outcome of stroke that is characterised by the inability to orient towards, and attend to stimuli in contralesional space. It is established that hemispatial neglect has a perceptual component, however, the presence and severity of motor impairments is controversial. Establishing the nature of space use and spatial biases during visually-guided actions amongst healthy individuals is critical to understanding the presence of visuomotor deficits in patients with neglect. Accordingly, three experiments were conducted to investigate the effect of object spatial location on patterns of grasping. Experiment 1 required right-handed participants to reach and grasp for blocks in order to construct 3D models. The blocks were scattered on a tabletop divided into equal size quadrants: left near, left far, right near, and right far. Identical sets of building blocks were available in each quadrant. Space use was dynamic, with participants initially grasping blocks from right near space and tending to ‘neglect’ left far space until the final stages of the task. Experiment 2 repeated the protocol with left-handed participants. Remarkably, left-handed participants displayed a similar pattern of space use to right-handed participants. In Experiment 3 eye movements were examined to investigate whether ‘neglect’ for grasping in left far reachable space had its origins in attentional biases. It was found that patterns of eye movements mirrored patterns of reach-to-grasp movements. We conclude that there are spatial biases during visually-guided grasping, specifically, a tendency to neglect left far reachable space, and that this ‘neglect’ is attentional in origin. The results raise the possibility that visuomotor impairments reported among patients with right hemisphere lesions when working in contralesional space may result in part from this inherent tendency to ‘neglect’ left far space irrespective of the presence

Learning Semantics of Gestural Instructions for Human-Robot Collaboration

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Shukla, Dadhichi; Erkent, Özgür; Piater, Justus

2018-01-01

Designed to work safely alongside humans, collaborative robots need to be capable partners in human-robot teams. Besides having key capabilities like detecting gestures, recognizing objects, grasping them, and handing them over, these robots need to seamlessly adapt their behavior for efficient human-robot collaboration. In this context we present the fast, supervised Proactive Incremental Learning (PIL) framework for learning associations between human hand gestures and the intended robotic manipulation actions. With the proactive aspect, the robot is competent to predict the human's intent and perform an action without waiting for an instruction. The incremental aspect enables the robot to learn associations on the fly while performing a task. It is a probabilistic, statistically-driven approach. As a proof of concept, we focus on a table assembly task where the robot assists its human partner. We investigate how the accuracy of gesture detection affects the number of interactions required to complete the task. We also conducted a human-robot interaction study with non-roboticist users comparing a proactive with a reactive robot that waits for instructions. PMID:29615888

Learning Semantics of Gestural Instructions for Human-Robot Collaboration.

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Shukla, Dadhichi; Erkent, Özgür; Piater, Justus

2018-01-01

Designed to work safely alongside humans, collaborative robots need to be capable partners in human-robot teams. Besides having key capabilities like detecting gestures, recognizing objects, grasping them, and handing them over, these robots need to seamlessly adapt their behavior for efficient human-robot collaboration. In this context we present the fast, supervised Proactive Incremental Learning (PIL) framework for learning associations between human hand gestures and the intended robotic manipulation actions. With the proactive aspect, the robot is competent to predict the human's intent and perform an action without waiting for an instruction. The incremental aspect enables the robot to learn associations on the fly while performing a task. It is a probabilistic, statistically-driven approach. As a proof of concept, we focus on a table assembly task where the robot assists its human partner. We investigate how the accuracy of gesture detection affects the number of interactions required to complete the task. We also conducted a human-robot interaction study with non-roboticist users comparing a proactive with a reactive robot that waits for instructions.

Passive reach and grasp with functional electrical stimulation and robotic arm support

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Westerveld, Ard J.; Schouten, Alfred C.; Veltink, Peter H.; van der Kooij, Herman

2014-01-01

Rehabilitation of arm and hand function is crucial to increase functional independence of stroke subjects. Here, we investigate the technical feasibility of an integrated training system combining robotics and functional electrical stimulation (FES) to support reach and grasp during functional

Decoding complete reach and grasp actions from local primary motor cortex populations.

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Vargas-Irwin, Carlos E; Shakhnarovich, Gregory; Yadollahpour, Payman; Mislow, John M K; Black, Michael J; Donoghue, John P

2010-07-21

How the activity of populations of cortical neurons generates coordinated multijoint actions of the arm, wrist, and hand is poorly understood. This study combined multielectrode recording techniques with full arm motion capture to relate neural activity in primary motor cortex (M1) of macaques (Macaca mulatta) to arm, wrist, and hand postures during movement. We find that the firing rate of individual M1 neurons is typically modulated by the kinematics of multiple joints and that small, local ensembles of M1 neurons contain sufficient information to reconstruct 25 measured joint angles (representing an estimated 10 functionally independent degrees of freedom). Beyond showing that the spiking patterns of local M1 ensembles represent a rich set of naturalistic movements involving the entire upper limb, the results also suggest that achieving high-dimensional reach and grasp actions with neuroprosthetic devices may be possible using small intracortical arrays like those already being tested in human pilot clinical trials.

Aging and human sexual behavior: biocultural perspectives - a mini-review.

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Gray, Peter B; Garcia, Justin R

2012-01-01

In this mini-review, we consider an evolutionary biocultural perspective on human aging and sexuality. An evolutionary approach to senescence highlights the energetic trade-offs between fertility and mortality. By comparing humans to other primates, we situate human senescence as an evolutionary process, with shifts in postreproductive sexual behavior in this light. Age-related declines in sexual behavior are typical for humans but also highly contingent on the sociocultural context within which aging individuals express their sexuality. We briefly review some of the most comprehensive studies of aging and sexual behavior, both from the USA and cross-culturally. We frame these patterns with respect to the long-term relationships within which human sexual behavior typically occurs. Because sexuality is typically expressed within pair-bonds, sexual behavior sometimes declines in both members of a couple with age, but also exhibits sex-specific effects that have their roots in evolved sex differences. Copyright © 2012 S. Karger AG, Basel.

Method of Grasping Control by Computing Internal and External Impedances for Two Robot Fingers, and Its Application to Admittance Control of a Robot Hand-Arm System

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Jian Huang

2015-08-01

Full Text Available Impedance control is an important technology used in the grasping control of a robot hand. Numerous studies related to grasping algorithms have been reported in recent years, with the contact force between robot fingers and the object to be grasped being primarily discussed in most cases. Generally, a coupling effect occurs between the internal loop of the grasping operation and the external loop of the interaction with the environment when a multi-fingered robot hand is used to complete a contact task. Therefore, a robot hand cannot hold an object using a large external force to complete a wide range of tasks by applying the conventional method. In this paper, the coupling of the internal/external forces occurring in grasping operations using multiple fingers is analysed. Then, improved impedance control based on the previous method is proposed as an effective tool to solve the problem of grasping failure caused by single-finger contact. Furthermore, a method for applying the improved grasping algorithm to the admittance control of a robot hand-arm system is also proposed. The proposed method divides the impedance effect into the grasping control of the hand and the cooperative control of the arm, so that expanding the task space and increasing the flexibility of impedance adjustment can be achieved. Experiments were conducted to demonstrate the effectiveness of the proposed method.

[Diversity and development of positional behavior in non-human primates].

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Zhang, Jing; Qi, Xiao-Guang; Zhang, Kan; Zhang, Pei; Guo, Song-Tao; Wei, Wei; Li, Bao-Guo

2012-10-01

In long-term evolution, wildlife in general and primates in particular have formed specific patterns of behavior to adapt to a diverse variety of habitat environments. Current research on positional behavior in non-human primates has been found to explain a great deal about primate adaptability diversification, ecology, anatomy and evolution. Here, we summarize the noted classifications and differences in seasonal, site-specific and sex-age positional behaviors while also reviewing the development and status of non-human primate positional behavior research. This review is intended to provide reference for the future research of non-human primates and aid in further research on behavioral ecology of primates.

Complex modulation of fingertip forces during precision grasp and lift after theta burst stimulation over the dorsal premotor cortex

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Drljačić Dragana

2017-01-01

Full Text Available Background/Aim. Adaptive control and fingertip force synchronization of precise grasp stability during unimanual manipulation of small objects represents an illustrative example of highly fractionated movements that are foundation of fine motor control. It is assumed that this process is controlled by several motor areas of the frontal lobe, particularly applicable to the primary motor (M-1 and dorsal premotor cortex (PMd. Aiming to examine the role of PMd during fine coordination of fingertip forces we applied theta burst repetitive magnetic stimulation (TBS to disrupt neural processing in that cortical area. Methods. Using a single-blind, randomized, crossover design, 10 healthy subjects (29 ± 3.9 years received single sessions of continuous TBS (cTBS600, intermittent TBS (iTBS600, or sham stimulation, separate from one another at least one week, over the PMd region of dominant hemisphere. Precision grasp and lift were assessed by instrumented device, recording grip (G and load (L forces, during three manipulation tasks (ramp-and-hold, oscillation force producing and simple lifting tasks, with each hand separately, before and after interventions. Results. We observed the improvement of task performance related to constant error (CE in oscillation task with the dominant hand (DH after the iTBS (p = 0.009. On the contrary, the cTBS reduced variable error (VE for non-dominant hand (NH, p = 0.005. Considering force coordination we found that iTBS worsened variables for NH (G/L ratio, p = 0.017; cross-correlation of the G and L, p = 0.047; Gain, p = 0.047. Conclusion. These results demonstrate the ability of TBS to modulate fingertip forces during precision grasping and lifting, when applied over PMd. These findings support the role of PMd in human motor control and forces generation required to hold small objects stable in our hands.

Mathematical models of human behavior

DEFF Research Database (Denmark)

Møllgaard, Anders Edsberg

at the Technical University of Denmark. The data set includes face-to-face interaction (Bluetooth), communication (calls and texts), mobility (GPS), social network (Facebook), and general background information including a psychological profile (questionnaire). This thesis presents my work on the Social Fabric...... data set, along with work on other behavioral data. The overall goal is to contribute to a quantitative understanding of human behavior using big data and mathematical models. Central to the thesis is the determination of the predictability of different human activities. Upper limits are derived....... Evidence is provided, which implies that the asymmetry is caused by a self-enhancement in the initiation dynamics. These results have implications for the formation of social networks and the dynamics of the links. It is shown that the Big Five Inventory (BFI) representing a psychological profile only...

Anticipatory modulation of digit placement for grasp control is affected by Parkinson's disease.

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Jamie R Lukos

2010-02-01

Full Text Available Successful object manipulation relies on the ability to form and retrieve sensorimotor memories of digit forces and positions used in previous object lifts. Past studies of patients affected by Parkinson's disease (PD have revealed that the basal ganglia play a crucial role in the acquisition and/or retrieval of sensorimotor memories for grasp control. Whereas it is known that PD impairs anticipatory control of digit forces during grasp, learning deficits associated with the planning of digit placement have yet to be explored. This question is motivated by recent work in healthy subjects revealing that anticipatory control of digit placement plays a crucial role for successful manipulation.We asked ten PD patients off medication and ten age-matched controls to reach, grasp and lift an object whose center of mass (CM was on the left, right or center. The only task requirement was to minimize object roll during lift. The CM remained the same across consecutive trials (blocked condition or was altered from trial to trial (random condition. We hypothesized that impairment of the basal ganglia-thalamo-cortical circuits in PD patients would reduce their ability to anticipate digit placement appropriate to the CM location. Consequently, we predicted that PD patients would exhibit similar digit placement in the blocked vs. random conditions and produce larger peak object rolls than that of control subjects. In the blocked condition, PD patients exhibited significantly weaker modulation of fingertip contact points to CM location and larger object roll than controls (p<0.05 and p<0.01, respectively. Nevertheless, both controls and PD patients minimized object roll more in the blocked than in the random condition (p<0.01.Our findings indicate that, even though PD patients may have a residual ability of anticipatory control of digit contact points and forces, they fail to implement a motor plan with the same degree of effectiveness as controls. We conclude

Proximal and distal adjustments of reaching behavior in preterm infants.

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de Toledo, Aline Martins; Soares, Daniele de Almeida; Tudella, Eloisa

2011-01-01

The authors aimed to investigate proximal and distal adjustments of reaching behavior and grasping in 5-, 6-, and 7-month-old preterm infants. Nine low-risk preterm and 10 full-term infants participated. Both groups showed the predominance of unimanual reaching, an age-related increase in the frequency of vertical-oriented and open hand movement, and also an increase in successful grasping from 6 to 7 months. The frequency of open hand was higher in the preterm group at 6 months. Intrinsic restrictions imposed by prematurity did not seem to have impaired reaching performance of preterm infants throughout the months of age.

From Annotated Multimodal Corpora to Simulated Human-Like Behaviors

DEFF Research Database (Denmark)

Rehm, Matthias; André, Elisabeth

2008-01-01

Multimodal corpora prove useful at different stages of the development process of embodied conversational agents. Insights into human-human communicative behaviors can be drawn from such corpora. Rules for planning and generating such behavior in agents can be derived from this information....... And even the evaluation of human-agent interactions can rely on corpus data from human-human communication. In this paper, we exemplify how corpora can be exploited at the different development steps, starting with the question of how corpora are annotated and on what level of granularity. The corpus data...

Training together: how another human's presence affects behavior during virtual human-based team training

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Andrew Robb

2016-08-01

Full Text Available Despite research showing that team training can lead to strong improvements in team performance, logistical difficulties can prevent team training programs from being adopted on a large scale. A proposed solution to these difficulties is the use of virtual humans to replace missing teammates. Existing research evaluating the use of virtual humans for team training has been conducted in settings involving a single human trainee. However, in the real world multiple human trainees would most likely train together. In this paper, we explore how the presence of a second human trainee can alter behavior during a medical team training program. Ninety-two nurses and surgical technicians participated in a medical training exercise, where they worked with a virtual surgeon and virtual anesthesiologist to prepare a simulated patient for surgery. The agency of the nurse and the surgical technician were varied between three conditions: human nurses and surgical technicians working together; human nurses working with a virtual surgical technician; and human surgical technicians working with a virtual nurse. Variations in agency did not produce statistically significant differences in the training outcomes, but several notable differences were observed in other aspects of the team's behavior. Specifically, when working with a virtual nurse, human surgical technicians were more likely to assist with speaking up about patient safety issues that were outside of their normal responsibilities; human trainees spent less time searching for a missing item when working with a virtual partner, likely because the virtual partner was physically unable to move throughout the room and assist with the searching process; and more breaks in presence were observed when two human teammates were present. These results show that some behaviors may be influenced by the presence of multiple human trainees, though these behaviors may not impinge on core training goals. When

Timing sensory integration for robot simulation of autistic behavior

NARCIS (Netherlands)

Barakova, E.I.; Chonnaparamutt, W.

2009-01-01

The experiments in this paper show that the impact of temporal aspects of sensory integration on the precision of movement is concordant with behavioral studies of sensory integrative dysfunction and autism. Specifically, the simulation predicts that distant grasping will be performed properly by

Technological advances for studying human behavior

Science.gov (United States)

Roske-Hofstrand, Renate J.

1990-01-01

Technological advances for studying human behavior are noted in viewgraph form. It is asserted that performance-aiding systems are proliferating without a fundamental understanding of how they would interact with the humans who must control them. Two views of automation research, the hardware view and the human-centered view, are listed. Other viewgraphs give information on vital elements for human-centered research, a continuum of the research process, available technologies, new technologies for persistent problems, a sample research infrastructure, the need for metrics, and examples of data-link technology.

The Synthesis of Force Closure Grasps in the Plane.

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1985-09-01

TASK U Artificial Inteligence Laboratory AREA A WORK UN IT "NMUIERS ~( 545 Technology Square Cambridge, MA 02139 SI. CONTROLLING OFICE NAME ANO... ARTIFICIAL INThLLIX’ ENCE LABORATORY A. 1. Memo 861 September, 1985 The Synthesis of Force-Closure Grasps In the Plane DTIC ’VeL% ,#ECTE 1 VnDcNguyenU Abstract... Artificial In- telligenmcc Liabomatory of thle Massachuset Is hInsttute of Teclhnolog3 . Support for the Lahoratot * s Artificial Intelligence research is

A Behavioral Theory of Human Capital Integration

DEFF Research Database (Denmark)

Christensen, Jesper

design in fostering the integration and use of human capital is bounded by individual cognitive limitations that may lead employees to deviate from expected behavior, both individually and in collaboration. The thesis consists of three research papers relying on comprehensive longitudinal project data...... with one another. The overarching contribution of the thesis is to demonstrate, through the combination of psychological and organizational theory, how the ability of firms to properly activate and apply the knowledge held by their employees is fundamentally contingent on the interplay of cognitive...... of a behavioral theory of human capital integration....

ARF1 and ARF6 regulate recycling of GRASP/Tamalin and the Rac1-GEF Dock180 during HGF-induced Rac1 activation.

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Koubek, Emily J; Santy, Lorraine C

2018-05-04

Hepatocyte growth factor (HGF) is a potent signaling factor that acts on epithelial cells, causing them to dissociate and scatter. This migration is coordinated by a number of small GTPases, such as ARF6 and Rac1. Active ARF6 is required for HGF-stimulated migration and intracellular levels of ARF6-GTP and Rac1-GTP increase following HGF treatment. During migration, cross talk between ARF6 and Rac1 occurs through formation of a multi-protein complex containing the ARF-GEF cytohesin-2, the scaffolding protein GRASP/Tamalin, and the Rac1-GEF Dock180. Previously, the role of ARF6 in this process was unclear. We have now found that ARF6 and ARF1 regulate trafficking of GRASP and Dock180 to the plasma membrane following HGF treatment. Trafficking of GRASP and Dock180 is impaired by blocking ARF6-mediated recycling pathways and is required for HGF-stimulated Rac1 activation. Finally, HGF treatment stimulates association of GRASP and Dock180. Inhibition of ARF6 trafficking pathways traps GRASP and Dock180 as a complex in the cell.

Temporary Nerve Block at Selected Digits Revealed Hand Motor Deficits in Grasping Tasks

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Aude Carteron

2016-11-01

Full Text Available Peripheral sensory feedback plays a crucial role in ensuring correct motor execution throughout hand grasp control. Previous studies utilized local anesthesia to deprive somatosensory feedback in the digits or hand, observations included sensorimotor deficits at both corticospinal and peripheral levels. However, the questions of how the disturbed and intact sensory input integrate and interact with each other to assist the motor program execution, and whether the motor coordination based on motor output variability between affected and non-affected elements (e.g., digits becomes interfered by the local sensory deficiency, have not been answered. The current study aims to investigate the effect of peripheral deafferentation through digital nerve blocks at selective digits on motor performance and motor coordination in grasp control. Our results suggested that the absence of somatosensory information induced motor deficits in hand grasp control, as evidenced by reduced maximal force production ability in both local and non-local digits, impairment of force and moment control during object lift and hold, and attenuated motor synergies in stabilizing task performance variables, namely the tangential force and moment of force. These findings implied that individual sensory input is shared across all the digits and the disturbed signal from local sensory channel(s has a more comprehensive impact on the process of the motor output execution in the sensorimotor integration process. Additionally, a feedback control mechanism with a sensation-based component resides in the formation process for the motor covariation structure.

Bioinspired locomotion and grasping in water: the soft eight-arm OCTOPUS robot.

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Cianchetti, M; Calisti, M; Margheri, L; Kuba, M; Laschi, C

2015-05-13

The octopus is an interesting model for the development of soft robotics, due to its high deformability, dexterity and rich behavioural repertoire. To investigate the principles of octopus dexterity, we designed an eight-arm soft robot and evaluated its performance with focused experiments. The OCTOPUS robot presented here is a completely soft robot, which integrates eight arms extending in radial direction and a central body which contains the main processing units. The front arms are mainly used for elongation and grasping, while the others are mainly used for locomotion. The robotic octopus works in water and its buoyancy is close to neutral. The experimental results show that the octopus-inspired robot can walk in water using the same strategy as the animal model, with good performance over different surfaces, including walking through physical constraints. It can grasp objects of different sizes and shapes, thanks to its soft arm materials and conical shape.

Proposta e avaliação de heurísticas grasp para o problema da diversidade máxima

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Geiza Cristina da Silva

2006-08-01

Full Text Available O Problema da Diversidade Máxima (PDM consiste em, dado um conjunto N composto de n elementos, selecionar um subconjunto M Ì N de forma tal que os elementos de M possuam a maior diversidade possível entre eles. O PDM pertence à classe de problemas NP-Difícil limitando, com isso, o uso exclusivo de métodos exatos e tornando atrativo o desenvolvimento de novos métodos heurísticos na solução aproximada deste problema. Neste trabalho são propostos métodos heurísticos de construção e busca local que, combinados, são usados como base em diferentes versões do algoritmo GRASP (Greedy Randomized Adaptive Search Procedure. Incluímos como objetivos analisar o impacto destas heurísticas no desempenho da metaheurística GRASP. Resultados computacionais mostram que os algoritmos propostos sempre alcançam uma solução ótima quando esta é conhecida e, para instâncias maiores, apresentam um desempenho médio superior quando comparados com as melhores heurísticas GRASP da literatura.The Maximum Diversity Problem (MDP consists of, given a set N with n elements, selecting a subset M Ì N such that the elements of M have the most possible diversity among them. The MDP belongs to the class of NP-Hard problems limiting the exclusive use of exact methods and turning attractive the development of heuristics to solve the problem. In this work we propose constructive and local search heuristics which are used in different versions of GRASP (Greedy Randomized Adaptive Search Procedure. We also analyze the impact of this heuristics in the GRASP performance. Computational results show that the proposed algorithms always find an optimal solution when this one is known and, for larger instances, produce an average performance better than well known versions of GRASP from the literature.

Marmosets: A Neuroscientific Model of Human Social Behavior

Science.gov (United States)

Freiwald, Winrich A; Leopold, David A; Mitchell, Jude F; Silva, Afonso C; Wang, Xiaoqin

2016-01-01

The common marmoset (Callithrix jacchus) has garnered interest recently as a powerful model for the future of neuroscience research. Much of this excitement has centered on the species’ reproductive biology and compatibility with gene editing techniques, which together have provided a path for transgenic marmosets to contribute to the study of disease as well as basic brain mechanisms. In step with technical advances is the need to establish experimental paradigms that optimally tap into the marmosets’ behavioral and cognitive capacities. While conditioned task performance of a marmoset can compare unfavorably with rhesus monkey performance on conventional testing paradigms, marmosets’ social cognition and communication are more similar to that of humans. For example, marmosets are amongst only a handful of primates that, like humans, routinely pair bond and care cooperatively for their young. They are also notably pro-social and exhibit social cognitive abilities, such as imitation, that are rare outside of the Apes. In this review, we describe key facets of marmoset natural social behavior and demonstrate that emerging behavioral paradigms are well suited to isolate components of marmoset cognition that are highly relevant to humans. These approaches generally embrace natural behavior and communication, which has been rare in conventional primate testing, and thus allow for a new consideration of neural mechanisms underlying primate social cognition and communication. We anticipate that through parallel technical and paradigmatic advances, marmosets will become an essential model of human social behavior, including its dysfunction in nearly all neuropsychiatric disorders. PMID:27100195

Fast human behavior analysis for scene understanding

NARCIS (Netherlands)

Lao, W.

2011-01-01

Human behavior analysis has become an active topic of great interest and relevance for a number of applications and areas of research. The research in recent years has been considerably driven by the growing level of criminal behavior in large urban areas and increase of terroristic actions. Also,

Development of five-finger robotic hand using master-slave control for hand-assisted laparoscopic surgery.

Science.gov (United States)

Yoshida, Koki; Yamada, Hiroshi; Kato, Ryu; Seki, Tatsuya; Yokoi, Hiroshi; Mukai, Masaya

2016-08-01

This study aims to develop a robotic hand as a substitute for a surgeon's hand in hand-assisted laparoscopic surgery (HALS). We determined the requirements for the proposed hand from a surgeon's motions in HALS. We identified four basic behaviors: "power grasp," "precision grasp," "open hand for exclusion," and "peace sign for extending peritoneum." The proposed hand had the minimum necessary DOFs for performing these behaviors, five fingers as in a human's hand, a palm that can be folded when a surgeon inserts the hand into the abdomen, and an arm for adjusting the hand's position. We evaluated the proposed hand based on a performance test and a physician's opinions, and we confirmed that it can grasp organs.

Reach-to-grasp movement as a minimization process.

Science.gov (United States)

Yang, Fang; Feldman, Anatol G

2010-02-01

It is known that hand transport and grasping are functionally different but spatially coordinated components of reach-to-grasp (RTG) movements. As an extension of this notion, we suggested that body segments involved in RTG movements are controlled as a coherent ensemble by a global minimization process associated with the necessity for the hand to reach the motor goal. Different RTG components emerge following this process without pre-programming. Specifically, the minimization process may result from the tendency of neuromuscular elements to diminish the spatial gap between the actual arm-hand configuration and its virtual (referent) configuration specified by the brain. The referent configuration is specified depending on the object shape, localization, and orientation. Since the minimization process is gradual, it can be interrupted and resumed following mechanical perturbations, at any phase during RTG movements, including hand closure. To test this prediction of the minimization hypothesis, we asked subjects to reach and grasp a cube placed within the reach of the arm. Vision was prevented during movement until the hand returned to its initial position. As predicted, by arresting wrist motion at different points of hand transport in randomly selected trials, it was possible to halt changes in hand aperture at any phase, not only during hand opening but also during hand closure. Aperture changes resumed soon after the wrist was released. Another test of the minimization hypothesis was made in RTG movements to an object placed beyond the reach of the arm. It has previously been shown (Rossi et al. in J Physiol 538:659-671, 2002) that in such movements, the trunk motion begins to contribute to hand transport only after a critical phase when the shifts in the referent arm configuration have finished (at about the time when hand velocity is maximal). The minimization rule suggests that when the virtual contribution of the arm to hand transport is completed

Grasping at ontological straws: overcoming reductionism in the Advaita Vedānta-Neuroscience dialogue.

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Kaplan, Stephen

2009-01-01

Contemporary neuropsychology reveals that the parietal lobe contains neurons that are specifically attuned to the act of grasping and this act may be fundamental to the establishment of the phenomenal boundaries between subject and object. Furthermore, alterations to this process, such as the hypoactivation of this region during meditation or the hyperactivation associated with schizophrenia, may eliminate or confuse, respectively, the phenomenal boundaries between subject and object. Traversing disciplines, the Advaita Vedānta school of Hinduism traces some of its key terms for subject and object to the verbal root grah, to grasp. The subject is literally the grasper. Furthermore, the practice of asparśa yoga, the yoga of no-touch, is aimed at stopping, hypoactivating, the grasping process in order to transcend all subject-object boundaries. This paper will argue that while we have not uncovered an identity of thought, we have uncovered a confluence of ideas between these two disciplines. We will see that this confluence of ideas has not pitted the believer against the critic-not forced us into the great reductionism debate that has dominated so much of the interchange between religious studies and the sciences. This case study will illuminate some of the methodological ways around this reductionism battle and also the boundaries of both disciplines for the intellectual benefit of each.

Understanding the heavy-tailed dynamics in human behavior

Science.gov (United States)

Ross, Gordon J.; Jones, Tim

2015-06-01

The recent availability of electronic data sets containing large volumes of communication data has made it possible to study human behavior on a larger scale than ever before. From this, it has been discovered that across a diverse range of data sets, the interevent times between consecutive communication events obey heavy-tailed power law dynamics. Explaining this has proved controversial, and two distinct hypotheses have emerged. The first holds that these power laws are fundamental, and arise from the mechanisms such as priority queuing that humans use to schedule tasks. The second holds that they are statistical artifacts which only occur in aggregated data when features such as circadian rhythms and burstiness are ignored. We use a large social media data set to test these hypotheses, and find that although models that incorporate circadian rhythms and burstiness do explain part of the observed heavy tails, there is residual unexplained heavy-tail behavior which suggests a more fundamental cause. Based on this, we develop a quantitative model of human behavior which improves on existing approaches and gives insight into the mechanisms underlying human interactions.

Influence of non-spatial working memory demands on reach-grasp responses to loss of balance: Effects of age and fall risk.

Science.gov (United States)

Westlake, Kelly P; Johnson, Brian P; Creath, Robert A; Neff, Rachel M; Rogers, Mark W

2016-03-01

Reactive balance recovery strategies following an unexpected loss of balance are crucial to the prevention of falls, head trauma and other major injuries in older adults. While a longstanding focus has been on understanding lower limb recovery responses, the upper limbs also play a critical role. However, when a fall occurs, little is known about the role of memory and attention shifting on the reach to grasp recovery strategy and what factors determine the speed and precision of this response beyond simple reaction time. The objective of this study was to compare response time and accuracy of a stabilizing grasp following a balance perturbation in older adult fallers compared to non-fallers and younger adults while loading the processing demands of non-spatial, verbal working memory. Working memory was engaged with a progressively challenging verb-generation task that was interrupted by an unexpected sideways platform perturbation and a pre-instructed reach to grasp response. Results revealed that the older adults, particularly those at high fall risk, demonstrated significantly increased movement time to handrail contact and grasping errors during conditions in which non-spatial memory was actively engaged. These findings provide preliminary evidence of the cognitive deficit in attention shifting away from an ongoing working memory task that underlies delayed and inaccurate protective reach to grasp responses in older adult fallers. Copyright © 2016 Elsevier B.V. All rights reserved.

The human hand as an inspiration for robot hand development

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Santos, Veronica

2014-01-01

“The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.

Multidimensional human dynamics in mobile phone communications.

Science.gov (United States)

Quadri, Christian; Zignani, Matteo; Capra, Lorenzo; Gaito, Sabrina; Rossi, Gian Paolo

2014-01-01

In today's technology-assisted society, social interactions may be expressed through a variety of techno-communication channels, including online social networks, email and mobile phones (calls, text messages). Consequently, a clear grasp of human behavior through the diverse communication media is considered a key factor in understanding the formation of the today's information society. So far, all previous research on user communication behavior has focused on a sole communication activity. In this paper we move forward another step on this research path by performing a multidimensional study of human sociality as an expression of the use of mobile phones. The paper focuses on user temporal communication behavior in the interplay between the two complementary communication media, text messages and phone calls, that represent the bi-dimensional scenario of analysis. Our study provides a theoretical framework for analyzing multidimensional bursts as the most general burst category, that includes one-dimensional bursts as the simplest case, and offers empirical evidence of their nature by following the combined phone call/text message communication patterns of approximately one million people over three-month period. This quantitative approach enables the design of a generative model rooted in the three most significant features of the multidimensional burst - the number of dimensions, prevalence and interleaving degree - able to reproduce the main media usage attitude. The other findings of the paper include a novel multidimensional burst detection algorithm and an insight analysis of the human media selection process.

Multidimensional human dynamics in mobile phone communications.

Directory of Open Access Journals (Sweden)

Christian Quadri

Full Text Available In today's technology-assisted society, social interactions may be expressed through a variety of techno-communication channels, including online social networks, email and mobile phones (calls, text messages. Consequently, a clear grasp of human behavior through the diverse communication media is considered a key factor in understanding the formation of the today's information society. So far, all previous research on user communication behavior has focused on a sole communication activity. In this paper we move forward another step on this research path by performing a multidimensional study of human sociality as an expression of the use of mobile phones. The paper focuses on user temporal communication behavior in the interplay between the two complementary communication media, text messages and phone calls, that represent the bi-dimensional scenario of analysis. Our study provides a theoretical framework for analyzing multidimensional bursts as the most general burst category, that includes one-dimensional bursts as the simplest case, and offers empirical evidence of their nature by following the combined phone call/text message communication patterns of approximately one million people over three-month period. This quantitative approach enables the design of a generative model rooted in the three most significant features of the multidimensional burst - the number of dimensions, prevalence and interleaving degree - able to reproduce the main media usage attitude. The other findings of the paper include a novel multidimensional burst detection algorithm and an insight analysis of the human media selection process.

Locomotion and Grasping impairment in preschoolers with autism spectrum disorder

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Francesca Fulceri

2015-08-01

Full Text Available Objective: To investigate expressiveness of motor impairment in autism spectrum disorder (ASD and its correlation with developmental and clinical features of ASD. Method: Thirty-five male preschoolers with ASD completed the Peabody Developmental Motor Scales-2 (PDMS-2; Folio and Fewell, 2000 and underwent a multidisciplinary assessment including medical examination, standardized assessment of cognitive abilities, administration of Autism_Diagnostic_Observation_Schedule (ADOS and a parent interview about adaptive skills. Results: Results revealed a substantial impairment in locomotion and grasping skills. Both fine and gross motor skills were significantly correlated with non verbal IQ and adaptive behaviours (p<0.01 but not with chronological age or ADOS scores. Children with weaker motor skills have greater cognitive and adaptive behaviours deficits. Conclusions: Motor development in ASD can be detected at preschool age and locomotion and grasping skills are substantially the most impaired area. These findings support the need to assess motor skills in preschoolers with ASD in addition to other developmental skill areas. Along with the increasingly acknowledged importance of motor skills for subsequent social, cognitive, and communicative development our findings support the need to consider motor intervention as a key area in therapeutic program to improve outcome in preschoolers with ASD.

Nanoindentation creep behavior of human enamel.

Science.gov (United States)

He, Li-Hong; Swain, Michael V

2009-11-01

In this study, the indentation creep behavior of human enamel was investigated with a nanoindentation system and a Berkovich indenter at a force of 250 mN with one-step loading and unloading method. A constant hold period of 900 s was incorporated into each test at the maximum load as well at 5 mN minimum load during unloading. The indentation creep at the maximum load and creep recovery at the minimum load was described with a double exponential function and compared with other classic viscoelastic models (Debye/Maxwell and Kohlrausch-Williams-Watts). Indentation creep rate sensitivity, m, of human enamel was measured for the first time with a value of approximately 0.012. Enamel displayed both viscoelastic and viscoplastic behavior similar to that of bone. These results indicate that, associated with entrapment of particulates between teeth under functional loading and sliding wear conditions, the enamel may inelastically deform but recover upon its release. This behavior may be important in explaining the excellent wear resistance, antifatigue, and crack resistant abilities of natural tooth structure. (c) 2008 Wiley Periodicals, Inc.

Grasp Learning by Means of Developing Sensorimotor Schemas and Generic World Knowledge

DEFF Research Database (Denmark)

Krüger, Norbert; Popovic, Mila; Bodenhagen, Leon

2011-01-01

We present a cognitive system in which grasping competences are coded by means of a formalisation of sensory motor schemas in terms of so called ‘object action complexes’ (OACs). OACs define the knowledge of the system via the effects and precondition of certain behavioural patterns, and also code...

Assessing Human Judgment of Computationally Generated Swarming Behavior

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John Harvey

2018-02-01

Full Text Available Computer-based swarm systems, aiming to replicate the flocking behavior of birds, were first introduced by Reynolds in 1987. In his initial work, Reynolds noted that while it was difficult to quantify the dynamics of the behavior from the model, observers of his model immediately recognized them as a representation of a natural flock. Considerable analysis has been conducted since then on quantifying the dynamics of flocking/swarming behavior. However, no systematic analysis has been conducted on human identification of swarming. In this paper, we assess subjects’ assessment of the behavior of a simplified version of Reynolds’ model. Factors that affect the identification of swarming are discussed and future applications of the resulting models are proposed. Differences in decision times for swarming-related questions asked during the study indicate that different brain mechanisms may be involved in different elements of the behavior assessment task. The relatively simple but finely tunable model used in this study provides a useful methodology for assessing individual human judgment of swarming behavior.

Viscoelastic behavior of discrete human collagen fibrils

DEFF Research Database (Denmark)

Svensson, Rene; Hassenkam, Tue; P, Hansen

2010-01-01

Whole tendon and fibril bundles display viscoelastic behavior, but to the best of our knowledge this property has not been directly measured in single human tendon fibrils. In the present work an atomic force microscopy (AFM) approach was used for tensile testing of two human patellar tendon fibr...

Human behavioral contributions to climate change: psychological and contextual drivers.

Science.gov (United States)

Swim, Janet K; Clayton, Susan; Howard, George S

2011-01-01

We are facing rapid changes in the global climate, and these changes are attributable to human behavior. Humans produce this global impact through our use of natural resources, multiplied by the vast increase in population seen in the past 50 to 100 years. Our goal in this article is to examine the underlying psychosocial causes of human impact, primarily through patterns of reproduction and consumption. We identify and distinguish individual, societal, and behavioral predictors of environmental impact. Relevant research in these areas (as well as areas that would be aided by greater attention by psychologists) are reviewed. We conclude by highlighting ethical issues that emerge when considering how to address human behavioral contributions to climate change.

Knowledge-Oriented Physics-Based Motion Planning for Grasping Under Uncertainty

OpenAIRE

Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan

2017-01-01

Grasping an object in unstructured and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exits. High-level knowledge and reasoning processes, as well as the allowing of interaction between objects, can enhance the planning efficiency in such environments. In this direction, this study proposes a knowledge-oriented physics-based motion planning approach for a hand-arm system that uses a high-level knowledge-based reasoning to partition the wor...

Megascale processes: Natural disasters and human behavior

Science.gov (United States)

Kieffer, S.W.; Barton, P.; Chesworth, W.; Palmer, A.R.; Reitan, P.; Zen, E.-A.

2009-01-01

Megascale geologic processes, such as earthquakes, tsunamis, volcanic eruptions, floods, and meteoritic impacts have occurred intermittently throughout geologic time, and perhaps on several planets. Unlike other catastrophes discussed in this volume, a unique process is unfolding on Earth, one in which humans may be the driving agent of megadisasters. Although local effects on population clusters may have been catastrophic in the past, human societies have never been interconnected globally at the scale that currently exists. We review some megascale processes and their effects in the past, and compare present conditions and possible outcomes. We then propose that human behavior itself is having effects on the planet that are comparable to, or greater than, these natural disasters. Yet, unlike geologic processes, human behavior is potentially under our control. Because the effects of our behavior threaten the stability, or perhaps even existence, of a civilized society, we call for the creation of a body to institute coherent global, credible, scientifi cally based action that is sensitive to political, economic, religious, and cultural values. The goal would be to institute aggressive monitoring, identify and understand trends, predict their consequences, and suggest and evaluate alternative actions to attempt to rescue ourselves and our ecosystems from catastrophe. We provide a template modeled after several existing national and international bodies. ?? 2009 The Geological Society of America.

[Terrorism and human behavior].

Science.gov (United States)

Leistedt, S J

2018-04-01

Theories of religion are essential for understanding current trends in terrorist activities. The aim of this work is to clarify religion's role in facilitating terror and outline in parallel with recent theoretical developments on terrorism and human behaviour. Several databases were used such as PubCentral, Scopus, Medline and Science Direct. The search terms "terrorism", "social psychology", "religion", "evolution", and "cognition" were used to identify relevant studies in the databases. This work examines, in a multidimensional way, how terrorists employ these features of religion to achieve their goals. In the same way, it describes how terrorists use rituals to conditionally associate emotions with sanctified symbols that are emotionally evocative and motivationally powerful, fostering group solidarity, trust, and cooperation. Religious beliefs, including promised rewards in the afterlife, further serve to facilitate cooperation by altering the perceived payoffs of costly actions, including suicide bombing. The adolescent pattern of brain development is unique, and young adulthood presents an ideal developmental stage to attract recruits and enlist them in high-risk behaviors. This work offers insights, based on this translational analysis, concerning the links between religion, terrorism and human behavior. Copyright © 2017 L'Encéphale, Paris. Published by Elsevier Masson SAS. All rights reserved.

Finger pressure adjustments to various object configurations during precision grip in humans and monkeys.

Science.gov (United States)

Viaro, Riccardo; Tia, Banty; Coudé, Gino; Canto, Rosario; Oliynyk, Andriy; Salmas, Paola; Masia, Lorenzo; Sandini, Giulio; Fadiga, Luciano

2017-06-01

In this study, we recorded the pressure exerted onto an object by the index finger and the thumb of the preferred hand of 18 human subjects and either hand of two macaque monkeys during a precision grasping task. The to-be-grasped object was a custom-made device composed by two plates which could be variably oriented by a motorized system while keeping constant the size and thus grip dimension. The to-be-grasped plates were covered by an array of capacitive sensors to measure specific features of finger adaptation, namely pressure intensity and centroid location and displacement. Kinematic measurements demonstrated that for human subjects and for monkeys, different plate configurations did not affect wrist velocity and grip aperture during the reaching phase. Consistently, at the instant of fingers-plates contact, pressure centroids were clustered around the same point for all handle configurations. However, small pressure centroid displacements were specifically adopted for each configuration, indicating that both humans and monkeys can display finger adaptation during precision grip. Moreover, humans applied stronger thumb pressure intensity, performed less centroid displacement and required reduced adjustment time, as compared to monkeys. These pressure patterns remain similar when different load forces were required to pull the handle, as ascertained by additional measurements in humans. The present findings indicate that, although humans and monkeys share common features in motor control of grasping, they differ in the adjustment of fingertip pressure, probably because of skill and/or morphology divergences. Such a precision grip device may form the groundwork for future studies on prehension mechanisms. © 2017 Federation of European Neuroscience Societies and John Wiley & Sons Ltd.

Periodic modulation of motor-unit activity in extrinsic hand muscles during multidigit grasping.

Science.gov (United States)

Johnston, Jamie A; Winges, Sara A; Santello, Marco

2005-07-01

We recently examined the extent to which motor units of digit flexor muscles receive common input during multidigit grasping. This task elicited moderate to strong motor-unit synchrony (common input strength, CIS) across muscles (flexor digitorum profundus, FDP, and flexor pollicis longus, FPL) and across FDP muscle compartments, although the strength of this common input was not uniform across digit pairs. To further characterize the neural mechanisms underlying the control of multidigit grasping, we analyzed the relationship between firing of single motor units from these hand muscles in the frequency domain by computing coherence. We report three primary findings. First, in contrast to what has been reported in intrinsic hand muscles, motor units belonging to different muscles and muscle compartments of extrinsic digit flexors exhibited significant coherence in the 0- to 5- and 5- to 10-Hz frequency ranges and much weaker coherence in the higher 10-20 Hz range (maximum 0.0025 and 0.0008, respectively, pooled across all FDP compartment pairs). Second, the strength and incidence of coherence differed considerably across digit pairs. Third, contrary to what has been reported in the literature, across-muscle coherence can be stronger and more prevalent than within-muscle coherence, as FPL-FDP2 (thumb-index digit pair) exhibited the strongest and most prevalent coherence in our data (0.010 and 43% at 3 Hz, respectively). The heterogeneous organization of common input to these muscles and muscle compartments is discussed in relation to the functional role of individual digit pairs in the coordination of multiple digit forces in grasping.

Research opportunities in human behavior and performance

Science.gov (United States)

Christensen, J. M. (Editor); Talbot, J. M. (Editor)

1985-01-01

Extant information on the subject of psychological aspects of manned space flight are reviewed; NASA's psychology research program is examined; significant gaps in knowledge are identified; and suggestions are offered for future research program planning. Issues of human behavior and performance related to the United States space station, to the space shuttle program, and to both near and long term problems of a generic nature in applicable disciplines of psychology are considered. Topics covered include: (1) human performance requirements for a 90 day mission; (2) human perceptual, cognitive, and motor capabilities and limitations in space; (3) crew composition, individual competencies, crew competencies, selection criteria, and special training; (4) environmental factors influencing behavior; (5) psychosocial aspects of multiperson space crews in long term missions; (6) career determinants in NASA; (7) investigational methodology and equipment; and (8) psychological support.

The human factor: behavioral and neural correlates of humanized perception in moral decision making.

Science.gov (United States)

Majdandžić, Jasminka; Bauer, Herbert; Windischberger, Christian; Moser, Ewald; Engl, Elisabeth; Lamm, Claus

2012-01-01

The extent to which people regard others as full-blown individuals with mental states ("humanization") seems crucial for their prosocial motivation towards them. Previous research has shown that decisions about moral dilemmas in which one person can be sacrificed to save multiple others do not consistently follow utilitarian principles. We hypothesized that this behavior can be explained by the potential victim's perceived humanness and an ensuing increase in vicarious emotions and emotional conflict during decision making. Using fMRI, we assessed neural activity underlying moral decisions that affected fictitious persons that had or had not been experimentally humanized. In implicit priming trials, participants either engaged in mentalizing about these persons (Humanized condition) or not (Neutral condition). In subsequent moral dilemmas, participants had to decide about sacrificing these persons' lives in order to save the lives of numerous others. Humanized persons were sacrificed less often, and the activation pattern during decisions about them indicated increased negative affect, emotional conflict, vicarious emotions, and behavioral control (pgACC/mOFC, anterior insula/IFG, aMCC and precuneus/PCC). Besides, we found enhanced effective connectivity between aMCC and anterior insula, which suggests increased emotion regulation during decisions affecting humanized victims. These findings highlight the importance of others' perceived humanness for prosocial behavior - with aversive affect and other-related concern when imagining harming more "human-like" persons acting against purely utilitarian decisions.

The human factor: behavioral and neural correlates of humanized perception in moral decision making.

Directory of Open Access Journals (Sweden)

Jasminka Majdandžić

Full Text Available The extent to which people regard others as full-blown individuals with mental states ("humanization" seems crucial for their prosocial motivation towards them. Previous research has shown that decisions about moral dilemmas in which one person can be sacrificed to save multiple others do not consistently follow utilitarian principles. We hypothesized that this behavior can be explained by the potential victim's perceived humanness and an ensuing increase in vicarious emotions and emotional conflict during decision making. Using fMRI, we assessed neural activity underlying moral decisions that affected fictitious persons that had or had not been experimentally humanized. In implicit priming trials, participants either engaged in mentalizing about these persons (Humanized condition or not (Neutral condition. In subsequent moral dilemmas, participants had to decide about sacrificing these persons' lives in order to save the lives of numerous others. Humanized persons were sacrificed less often, and the activation pattern during decisions about them indicated increased negative affect, emotional conflict, vicarious emotions, and behavioral control (pgACC/mOFC, anterior insula/IFG, aMCC and precuneus/PCC. Besides, we found enhanced effective connectivity between aMCC and anterior insula, which suggests increased emotion regulation during decisions affecting humanized victims. These findings highlight the importance of others' perceived humanness for prosocial behavior - with aversive affect and other-related concern when imagining harming more "human-like" persons acting against purely utilitarian decisions.

Linguistic approach to object recognition by grasping

Energy Technology Data Exchange (ETDEWEB)

Marik, V

1982-01-01

A method for recognizing both the three-dimensional object shapes and their sizes by grasping them with an antropomorphic five-finger artificial hand is described. The hand is equipped with position sensing elements in the joints of the fingers and with a tactile transducer net on the palm surface. The linguistic method uses formal grammars and languages for the pattern description. The recognition is hierarchically arranged, every level being different from the others by a formal language which has been used. On every level the pattern description is generated and verified from the symmetrical and semantical points of view. The results of the implementation of the recognition of cones, pyramides, spheres, prisms and cylinders are presented and discussed. 8 references.

A Culture-Behavior-Brain Loop Model of Human Development.

Science.gov (United States)

Han, Shihui; Ma, Yina

2015-11-01

Increasing evidence suggests that cultural influences on brain activity are associated with multiple cognitive and affective processes. These findings prompt an integrative framework to account for dynamic interactions between culture, behavior, and the brain. We put forward a culture-behavior-brain (CBB) loop model of human development that proposes that culture shapes the brain by contextualizing behavior, and the brain fits and modifies culture via behavioral influences. Genes provide a fundamental basis for, and interact with, the CBB loop at both individual and population levels. The CBB loop model advances our understanding of the dynamic relationships between culture, behavior, and the brain, which are crucial for human phylogeny and ontogeny. Future brain changes due to cultural influences are discussed based on the CBB loop model. Copyright © 2015 Elsevier Ltd. All rights reserved.

Identifying relevant feature-action associations for grasping unmodelled objects

DEFF Research Database (Denmark)

Thomsen, Mikkel Tang; Kraft, Dirk; Krüger, Norbert

2015-01-01

content. The method is provided with a large and structured set of visual features, motivated by the visual hierarchy in primates and finds relevant feature action associations automatically. We apply our method in a simulated environment on three different object sets for the case of grasp affordance...... learning. For box objects, we achieve a 0.90 success probability, 0.80 for round objects and up to 0.75 for open objects, when presented with novel objects. In this work, we in particular demonstrate the effect of choosing appropriate feature representations. We demonstrate a significant performance...

A GRASP METAHEURISTIC FOR THE ORDERED CUTTING STOCK PROBLEM UN META-HEURÍSTICO GRASP PARA EL PROBLEMA DE STOCK DE CORTE ORDENADO

Directory of Open Access Journals (Sweden)

Rodrigo Rabello Golfeto

2008-12-01

Full Text Available This study presents a new mathematical model and a Greedy Randomized Adaptive Search Procedure (GRASP meta-heuristic to solve the ordered cutting stock problem. The ordered cutting stock problem was recently introduced in literature. It is appropriate to minimize the raw material used by industries that deal with reduced product inventories, such as industries that use the just-in-time basis for their production. In such cases, classic models for solving the cutting stock problem are useless. Results obtained from computational experiments for a set of random instances demonstrate that the proposed method can be applied to large industries that process cuts on their production lines and do not stock their products.Este estudio presenta un nuevo modelo matemático y un procedimiento meta-heurístico de búsqueda voraz adaptativa y aleatoria (GRASP, por sus siglas en inglés para resolver el problema de stock de corte ordenado. Éste problema ha sido introducido recientemente en la literatura. Es apropiado minimizar la materia prima usada por las industrias que manipulan inventarios reducidos de productos, tales como las industrias que usan la base justo a tiempo para su producción. En tales casos, los modelos clásicos para resolver el problema de stock de corte ordenado son inútiles. Los resultados obtenidos, mediante experimentos computacionales para un conjunto de ejemplos aleatorios, demuestran que el método propuesto puede ser aplicado a industrias grandes que procesan cortes en sus líneas de producción y no mantienen en stock sus productos.

Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite

Science.gov (United States)

Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

2017-12-01

The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling and motion planning strategy for the post-capture phase is proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrates the effectiveness of the proposed method.

Recognition of grasp types through principal components of DWT based EMG features.

Science.gov (United States)

Kakoty, Nayan M; Hazarika, Shyamanta M

2011-01-01

With the advancement in machine learning and signal processing techniques, electromyogram (EMG) signals have increasingly gained importance in man-machine interaction. Multifingered hand prostheses using surface EMG for control has appeared in the market. However, EMG based control is still rudimentary, being limited to a few hand postures based on higher number of EMG channels. Moreover, control is non-intuitive, in the sense that the user is required to learn to associate muscle remnants actions to unrelated posture of the prosthesis. Herein lies the promise of a low channel EMG based grasp classification architecture for development of an embedded intelligent prosthetic controller. This paper reports classification of six grasp types used during 70% of daily living activities based on two channel forearm EMG. A feature vector through principal component analysis of discrete wavelet transform coefficients based features of the EMG signal is derived. Classification is through radial basis function kernel based support vector machine following preprocessing and maximum voluntary contraction normalization of EMG signals. 10-fold cross validation is done. We have achieved an average recognition rate of 97.5%. © 2011 IEEE

Structural and functional anatomy of the palmaris brevis: grasping for answers.

Science.gov (United States)

Moore, Colin W; Rice, Charles L

2017-12-01

The palmaris brevis (PB) is a small cutaneous hand muscle that has been described as the most mysterious muscle from a functional and developmental perspective [Kaplan () Kaplan's Functional and Surgical Anatomy of the Hand]. Functionally, the PB is considered to deepen the hollow of the palm and to protect the neurovasculature of the ulnar canal. Although the function of the PB has been inferred from cadaveric observations, the electromyographic (EMG) activity of this muscle has not been explored systematically during specific movements of the hand. The purpose of this study was to record PB intramuscular EMG activity during dynamic grasping tasks, and to quantify the change in PB muscle length (M L ) and thickness (M T ) incurred during maximal contraction using ultrasound imaging. Intramuscular EMG was recorded from the PB in the dominant hands of 12 healthy participants (11 males, one female; age: 27 ± 4 years) during maximal abduction, flexion and opposition of the 5th digit, and two grasping tasks. Abduction of the 5th digit yielded the greatest EMG activity in most individuals (seven out of 11), and produced significantly less PB EMG activity when compared with grasping a cylindrical-shaped object (P = 0.003) but not a spherical-shaped object (P = 0.130). During maximal abduction of the 5th digit, PB M L decreased in both the left (28 ± 11%; P = 0.002) and right (32 ± 5%; P = 0.002) hands. Similarly, a concomitant increase in PB M T was observed in the left (68 ± 30%; P = 0.002) and right (85 ± 44%; P = 0.002) hands during the same contraction. These EMG results indicate that the PB is voluntarily activated during prehensile and non-prehensile movements of the hand with significant changes in muscle architecture. The study supports the preservation of the PB in surgical procedures based on its proposed protective role as a muscular barrier to the neurovasculature within the ulnar canal. © 2017 Anatomical Society.

An Aircraft Service Staff Rostering using a Hybrid GRASP Algorithm

OpenAIRE

Cho, Vincent; Wu, Gene Pak Kit; Ip, W.H.

2009-01-01

The aircraft ground service company is responsible for carrying out the regular tasks to aircraft maintenace between their arrival at and departure from the airport. This paper presents the application of a hybrid approach based upon greedy randomized adaptive search procedure (GRASP) for rostering technical staff such that they are assigned predefined shift patterns. The rostering of staff is posed as an optimization problem with an aim of minimizing the violations of hard and soft constrain...

THE PREREQUISITES OF PROSOCIAL BEHAVIOR IN HUMAN ONTOGENY

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Irina M. Sozinova

2017-06-01

Full Text Available Understanding the development of moral attitudes toward unrelated individuals from different social groups may provide insights into the role of biological and cultural factors in prosocial behavior. Children (3–11 years old, N=80 were presented with moral dilemmas describing a conflict of interests between a con-specific (human and another species (animals or aliens. Participants were asked to evaluate the behavior of a human in terms of ‘good’ and ‘bad’, and to choose whom they would help: a human aggressor who benefits at the expense of a victim in vital need, or the victim. Results showed that the older children preferred to help non-human victims significantly more often than the younger children. The evaluation of human actions was related to the proportion of such preferences. These findings are discussed from the perspectives of kin selection theory, group selection theory and the system-evolutionary approach. The implications of the study for moral education are suggested.

Genome-wide analysis identifies 12 loci influencing human reproductive behavior

DEFF Research Database (Denmark)

Barban, Nicola; Jansen, Rick; de Vlaming, Ronald

2016-01-01

The genetic architecture of human reproductive behavior-age at first birth (AFB) and number of children ever born (NEB)-has a strong relationship with fitness, human development, infertility and risk of neuropsychiatric disorders. However, very few genetic loci have been identified, and the under......The genetic architecture of human reproductive behavior-age at first birth (AFB) and number of children ever born (NEB)-has a strong relationship with fitness, human development, infertility and risk of neuropsychiatric disorders. However, very few genetic loci have been identified...

Connections of Grasping and Horizontal Hand Movements with Articulation in Czech Speakers

Czech Academy of Sciences Publication Activity Database

Tiainen, M.; Lukavský, Jiří; Tiippana, K.; Vainio, M.; Šimko, J.; Felisberti, F.; Vainio, L.

2017-01-01

Roč. 8, duben (2017), s. 1-10, č. článku 516. ISSN 1664-1078 Grant - others:AV ČR(CZ) StrategieAV21/14 Program:StrategieAV Institutional support: RVO:68081740 Keywords : articulation * motor actions * language * grasping * manual gestures * speech * manual actions Subject RIV: AN - Psychology OBOR OECD: Cognitive sciences Impact factor: 2.323, year: 2016

Development of sexual behavior in free-ranging female Japanese macaques.

Science.gov (United States)

Leca, Jean-Baptiste; Gunst, Noëlle; Vasey, Paul L

2014-09-01

We studied the development of sexual behaviors in female Japanese macaques (Macaca fuscata) living at Arashiyama, Japan, in a group where adult females routinely exhibit sexual interactions with both males and females. Our cross-sectional data on juvenile, adolescent, and adult females supported most of our predictions related to the learning hypothesis, which holds that adolescence serves to provide females with a period in which to practice adult female-like sexual behavioral patterns, including sexual solicitations, sexual mounts, and spatio-temporal coordination during consortships. We found evidence for a gradual acquisition of adult-like behavioral patterns (e.g., more frequent solicitations with body contact, more frequent complete mounts, more diverse solicitation patterns and complete mounting postures, and longer consortships involving prolonged inter-mount grasping behavior between partners), and a gradual disappearance of less effective immature behavioral patterns (e.g., less frequent non-contact solicitations, ambiguous mounting initiations, and incomplete mounts). We distinguished between three major categories of sexual behavioral patterns based on their speed of development, ranging from fast (e.g., diversity in mounting postures and genital stimulation during mounting) to slow (e.g., contact solicitations and grasping behavior between consortship partners), with some being intermediate (e.g., range of solicitation patterns and expression of complete mounts). This study showed that the emergence of both conceptive and non-conceptive adult sexual behaviors can be traced back to immature behavioral patterns in adolescent female Japanese macaques, with a major threshold occurring at the age of 4 years. © 2014 Wiley Periodicals, Inc.

Timing of Multimodal Robot Behaviors during Human-Robot Collaboration

DEFF Research Database (Denmark)

Jensen, Lars Christian; Fischer, Kerstin; Suvei, Stefan-Daniel

2017-01-01

In this paper, we address issues of timing between robot behaviors in multimodal human-robot interaction. In particular, we study what effects sequential order and simultaneity of robot arm and body movement and verbal behavior have on the fluency of interactions. In a study with the Care-O-bot, ...... output plays a special role because participants carry their expectations from human verbal interaction into the interactions with robots....

Human Behavioral Pharmacology, Past, Present, and Future: Symposium Presented at the 50th Annual Meeting of the Behavioral Pharmacology Society

Science.gov (United States)

Comer, Sandra D.; Bickel, Warren K.; Yi, Richard; de Wit, Harriet; Higgins, Stephen T.; Wenger, Galen R.; Johanson, Chris-Ellyn; Kreek, Mary Jeanne

2010-01-01

A symposium held at the 50th annual meeting of the Behavioral Pharmacology Society in May 2007 reviewed progress in the human behavioral pharmacology of drug abuse. Studies on drug self-administration in humans are reviewed that assessed reinforcing and subjective effects of drugs of abuse. The close parallels observed between studies in humans and laboratory animals using similar behavioral techniques have broadened our understanding of the complex nature of the pharmacological and behavioral factors controlling drug self-administration. The symposium also addressed the role that individual differences, such as gender, personality, and genotype play in determining the extent of self-administration of illicit drugs in human populations. Knowledge of how these factors influence human drug self-administration has helped validate similar differences observed in laboratory animals. In recognition that drug self-administration is but one of many choices available in the lives of humans, the symposium addressed the ways in which choice behavior can be studied in humans. These choice studies in human drug abusers have opened up new and exciting avenues of research in laboratory animals. Finally, the symposium reviewed behavioral pharmacology studies conducted in drug abuse treatment settings and the therapeutic benefits that have emerged from these studies. PMID:20664330

Real-time Pipeline for Object Modeling and Grasping Pose Selection via Superquadric Functions

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Giulia Vezzani

2017-11-01

Full Text Available This work provides a novel real-time pipeline for modeling and grasping of unknown objects with a humanoid robot. Such a problem is of great interest for the robotic community, since conventional approaches fail when the shape, dimension, or pose of the objects are missing. Our approach reconstructs in real-time a model for the object under consideration and represents the robot hand both with proper and mathematically usable models, i.e., superquadric functions. The volume graspable by the hand is represented by an ellipsoid and is defined a priori, because the shape of the hand is known in advance. The superquadric representing the object is obtained in real-time from partial vision information instead, e.g., one stereo view of the object under consideration, and provides an approximated 3D full model. The optimization problem we formulate for the grasping pose computation is solved online by using the Ipopt software package and, thus, does not require off-line computation or learning. Even though our approach is for a generic humanoid robot, we developed a complete software architecture for executing this approach on the iCub humanoid robot. Together with that, we also provide a tutorial on how to use this framework. We believe that our work, together with the available code, is of a strong utility for the iCub community for three main reasons: object modeling and grasping are relevant problems for the robotic community, our code can be easily applied on every iCub, and the modular structure of our framework easily allows extensions and communications with external code.

The GRASP project - a multidisciplinary study of hydrology and biogeochemistry in a periglacial catchment area

Science.gov (United States)

Johansson, Emma; Lindborg, Tobias

2017-04-01

The Arctic region is sensitive to global warming, and permafrost thaw and release of old carbon are examples of processes that may have a positive feedback effect to the global climate system. Quantification and assumptions on future change are often based on model predictions. Such models require cross-disciplinary data of high quality that often is lacking. Biogeochemical processes in the landscape are highly influenced by the hydrology, which in turn is intimately related to permafrost processes. Thus, a multidisciplinary approach is needed when collecting data and setting up field experiments aiming at increase the understanding of these processes. Here we summarize and present data collected in the GRASP, Greenland Analogue Surface Project. GRASP is a catchment-scale field study of the periglacial area in the Kangerlussuaq region, West Greenland, focusing on hydrological and biogeochemical processes in the landscape. The site investigations were initiated in 2010 and have since then resulted in three separate data sets published in ESSD (Earth system and Science Data) each one focusing on i) meteorological data and hydrology, ii) biogeochemistry and iii) geometries of sediments and the active layer. The three data-sets, which are freely available via the PANGAEA data base, enable conceptual and coupled numerical modeling of hydrological and biogeochemical processes. An important strength with the GRASP data is that all data is collected within the same, relatively small, catchment area. This implies that measurements are more easily linked to the right source area or process. Despite the small catchment area it includes the major units of the periglacial hydrological system; a lake, a talik, a supra- and subpermafrost aquifer and, consequently, biogeochemical processes in each of these units may be studied. The new data from GRASP is both used with the aim to increase the knowledge of present day periglacial hydrology and biogeochemistry but also in order to

HUMAN RESOURCE MANAGEMENT IN TERMS OF BEHAVIORAL ECONOMICS

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Ewa Mazanowska

2015-01-01

Full Text Available Behaviourists believe human capital is seen as the potential in people. They believe that the human resource in the organization are intangible assets embodied in the employees, not the people themselves. Behavioral economics emphasizes that people aren’t owned by the company, only their abilities and skills made available to the employer on the basis of certain legal relations which holds it to manage these assets in a rational way. Recognition of behavioral economics also highlights the aspects of development and human capital perspective, which appear in the may resource Staff in the future. These may be limited to: raise, awareness of capacity, internal aspirations, motives. Human capital management is nothing but a recognition of the relevant characteristics of the potential held within the company Staff and correct its use. As a consequence, it can bring tangible benefits to the organization.

Posture does not matter! Paw usage and grasping paw preference in a small-bodied rooting quadrupedal mammal.

Science.gov (United States)

Joly, Marine; Scheumann, Marina; Zimmermann, Elke

2012-01-01

Recent results in birds, marsupials, rodents and nonhuman primates suggest that phylogeny and ecological factors such as body size, diet and postural habit of a species influence limb usage and the direction and strength of limb laterality. To examine to which extent these findings can be generalised to small-bodied rooting quadrupedal mammals, we studied trees shrews (Tupaia belangeri). We established a behavioural test battery for examining paw usage comparable to small-bodied primates and tested 36 Tupaia belangeri. We studied paw usage in a natural foraging situation (simple food grasping task) and measured the influence of varying postural demands (triped, biped, cling, sit) on paw preferences by applying a forced-food grasping task similar to other small-bodied primates. Our findings suggest that rooting tree shrews prefer mouth over paw usage to catch food in a natural foraging situation. Moreover, we demonstrated that despite differences in postural demand, tree shrews show a strong and consistent individual paw preference for grasping across different tasks, but no paw preference at a population level. Tree shrews showed less paw usage than small-bodied quadrupedal and arboreal primates, but the same paw preference. Our results confirm that individual paw preferences remain constant irrespective of postural demand in some small-bodied quadrupedal non primate and primate mammals which do not require fine motoric control for manipulating food items. Our findings suggest that the lack of paw/hand preference for grasping food at a population level is a universal pattern among those species and that the influence of postural demand on manual lateralisation in quadrupeds may have evolved in large-bodied species specialised in fine manipulations of food items.

Resolving conflicts in task demands during balance recovery: does holding an object inhibit compensatory grasping?

Science.gov (United States)

Bateni, Hamid; Zecevic, Aleksandra; McIlroy, William E; Maki, Brian E

2004-07-01

The ability to reach and "grasp" (grip or touch) structures for support in reaction to instability is an important element of the postural repertoire. It is unclear, however, how the central nervous system (CNS) resolves the potential conflict between holding an object and the need to release the held object and grasp alternative support, particularly if the held object is perceived to be relevant to the task of stabilizing the body, e.g. an assistive device. This study examined whether compensatory grasping is inhibited when holding an object, and whether the influence differs when holding an assistive device (cane) versus a task-irrelevant object (top handle portion of a cane). We also investigated the influence of preloading the assistive device, to determine whether conflicting demands for arm-muscle activation (requiring disengagement of ongoing agonist or antagonist activity) would influence the inhibition of compensatory grasping. Unpredictable forward and backward platform translations were used to evoke the balancing reactions in 16 healthy young adults. A handrail was mounted to the right and foot motion was constrained by barriers, with the intent that successful balance recovery would (in large-perturbation trials) require subjects to release the held object and contact the rail with the right hand. Results showed that grasping reactions were commonly used to recover equilibrium when the hand was free (rail contact in 71% of large-perturbation trials). However, holding either the cane or canetop had a potent modulating effect: although early biceps activation was almost never inhibited completely (significant activity within 200 ms in 98% of trials), the average activation amplitude was attenuated by 30-64% and the average frequency of handrail contact was reduced by a factor of two or more. This reduced use of the rail occurred even though the consequence often involved falling against a safety harness or barriers. Handrail contact occurred least

Science and Human Behavior, dualism, and conceptual modification.

Science.gov (United States)

Zuriff, G E

2003-11-01

Skinner's Science and Human Behavior is in part an attempt to solve psychology's problem with mind-body dualism by revising our everyday mentalistic conceptual scheme. In the case of descriptive mentalism (the use of mentalistic terms to describe behavior), Skinner offers behavioral "translations." In contrast, Skinner rejects explanatory mentalism (the use of mental concepts to explain behavior) and suggests how to replace it with a behaviorist explanatory framework. For experiential mentalism, Skinner presents a theory of verbal behavior that integrates the use of mentalistic language in first-person reports of phenomenal experience into a scientific framework.

You Look Human, But Act Like a Machine: Agent Appearance and Behavior Modulate Different Aspects of Human-Robot Interaction.

Science.gov (United States)

Abubshait, Abdulaziz; Wiese, Eva

2017-01-01

Gaze following occurs automatically in social interactions, but the degree to which gaze is followed depends on whether an agent is perceived to have a mind, making its behavior socially more relevant for the interaction. Mind perception also modulates the attitudes we have toward others, and determines the degree of empathy, prosociality, and morality invested in social interactions. Seeing mind in others is not exclusive to human agents, but mind can also be ascribed to non-human agents like robots, as long as their appearance and/or behavior allows them to be perceived as intentional beings. Previous studies have shown that human appearance and reliable behavior induce mind perception to robot agents, and positively affect attitudes and performance in human-robot interaction. What has not been investigated so far is whether different triggers of mind perception have an independent or interactive effect on attitudes and performance in human-robot interaction. We examine this question by manipulating agent appearance (human vs. robot) and behavior (reliable vs. random) within the same paradigm and examine how congruent (human/reliable vs. robot/random) versus incongruent (human/random vs. robot/reliable) combinations of these triggers affect performance (i.e., gaze following) and attitudes (i.e., agent ratings) in human-robot interaction. The results show that both appearance and behavior affect human-robot interaction but that the two triggers seem to operate in isolation, with appearance more strongly impacting attitudes, and behavior more strongly affecting performance. The implications of these findings for human-robot interaction are discussed.

Modeling human behaviors and reactions under dangerous environment.

Science.gov (United States)

Kang, J; Wright, D K; Qin, S F; Zhao, Y

2005-01-01

This paper describes the framework of a real-time simulation system to model human behavior and reactions in dangerous environments. The system utilizes the latest 3D computer animation techniques, combined with artificial intelligence, robotics and psychology, to model human behavior, reactions and decision making under expected/unexpected dangers in real-time in virtual environments. The development of the system includes: classification on the conscious/subconscious behaviors and reactions of different people; capturing different motion postures by the Eagle Digital System; establishing 3D character animation models; establishing 3D models for the scene; planning the scenario and the contents; and programming within Virtools Dev. Programming within Virtools Dev is subdivided into modeling dangerous events, modeling character's perceptions, modeling character's decision making, modeling character's movements, modeling character's interaction with environment and setting up the virtual cameras. The real-time simulation of human reactions in hazardous environments is invaluable in military defense, fire escape, rescue operation planning, traffic safety studies, and safety planning in chemical factories, the design of buildings, airplanes, ships and trains. Currently, human motion modeling can be realized through established technology, whereas to integrate perception and intelligence into virtual human's motion is still a huge undertaking. The challenges here are the synchronization of motion and intelligence, the accurate modeling of human's vision, smell, touch and hearing, the diversity and effects of emotion and personality in decision making. There are three types of software platforms which could be employed to realize the motion and intelligence within one system, and their advantages and disadvantages are discussed.

A Sense of Touch in Laparoscopy : Using Augmented Haptic Feedback to Improve Grasp Control

NARCIS (Netherlands)

Westebring-van der Putten, E.P.

2011-01-01

Laparoscopy is Minimally Invasive Surgery (MIS) that is conducted in the belly alcove and which enables instruments, which enter the body through small incisions, to manipulate tissue. The possible complications arising during laparoscopic surgery are partly caused by improper grasp control on the

Grasp specific and user friendly interface design for myoelectric hand prostheses.

Science.gov (United States)

Mohammadi, Alireza; Lavranos, Jim; Howe, Rob; Choong, Peter; Oetomo, Denny

2017-07-01

This paper presents the design and characterisation of a hand prosthesis and its user interface, focusing on performing the most commonly used grasps in activities of daily living (ADLs). Since the operation of a multi-articulated powered hand prosthesis is difficult to learn and master, there is a significant rate of abandonment by amputees in preference for simpler devices. In choosing so, amputees chose to live with fewer features in their prosthesis that would more reliably perform the basic operations. In this paper, we look simultaneously at a hand prosthesis design method that aims for a small number of grasps, a low complexity user interface and an alternative method to the current use of EMG as a preshape selection method through the use of a simple button; to enable amputees to get to and execute the intended hand movements intuitively, quickly and reliably. An experiment is reported at the end of the paper comparing the speed and accuracy with which able-bodied naive subjects are able to select the intended preshapes through the use of a simplified EMG method and a simple button. It is shown that the button was significantly superior in the speed of successful task completion and marginally superior in accuracy (success of first attempt).

Aircraft Route Recovery Based on An Improved GRASP Method

Directory of Open Access Journals (Sweden)

Yang He

2017-01-01

Full Text Available Aircrafts maintenance, temporary airport closures are common factors that disrupt normal flight schedule. The aircraft route recovery aims to recover original schedules by some strategies, including flights swaps, and cancellations, which is a NP-hard problem. This paper proposes an improved heuristic procedure based on Greedy Random Adaptive Search Procedure (GRASP to solve this problem. The effectiveness and high global optimization capability of the heuristic is illustrated through experiments based on large-scale problems. Compared to the original one, it is shown that the improved procedure can find feasible flight recovered schedules with lower cost in a short time.

The Human Factor: Behavioral and Neural Correlates of Humanized Perception in Moral Decision Making

Science.gov (United States)

Majdandžić, Jasminka; Bauer, Herbert; Windischberger, Christian; Moser, Ewald; Engl, Elisabeth; Lamm, Claus

2012-01-01

The extent to which people regard others as full-blown individuals with mental states (“humanization”) seems crucial for their prosocial motivation towards them. Previous research has shown that decisions about moral dilemmas in which one person can be sacrificed to save multiple others do not consistently follow utilitarian principles. We hypothesized that this behavior can be explained by the potential victim’s perceived humanness and an ensuing increase in vicarious emotions and emotional conflict during decision making. Using fMRI, we assessed neural activity underlying moral decisions that affected fictitious persons that had or had not been experimentally humanized. In implicit priming trials, participants either engaged in mentalizing about these persons (Humanized condition) or not (Neutral condition). In subsequent moral dilemmas, participants had to decide about sacrificing these persons’ lives in order to save the lives of numerous others. Humanized persons were sacrificed less often, and the activation pattern during decisions about them indicated increased negative affect, emotional conflict, vicarious emotions, and behavioral control (pgACC/mOFC, anterior insula/IFG, aMCC and precuneus/PCC). Besides, we found enhanced effective connectivity between aMCC and anterior insula, which suggests increased emotion regulation during decisions affecting humanized victims. These findings highlight the importance of others’ perceived humanness for prosocial behavior - with aversive affect and other-related concern when imagining harming more “human-like” persons acting against purely utilitarian decisions. PMID:23082194

Genetic, structural, and chemical insights into the dual function of GRASP55 in germ cell Golgi remodeling and JAM-C polarized localization during spermatogenesis.

Directory of Open Access Journals (Sweden)

Amandine Cartier-Michaud

2017-06-01

Full Text Available Spermatogenesis is a dynamic process that is regulated by adhesive interactions between germ and Sertoli cells. Germ cells express the Junctional Adhesion Molecule-C (JAM-C, encoded by Jam3, which localizes to germ/Sertoli cell contacts. JAM-C is involved in germ cell polarity and acrosome formation. Using a proteomic approach, we demonstrated that JAM-C interacted with the Golgi reassembly stacking protein of 55 kDa (GRASP55, encoded by Gorasp2 in developing germ cells. Generation and study of Gorasp2-/- mice revealed that knock-out mice suffered from spermatogenesis defects. Acrosome formation and polarized localization of JAM-C in spermatids were altered in Gorasp2-/- mice. In addition, Golgi morphology of spermatocytes was disturbed in Gorasp2-/- mice. Crystal structures of GRASP55 in complex with JAM-C or JAM-B revealed that GRASP55 interacted via PDZ-mediated interactions with JAMs and induced a conformational change in GRASP55 with respect of its free conformation. An in silico pharmacophore approach identified a chemical compound called Graspin that inhibited PDZ-mediated interactions of GRASP55 with JAMs. Treatment of mice with Graspin hampered the polarized localization of JAM-C in spermatids, induced the premature release of spermatids and affected the Golgi morphology of meiotic spermatocytes.

Novelty, Stress, and Biological Roots in Human Market Behavior

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Alexey Sarapultsev

2014-02-01

Full Text Available Although studies examining the biological roots of human behavior have been conducted since the seminal work Kahneman and Tversky, crises and panics have not disappeared. The frequent occurrence of various types of crises has led some economists to the conviction that financial markets occasionally praise irrational judgments and that market crashes cannot be avoided a priori (Sornette 2009; Smith 2004. From a biological point of view, human behaviors are essentially the same during crises accompanied by stock market crashes and during bubble growth when share prices exceed historic highs. During those periods, most market participants see something new for themselves, and this inevitably induces a stress response in them with accompanying changes in their endocrine profiles and motivations. The result is quantitative and qualitative changes in behavior (Zhukov 2007. An underestimation of the role of novelty as a stressor is the primary shortcoming of current approaches for market research. When developing a mathematical market model, it is necessary to account for the biologically determined diphasisms of human behavior in everyday low-stress conditions and in response to stressors. This is the only type of approach that will enable forecasts of market dynamics and investor behaviors under normal conditions as well as during bubbles and panics.

For your eyes only: Effect of confederate's eye level on reach-to-grasp action

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Francois eQuesque

2014-12-01

Full Text Available Previous studies have shown that the spatio-temporal parameters of reach-to-grasp movement are influenced by the social context in which the motor action is performed. In particular, when interacting with a confederate, movements are slower, with longer initiation times and more ample trajectories, which has been interpreted as implicit communicative information emerging through voluntary movement to catch the partner’s attention and optimize cooperation (Quesque et al., 2013. Because gaze is a crucial component of social interactions, the present study evaluated the role of a confederate's eye level on the social modulation of trajectory curvature. An actor and a partner facing each other took part in a cooperative task consisting, for one of them, of grasping and moving a wooden dowel under time constraints. Before this Main action, the actor performed a Preparatory action, which consisted of placing the wooden dowel on a central marking. The partner's eye level was unnoticeably varied using an adjustable seat that matched or was higher than the actor’s seat. Our data confirmed the previous effects of social intention on motor responses. Furthermore, we observed an effect of the partner's eye level on the Preparatory action, leading the actors to exaggerate unconsciously the trajectory curvature in relation to their partner's eye level. No interaction was found between the actor's social intention and their partner's eye level. These results suggest that other bodies are implicitly taken into account when a reach-to-grasp movement is produced in a social context.

Force-independent distribution of correlated neural inputs to hand muscles during three-digit grasping.

Science.gov (United States)

Poston, Brach; Danna-Dos Santos, Alessander; Jesunathadas, Mark; Hamm, Thomas M; Santello, Marco

2010-08-01

The ability to modulate digit forces during grasping relies on the coordination of multiple hand muscles. Because many muscles innervate each digit, the CNS can potentially choose from a large number of muscle coordination patterns to generate a given digit force. Studies of single-digit force production tasks have revealed that the electromyographic (EMG) activity scales uniformly across all muscles as a function of digit force. However, the extent to which this finding applies to the coordination of forces across multiple digits is unknown. We addressed this question by asking subjects (n = 8) to exert isometric forces using a three-digit grip (thumb, index, and middle fingers) that allowed for the quantification of hand muscle coordination within and across digits as a function of grasp force (5, 20, 40, 60, and 80% maximal voluntary force). We recorded EMG from 12 muscles (6 extrinsic and 6 intrinsic) of the three digits. Hand muscle coordination patterns were quantified in the amplitude and frequency domains (EMG-EMG coherence). EMG amplitude scaled uniformly across all hand muscles as a function of grasp force (muscle x force interaction: P = 0.997; cosines of angle between muscle activation pattern vector pairs: 0.897-0.997). Similarly, EMG-EMG coherence was not significantly affected by force (P = 0.324). However, coherence was stronger across extrinsic than that across intrinsic muscle pairs (P = 0.0039). These findings indicate that the distribution of neural drive to multiple hand muscles is force independent and may reflect the anatomical properties or functional roles of hand muscle groups.

Integrating Humanism and Behaviorism: Toward Performance

Science.gov (United States)

Smith, Darrell

1974-01-01

The current emphasis on performance criteria in training programs and in professional services poses a threat to the humanistically oriented helper. This article suggests a behavioral humanism as the desired solution to the dilemma and proposes some guidelines for formulating and implementing such a synthetic system. (Author)

Spontaneous in-flight accommodation of hand orientation to unseen grasp targets: A case of action blindsight.

Science.gov (United States)

Prentiss, Emily K; Schneider, Colleen L; Williams, Zoë R; Sahin, Bogachan; Mahon, Bradford Z

2018-03-15

The division of labour between the dorsal and ventral visual pathways is well established. The ventral stream supports object identification, while the dorsal stream supports online processing of visual information in the service of visually guided actions. Here, we report a case of an individual with a right inferior quadrantanopia who exhibited accurate spontaneous rotation of his wrist when grasping a target object in his blind visual field. His accurate wrist orientation was observed despite the fact that he exhibited no sensitivity to the orientation of the handle in a perceptual matching task. These findings indicate that non-geniculostriate visual pathways process basic volumetric information relevant to grasping, and reinforce the observation that phenomenal awareness is not necessary for an object's volumetric properties to influence visuomotor performance.

Talking with a Virtual Human : Controlling the Human Experience and Behavior in a Virtual Conversation

NARCIS (Netherlands)

Qu, C.

2014-01-01

Virtual humans are often designed to replace real humans in virtual reality applications for e.g., psychotherapy, education and entertainment. In general, applications with virtual humans are created for modifying a person's knowledge, beliefs, attitudes, emotions or behaviors. Reaching these

Grasping the other's attention: The role of animacy in action cueing of joint attention

NARCIS (Netherlands)

Lindemann, O.; Nuku, P.; Rüschemeyer, S.A.; Bekkering, H.

2011-01-01

The current experiment investigates the role of animacy on grasp-cueing effects as investigated in joint attention research. In a simple detection task participants responded to the colour change of one of two objects of identical size. Before the target onset, we presented a cueing stimulus

One digit interruption: the altered force patterns during functionally cylindrical grasping tasks in patients with trigger digits.

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Po-Tsun Chen

Full Text Available Most trigger digit (TD patients complain that they have problems using their hand in daily or occupational tasks due to single or multiple digits being affected. Unfortunately, clinicians do not know much about how this disease affects the subtle force coordination among digits during manipulation. Thus, this study examined the differences in force patterns during cylindrical grasp between TD and healthy subjects. Forty-two TD patients with single digit involvement were included and sorted into four groups based on the involved digits, including thumb, index, middle and ring fingers. Twelve healthy subjects volunteered as healthy controls. Two testing tasks, holding and drinking, were performed by natural grasping with minimal forces. The relations between the force of the thumb and each finger were examined by Pearson correlation coefficients. The force amount and contribution of each digit were compared between healthy controls and each TD group by the independent t test. The results showed all TD groups demonstrated altered correlation patterns of the thumb relative to each finger. Larger forces and higher contributions of the index finger were found during holding by patients with index finger involved, and also during drinking by patients with affected thumb and with affected middle finger. Although no triggering symptom occurred during grasping, the patients showed altered force patterns which may be related to the role of the affected digit in natural grasping function. In conclusion, even if only one digit was affected, the subtle force coordination of all the digits was altered during simple tasks among the TD patients. This study provides the information for the future studies to further comprehend the possible injuries secondary to the altered finger coordination and also to adopt suitable treatment strategies.

One digit interruption: the altered force patterns during functionally cylindrical grasping tasks in patients with trigger digits.

Science.gov (United States)

Chen, Po-Tsun; Lin, Chien-Ju; Jou, I-Ming; Chieh, Hsiao-Feng; Su, Fong-Chin; Kuo, Li-Chieh

2013-01-01

Most trigger digit (TD) patients complain that they have problems using their hand in daily or occupational tasks due to single or multiple digits being affected. Unfortunately, clinicians do not know much about how this disease affects the subtle force coordination among digits during manipulation. Thus, this study examined the differences in force patterns during cylindrical grasp between TD and healthy subjects. Forty-two TD patients with single digit involvement were included and sorted into four groups based on the involved digits, including thumb, index, middle and ring fingers. Twelve healthy subjects volunteered as healthy controls. Two testing tasks, holding and drinking, were performed by natural grasping with minimal forces. The relations between the force of the thumb and each finger were examined by Pearson correlation coefficients. The force amount and contribution of each digit were compared between healthy controls and each TD group by the independent t test. The results showed all TD groups demonstrated altered correlation patterns of the thumb relative to each finger. Larger forces and higher contributions of the index finger were found during holding by patients with index finger involved, and also during drinking by patients with affected thumb and with affected middle finger. Although no triggering symptom occurred during grasping, the patients showed altered force patterns which may be related to the role of the affected digit in natural grasping function. In conclusion, even if only one digit was affected, the subtle force coordination of all the digits was altered during simple tasks among the TD patients. This study provides the information for the future studies to further comprehend the possible injuries secondary to the altered finger coordination and also to adopt suitable treatment strategies.

Posture does not matter! Paw usage and grasping paw preference in a small-bodied rooting quadrupedal mammal.

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Marine Joly

Full Text Available BACKGROUND: Recent results in birds, marsupials, rodents and nonhuman primates suggest that phylogeny and ecological factors such as body size, diet and postural habit of a species influence limb usage and the direction and strength of limb laterality. To examine to which extent these findings can be generalised to small-bodied rooting quadrupedal mammals, we studied trees shrews (Tupaia belangeri. METHODOLOGY/PRINCIPAL FINDINGS: We established a behavioural test battery for examining paw usage comparable to small-bodied primates and tested 36 Tupaia belangeri. We studied paw usage in a natural foraging situation (simple food grasping task and measured the influence of varying postural demands (triped, biped, cling, sit on paw preferences by applying a forced-food grasping task similar to other small-bodied primates. Our findings suggest that rooting tree shrews prefer mouth over paw usage to catch food in a natural foraging situation. Moreover, we demonstrated that despite differences in postural demand, tree shrews show a strong and consistent individual paw preference for grasping across different tasks, but no paw preference at a population level. CONCLUSIONS/SIGNIFICANCE: Tree shrews showed less paw usage than small-bodied quadrupedal and arboreal primates, but the same paw preference. Our results confirm that individual paw preferences remain constant irrespective of postural demand in some small-bodied quadrupedal non primate and primate mammals which do not require fine motoric control for manipulating food items. Our findings suggest that the lack of paw/hand preference for grasping food at a population level is a universal pattern among those species and that the influence of postural demand on manual lateralisation in quadrupeds may have evolved in large-bodied species specialised in fine manipulations of food items.

Where to look? Automating attending behaviors of virtual human characters

Science.gov (United States)

Chopra Khullar, S.; Badler, N. I.

2001-01-01

This research proposes a computational framework for generating visual attending behavior in an embodied simulated human agent. Such behaviors directly control eye and head motions, and guide other actions such as locomotion and reach. The implementation of these concepts, referred to as the AVA, draws on empirical and qualitative observations known from psychology, human factors and computer vision. Deliberate behaviors, the analogs of scanpaths in visual psychology, compete with involuntary attention capture and lapses into idling or free viewing. Insights provided by implementing this framework are: a defined set of parameters that impact the observable effects of attention, a defined vocabulary of looking behaviors for certain motor and cognitive activity, a defined hierarchy of three levels of eye behavior (endogenous, exogenous and idling) and a proposed method of how these types interact.

Is the Control of Applied Digital Forces During Natural Five-digit Grasping Affected by Carpal Tunnel Syndrome?

Science.gov (United States)

Chen, Po-Tsun; Jou, I-Ming; Lin, Chien-Ju; Chieh, Hsiao-Feng; Kuo, Li-Chieh; Su, Fong-Chin

2015-07-01

The impaired sensory function of the hand induced by carpal tunnel syndrome (CTS) is known to disturb dexterous manipulations. However, force control during daily grasping configuration among the five digits has not been a prominent focus of study. Because grasping is so important to normal function and use of a hand, it is important to understand how sensory changes in CTS affect the digit force of natural grasp. We therefore examined the altered patterns of digit forces applied during natural five-digit grasping in patients with CTS and compared them with those seen in control subjects without CTS. We hypothesized that the patients with CTS will grasp by applying larger forces with lowered pair correlations and more force variability of the involved digits than the control subjects. Specifically, we asked: (1) Is there a difference between patients with CTS and control subjects in applied force by digits during lift-hold-lower task? (2) Is there a difference in force correlation coefficient of the digit pairs? (3) Are there force variability differences during the holding phase? We evaluated 15 female patients with CTS and 15 control subjects matched for age, gender, and hand dominance. The applied radial forces (Fr) of the five digits were recorded by respective force transducers on a cylinder simulator during the lift-hold-lower task with natural grasping. The movement phases of the task were determined by a video-based motion capture system. The applied forces of the thumb in patients with CTS (7 ± 0.8 N; 95% CI, 7.2-7.4 N) versus control subjects (5 ± 0.8 N; 95% CI, 5.1-5.3 N) and the index finger in patients with CTS (3 ± 0.3 N; 95% CI, 3.2-3.3 N) versus control subjects (2 ± 0.3 N; 95% CI, 2.2-2.3 N) observed throughout most of the task were larger in the CTS group (p ranges 0.035-0.050 for thumb and 0.016-0.050 for index finger). In addition, the applied force of the middle finger in patients with CTS (1 ± 0.1 N; 95% CI, 1.3-1.4�

Human behavior recognition using a context-free grammar

Science.gov (United States)

Rosani, Andrea; Conci, Nicola; De Natale, Francesco G. B.

2014-05-01

Automatic recognition of human activities and behaviors is still a challenging problem for many reasons, including limited accuracy of the data acquired by sensing devices, high variability of human behaviors, and gap between visual appearance and scene semantics. Symbolic approaches can significantly simplify the analysis and turn raw data into chains of meaningful patterns. This allows getting rid of most of the clutter produced by low-level processing operations, embedding significant contextual information into the data, as well as using simple syntactic approaches to perform the matching between incoming sequences and models. We propose a symbolic approach to learn and detect complex activities through the sequences of atomic actions. Compared to previous methods based on context-free grammars, we introduce several important novelties, such as the capability to learn actions based on both positive and negative samples, the possibility of efficiently retraining the system in the presence of misclassified or unrecognized events, and the use of a parsing procedure that allows correct detection of the activities also when they are concatenated and/or nested one with each other. An experimental validation on three datasets with different characteristics demonstrates the robustness of the approach in classifying complex human behaviors.

Facing History and Ourselves: Holocaust and Human Behavior.

Science.gov (United States)

Strom, Margot Stern; Parsons, William S.

This unit for junior and senior high school students presents techniques and materials for studying about the holocaust of World War II. Emphasis in the guide is on human behavior and the role of the individual within society. Among the guide's 18 objectives are for students to examine society's influence on individual behavior, place Hitler's…

The Grasp of Physics Concepts of Motion: Identifying Particular Patterns in Students' Thinking

Science.gov (United States)

Obaidat, Ihab; Malkawi, Ehab

2009-01-01

We have investigated the grasp of some of the basic concepts of motion by students taking the introductory physics course in Mechanics at United Arab Emirates University (UAEU). We have developed a short research-based multiple-choice test where we were able to extract some information about the state of knowledge of the students. In general, the…

Human fMRI reveals that delayed action re-recruits visual perception.

Science.gov (United States)

Singhal, Anthony; Monaco, Simona; Kaufman, Liam D; Culham, Jody C

2013-01-01

Behavioral and neuropsychological research suggests that delayed actions rely on different neural substrates than immediate actions; however, the specific brain areas implicated in the two types of actions remain unknown. We used functional magnetic resonance imaging (fMRI) to measure human brain activation during delayed grasping and reaching. Specifically, we examined activation during visual stimulation and action execution separated by a 18-s delay interval in which subjects had to remember an intended action toward the remembered object. The long delay interval enabled us to unambiguously distinguish visual, memory-related, and action responses. Most strikingly, we observed reactivation of the lateral occipital complex (LOC), a ventral-stream area implicated in visual object recognition, and early visual cortex (EVC) at the time of action. Importantly this reactivation was observed even though participants remained in complete darkness with no visual stimulation at the time of the action. Moreover, within EVC, higher activation was observed for grasping than reaching during both vision and action execution. Areas in the dorsal visual stream were activated during action execution as expected and, for some, also during vision. Several areas, including the anterior intraparietal sulcus (aIPS), dorsal premotor cortex (PMd), primary motor cortex (M1) and the supplementary motor area (SMA), showed sustained activation during the delay phase. We propose that during delayed actions, dorsal-stream areas plan and maintain coarse action goals; however, at the time of execution, motor programming requires re-recruitment of detailed visual information about the object through reactivation of (1) ventral-stream areas involved in object perception and (2) early visual areas that contain richly detailed visual representations, particularly for grasping.

Human fMRI reveals that delayed action re-recruits visual perception.

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Anthony Singhal

Full Text Available Behavioral and neuropsychological research suggests that delayed actions rely on different neural substrates than immediate actions; however, the specific brain areas implicated in the two types of actions remain unknown. We used functional magnetic resonance imaging (fMRI to measure human brain activation during delayed grasping and reaching. Specifically, we examined activation during visual stimulation and action execution separated by a 18-s delay interval in which subjects had to remember an intended action toward the remembered object. The long delay interval enabled us to unambiguously distinguish visual, memory-related, and action responses. Most strikingly, we observed reactivation of the lateral occipital complex (LOC, a ventral-stream area implicated in visual object recognition, and early visual cortex (EVC at the time of action. Importantly this reactivation was observed even though participants remained in complete darkness with no visual stimulation at the time of the action. Moreover, within EVC, higher activation was observed for grasping than reaching during both vision and action execution. Areas in the dorsal visual stream were activated during action execution as expected and, for some, also during vision. Several areas, including the anterior intraparietal sulcus (aIPS, dorsal premotor cortex (PMd, primary motor cortex (M1 and the supplementary motor area (SMA, showed sustained activation during the delay phase. We propose that during delayed actions, dorsal-stream areas plan and maintain coarse action goals; however, at the time of execution, motor programming requires re-recruitment of detailed visual information about the object through reactivation of (1 ventral-stream areas involved in object perception and (2 early visual areas that contain richly detailed visual representations, particularly for grasping.

Cognitive Factors Affecting Freeze-like Behavior in Humans.

Science.gov (United States)

Alban, Michael W; Pocknell, Victoria

2017-01-01

Contemporary research on survival-related defensive behaviors has identified physiological markers of freeze/flight/fight. Our research focused on cognitive factors associated with freeze-like behavior in humans. Study 1 tested if an explicit decision to freeze is associated with the psychophysiological state of freezing. Heart rate deceleration occurred when participants chose to freeze. Study 2 varied the efficacy of freezing relative to other defense options and found "freeze" was responsive to variations in the perceived effectiveness of alternative actions. Study 3 tested if individual differences in motivational orientation affect preference for a "freeze" option when the efficacy of options is held constant. A trend in the predicted direction suggested that naturally occurring cognitions led loss-avoiders to select "freeze" more often than reward-seekers. In combination, our attention to the cognitive factors affecting freeze-like behavior in humans represents a preliminary step in addressing an important but neglected research area.

Whisker and Nose Tactile Sense Guide Rat Behavior in a Skilled Reaching Task

Directory of Open Access Journals (Sweden)

Pierantonio Parmiani

2018-02-01

Full Text Available Skilled reaching is a complex movement in which a forelimb is extended to grasp food for eating. Video-recordings analysis of control rats enables us to distinguish several components of skilled reaching: Orient, approaching the front wall of the reaching box and poking the nose into the slot to locate the food pellet; Transport, advancing the forelimb through the slot to reach-grasp the pellet; and Withdrawal of the grasped food to eat. Although food location and skilled reaching is guided by olfaction, the importance of whisker/nose tactile sense in rats suggests that this too could play a role in reaching behavior. To test this hypothesis, we studied skilled reaching in rats trained in a single-pellet reaching task before and after bilateral whisker trimming and bilateral infraorbital nerve (ION severing. During the task, bilaterally trimmed rats showed impaired Orient with respect to controls. Specifically, they detected the presence of the wall by hitting it with their nose (rather than their whiskers, and then located the slot through repetitive nose touches. The number of nose touches preceding poking was significantly higher in comparison to controls. On the other hand, macrovibrissae trimming resulted in no change in reaching/grasping or withdrawal components of skilled reaching. Bilaterally ION-severed rats, displayed a marked change in the structure of their skilled reaching. With respect to controls, in ION-severed rats: (a approaches to the front wall were significantly reduced at 3–5 and 6–8 days; (b nose pokes were significantly reduced at 3–5 days, and the slot was only located after many repetitive nose touches; (c the reaching-grasping-retracting movement never appeared at 3–5 days; (d explorative paw movements, equal to zero in controls, reached significance at 9–11 days; and (e the restored reaching-grasping-retracting sequence was globally slower than in controls, but the success rate was the same. These findings

The Study on Human-Computer Interaction Design Based on the Users’ Subconscious Behavior

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Li, Lingyuan

2017-09-01

Human-computer interaction is human-centered. An excellent interaction design should focus on the study of user experience, which greatly comes from the consistence between design and human behavioral habit. However, users’ behavioral habits often result from subconsciousness. Therefore, it is smart to utilize users’ subconscious behavior to achieve design's intention and maximize the value of products’ functions, which gradually becomes a new trend in this field.

Behavioral responses associated with a human-mediated predator shelter.

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Graeme Shannon

Full Text Available Human activities in protected areas can affect wildlife populations in a similar manner to predation risk, causing increases in movement and vigilance, shifts in habitat use and changes in group size. Nevertheless, recent evidence indicates that in certain situations ungulate species may actually utilize areas associated with higher levels of human presence as a potential refuge from disturbance-sensitive predators. We now use four-years of behavioral activity budget data collected from pronghorn (Antilocapra americana and elk (Cervus elephus in Grand Teton National Park, USA to test whether predictable patterns of human presence can provide a shelter from predatory risk. Daily behavioral scans were conducted along two parallel sections of road that differed in traffic volume--with the main Teton Park Road experiencing vehicle use that was approximately thirty-fold greater than the River Road. At the busier Teton Park Road, both species of ungulate engaged in higher levels of feeding (27% increase in the proportion of pronghorn feeding and 21% increase for elk, lower levels of alert behavior (18% decrease for pronghorn and 9% decrease for elk and formed smaller groups. These responses are commonly associated with reduced predatory threat. Pronghorn also exhibited a 30% increase in the proportion of individuals moving at the River Road as would be expected under greater exposure to predation risk. Our findings concur with the 'predator shelter hypothesis', suggesting that ungulates in GTNP use human presence as a potential refuge from predation risk, adjusting their behavior accordingly. Human activity has the potential to alter predator-prey interactions and drive trophic-mediated effects that could ultimately impact ecosystem function and biodiversity.

Synchronous Spike Patterns in Macaque Motor Cortex during an Instructed-Delay Reach-to-Grasp Task.

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Torre, Emiliano; Quaglio, Pietro; Denker, Michael; Brochier, Thomas; Riehle, Alexa; Grün, Sonja

2016-08-10

The computational role of spike time synchronization at millisecond precision among neurons in the cerebral cortex is hotly debated. Studies performed on data of limited size provided experimental evidence that low-order correlations occur in relation to behavior. Advances in electrophysiological technology to record from hundreds of neurons simultaneously provide the opportunity to observe coordinated spiking activity of larger populations of cells. We recently published a method that combines data mining and statistical evaluation to search for significant patterns of synchronous spikes in massively parallel spike trains (Torre et al., 2013). The method solves the computational and multiple testing problems raised by the high dimensionality of the data. In the current study, we used our method on simultaneous recordings from two macaque monkeys engaged in an instructed-delay reach-to-grasp task to determine the emergence of spike synchronization in relation to behavior. We found a multitude of synchronous spike patterns aligned in both monkeys along a preferential mediolateral orientation in brain space. The occurrence of the patterns is highly specific to behavior, indicating that different behaviors are associated with the synchronization of different groups of neurons ("cell assemblies"). However, pooled patterns that overlap in neuronal composition exhibit no specificity, suggesting that exclusive cell assemblies become active during different behaviors, but can recruit partly identical neurons. These findings are consistent across multiple recording sessions analyzed across the two monkeys. Neurons in the brain communicate via electrical impulses called spikes. How spikes are coordinated to process information is still largely unknown. Synchronous spikes are effective in triggering a spike emission in receiving neurons and have been shown to occur in relation to behavior in a number of studies on simultaneous recordings of few neurons. We recently published

[The evolution of human cultural behavior: notes on Darwinism and complexity].

Science.gov (United States)

Peric, Mikael; Murrieta, Rui Sérgio Sereni

2015-12-01

The article analyzes three schools that can be understood as central in studies of the evolution of human behavior within the paradigm of evolution by natural selection: human behavioral ecology (HBE), evolutionary psychology, and dual inheritance. These three streams of thought are used to depict the Darwinist landscape and pinpoint its strong suits and limitations. Theoretical gaps were identified that seem to reduce these schools' ability to account for the diversity of human evolutionary behavior. Their weak points include issues related to the concept of reproductive success, types of adaptation, and targets of selection. An interdisciplinary approach is proposed as the solution to this dilemma, where complex adaptive systems would serve as a source.

Human Behavior and Environmental Sustainability: promoting a pro-environmental behavior by harnessing the social, psychological and physical influences of the built environment

Science.gov (United States)

Abusafieh, Shaden; Razem, Maiss

2017-11-01

Recently, technological advancements in the sustainable design field have allowed us to reduce the ecological impact of the built environment, to reduce consumption of non-renewable resources, to create healthy environments and in some cases may even rehabilitate the ecosystem. Nevertheless, several studies have been carried out showing that sustainable technology does not automatically lead to environmentally friendly behaviors in its users. Various environmental problems threaten environmental sustainability and many of these problems are rooted in human behavior. Unfortunately, there is a lack in studies which take into consideration the human behavior influences within a sustainable built environment. We believe that the built environment should be used to support human goals and requirements, but at the same time we should consider it as a context in which human values and behaviors are cultivated. This research aimed to help in promoting environmental sustainability by using architectural design in changing relevant human behavior toward an environmentally friendly behavior. In order to achieve this, the research adopted Environment-centered Approach to gain more acute perspective into the relationship between the physical environment and human behavior, focusing on social, psychological and physical influences of the built environment. It appears that environmental psychology's merits have high potential in changing behavior within the built environment. The research provides a systematic approach for selecting, assessing, evaluating the behaviors to be changed and the factors that determine them. Furthermore, this approach helps in choosing the best interventions that could be applied in built environment to encourage such a sustainable behavior. This study tried to construct an agenda for further researches to find particular architectural design elements and strategies that we can harness to develop a pro-environment human behavior.

GRASP92: a package for large-scale relativistic atomic structure calculations

Science.gov (United States)

Parpia, F. A.; Froese Fischer, C.; Grant, I. P.

2006-12-01

Program summaryTitle of program: GRASP92 Catalogue identifier: ADCU_v1_1 Program summary URL:http://cpc.cs.qub.ac.uk/summaries/ADCU_v1_1 Program obtainable from: CPC Program Library, Queen's University of Belfast, N. Ireland Licensing provisions: no Programming language used: Fortran Computer: IBM POWERstation 320H Operating system: IBM AIX 3.2.5+ RAM: 64M words No. of lines in distributed program, including test data, etc.: 65 224 No of bytes in distributed program, including test data, etc.: 409 198 Distribution format: tar.gz Catalogue identifier of previous version: ADCU_v1_0 Journal reference of previous version: Comput. Phys. Comm. 94 (1996) 249 Does the new version supersede the previous version?: Yes Nature of problem: Prediction of atomic spectra—atomic energy levels, oscillator strengths, and radiative decay rates—using a 'fully relativistic' approach. Solution method: Atomic orbitals are assumed to be four-component spinor eigenstates of the angular momentum operator, j=l+s, and the parity operator Π=βπ. Configuration state functions (CSFs) are linear combinations of Slater determinants of atomic orbitals, and are simultaneous eigenfunctions of the atomic electronic angular momentum operator, J, and the atomic parity operator, P. Lists of CSFs are either explicitly prescribed by the user or generated from a set of reference CSFs, a set of subshells, and rules for deriving other CSFs from these. Approximate atomic state functions (ASFs) are linear combinations of CSFs. A variational functional may be constructed by combining expressions for the energies of one or more ASFs. Average level (AL) functionals are weighted sums of energies of all possible ASFs that may be constructed from a set of CSFs; the number of ASFs is then the same as the number, n, of CSFs. Optimal level (OL) functionals are weighted sums of energies of some subset of ASFs; the GRASP92 package is optimized for this latter class of functionals. The composition of an ASF in terms

Utilization of old vibro-acoustic measuring equipment to grasp basic concepts of vibration measurements

DEFF Research Database (Denmark)

Darula, Radoslav

2013-01-01

The aim of the paper is to show that even old vibro-acoustic (analog) equipment can be used as a very suitable teaching equipment to grasp basic principles of measurements in an era, when measurement equipments are more-or-less treated as ‘black-boxes’, i.e. the user cannot see directly how...

Concept Analysis: Health-Promoting Behaviors Related to Human Papilloma Virus (HPV) Infection.

Science.gov (United States)

McCutcheon, Tonna; Schaar, Gina; Parker, Karen L

2015-01-01

The concept of health-promoting behaviors incorporates ideas presented in the Ottawa Charter of Public Health and the nursing-based Health Promotion Model. Despite the fact that the concept of health-promoting behaviors has a nursing influence, literature suggests nursing has inadequately developed and used this concept within nursing practice. A further review of literature regarding health promotion behaviors and the human papilloma virus suggest a distinct gap in nursing literature. This article presents a concept analysis of health-promoting behaviors related to the human papilloma virus in order to encourage the application of the concept into nursing practice, promote continued nursing research regarding this concept, and further expand the application of health-promoting behaviors to other situations and populations within the nursing discipline. Attributes of health-promoting behaviors are presented and include empowerment, participation, community, and a positive concept of health. Antecedents, consequences, and empirical referents are also presented, as are model, borderline, and contrary cases to help clarify the concept. Recommendations for human papilloma virus health-promoting behaviors within the nursing practice are also provided. © 2014 Wiley Periodicals, Inc.

Exploration of Hand Grasp Patterns Elicitable Through Non-Invasive Proximal Nerve Stimulation

OpenAIRE

Shin, Henry; Watkins, Zach; Hu, Xiaogang

2017-01-01

Various neurological conditions, such as stroke or spinal cord injury, result in an impaired control of the hand. One method of restoring this impairment is through functional electrical stimulation (FES). However, traditional FES techniques often lead to quick fatigue and unnatural ballistic movements. In this study, we sought to explore the capabilities of a non-invasive proximal nerve stimulation technique in eliciting various hand grasp patterns. The ulnar and median nerves proximal to th...

A GRASP model in network design for two-stage supply chain

Directory of Open Access Journals (Sweden)

Hassan Javanshir

2011-04-01

Full Text Available We consider a capacitated facility location problem (CFLP which contains a production facility and distribution centers (DCs supplying retailers' demand. The primary purpose is to locate distribution centres in the network and the objective is the minimization of the sum of fixed facility location, pipeline inventory, safety stock and lost sales. We use Greedy randomized adaptive search procedures (GRASP to solve the model. The preliminary results indicate that the proposed method of this paper could provide competitive results in reasonable amount time.

Development of a parametric kinematic model of the human hand and a novel robotic exoskeleton.

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Burton, T M W; Vaidyanathan, R; Burgess, S C; Turton, A J; Melhuish, C

2011-01-01

This paper reports the integration of a kinematic model of the human hand during cylindrical grasping, with specific focus on the accurate mapping of thumb movement during grasping motions, and a novel, multi-degree-of-freedom assistive exoskeleton mechanism based on this model. The model includes thumb maximum hyper-extension for grasping large objects (~> 50 mm). The exoskeleton includes a novel four-bar mechanism designed to reproduce natural thumb opposition and a novel synchro-motion pulley mechanism for coordinated finger motion. A computer aided design environment is used to allow the exoskeleton to be rapidly customized to the hand dimensions of a specific patient. Trials comparing the kinematic model to observed data of hand movement show the model to be capable of mapping thumb and finger joint flexion angles during grasping motions. Simulations show the exoskeleton to be capable of reproducing the complex motion of the thumb to oppose the fingers during cylindrical and pinch grip motions. © 2011 IEEE

Rhythm Patterns Interaction - Synchronization Behavior for Human-Robot Joint Action

Science.gov (United States)

Mörtl, Alexander; Lorenz, Tamara; Hirche, Sandra

2014-01-01

Interactive behavior among humans is governed by the dynamics of movement synchronization in a variety of repetitive tasks. This requires the interaction partners to perform for example rhythmic limb swinging or even goal-directed arm movements. Inspired by that essential feature of human interaction, we present a novel concept and design methodology to synthesize goal-directed synchronization behavior for robotic agents in repetitive joint action tasks. The agents’ tasks are described by closed movement trajectories and interpreted as limit cycles, for which instantaneous phase variables are derived based on oscillator theory. Events segmenting the trajectories into multiple primitives are introduced as anchoring points for enhanced synchronization modes. Utilizing both continuous phases and discrete events in a unifying view, we design a continuous dynamical process synchronizing the derived modes. Inverse to the derivation of phases, we also address the generation of goal-directed movements from the behavioral dynamics. The developed concept is implemented to an anthropomorphic robot. For evaluation of the concept an experiment is designed and conducted in which the robot performs a prototypical pick-and-place task jointly with human partners. The effectiveness of the designed behavior is successfully evidenced by objective measures of phase and event synchronization. Feedback gathered from the participants of our exploratory study suggests a subjectively pleasant sense of interaction created by the interactive behavior. The results highlight potential applications of the synchronization concept both in motor coordination among robotic agents and in enhanced social interaction between humanoid agents and humans. PMID:24752212

Behavior genetic modeling of human fertility

DEFF Research Database (Denmark)

Rodgers, J L; Kohler, H P; Kyvik, K O

2001-01-01

Behavior genetic designs and analysis can be used to address issues of central importance to demography. We use this methodology to document genetic influence on human fertility. Our data come from Danish twin pairs born from 1953 to 1959, measured on age at first attempt to get pregnant (First......Try) and number of children (NumCh). Behavior genetic models were fitted using structural equation modeling and DF analysis. A consistent medium-level additive genetic influence was found for NumCh, equal across genders; a stronger genetic influence was identified for FirstTry, greater for females than for males....... A bivariate analysis indicated significant shared genetic variance between NumCh and FirstTry....

Unvealing the Principal Modes of Human Upper Limb Movements through Functional Analysis

Directory of Open Access Journals (Sweden)

Giuseppe Averta

2017-08-01

Full Text Available The rich variety of human upper limb movements requires an extraordinary coordination of different joints according to specific spatio-temporal patterns. However, unvealing these motor schemes is a challenging task. Principal components have been often used for analogous purposes, but such an approach relies on hypothesis of temporal uncorrelation of upper limb poses in time. To overcome these limitations, in this work, we leverage on functional principal component analysis (fPCA. We carried out experiments with 7 subjects performing a set of most significant human actions, selected considering state-of-the-art grasp taxonomies and human kinematic workspace. fPCA results show that human upper limb trajectories can be reconstructed by a linear combination of few principal time-dependent functions, with a first component alone explaining around 60/70% of the observed behaviors. This allows to infer that in daily living activities humans reduce the complexity of movement by modulating their motions through a reduced set of few principal patterns. Finally, we discuss how this approach could be profitably applied in robotics and bioengineering, opening fascinating perspectives to advance the state of the art of artificial systems, as it was the case of hand synergies.

GRASP para secuenciar modelos mixtos en una línea con sobrecarga, tiempo inerte y regularidad en la producción

OpenAIRE

Bautista Valhondo, Joaquín; Alfaro Pozo, Rocío; Batalla García, Cristina

2015-01-01

Se presenta un algoritmo GRASP para resolver un problema de secuenciación de productos en una línea de montaje de modelos mixtos. El objetivo del problema es obtener una secuencia de fabricación de productos con máximo trabajo total completado y cumpliendo la propiedad de regularidad en la producción. El algoritmo GRASP implementado se compara con otros procedimientos de resolución, empleando para ello las instancias de un caso de estudio asociado a la planta de fabricación de motores de Niss...

Reconceptualizing Social Work Behaviors from a Human Rights Perspective

Science.gov (United States)

Steen, Julie A.

2018-01-01

Although the human rights philosophy has relevance for many segments of the social work curriculum, the latest version of accreditation standards only includes a few behaviors specific to human rights. This deficit can be remedied by incorporating innovations found in the social work literature, which provides a wealth of material for…

Folk-Psychological Interpretation of Human vs. Humanoid Robot Behavior: Exploring the Intentional Stance toward Robots.

Science.gov (United States)

Thellman, Sam; Silvervarg, Annika; Ziemke, Tom

2017-01-01

People rely on shared folk-psychological theories when judging behavior. These theories guide people's social interactions and therefore need to be taken into consideration in the design of robots and other autonomous systems expected to interact socially with people. It is, however, not yet clear to what degree the mechanisms that underlie people's judgments of robot behavior overlap or differ from the case of human or animal behavior. To explore this issue, participants ( N = 90) were exposed to images and verbal descriptions of eight different behaviors exhibited either by a person or a humanoid robot. Participants were asked to rate the intentionality, controllability and desirability of the behaviors, and to judge the plausibility of seven different types of explanations derived from a recently proposed psychological model of lay causal explanation of human behavior. Results indicate: substantially similar judgments of human and robot behavior, both in terms of (1a) ascriptions of intentionality/controllability/desirability and in terms of (1b) plausibility judgments of behavior explanations; (2a) high level of agreement in judgments of robot behavior - (2b) slightly lower but still largely similar to agreement over human behaviors; (3) systematic differences in judgments concerning the plausibility of goals and dispositions as explanations of human vs. humanoid behavior. Taken together, these results suggest that people's intentional stance toward the robot was in this case very similar to their stance toward the human.

The Humanism of Rational Emotive Behavior Therapy and Other Cognitive Behavior Therapies.

Science.gov (United States)

Ellis, Albert

1996-01-01

Describes aspects of rational emotive behavior therapy (REBT). REBT shows how people can both create and uncreate many of their emotional disturbances. It is a theory of personality which avoids devotion to any kind of magic and supernaturalism and emphasizes unconditional self-acceptance, antiabsolutism, uncertainty, and human fallibility. (RJM)

How Do Object Size and Rigidity Affect Reaching and Grasping in Infants with Down Syndrome?

Science.gov (United States)

de Campos, Ana Carolina; Francisco, Kelly Regina; Savelsbergh, Geert J. P.; Rocha, Nelci Adriana Cicuto Ferreira

2011-01-01

Reaching and grasping skills have been described to emerge from a dynamic interaction between intrinsic and extrinsic factors. The purpose of the present study was to investigate the interaction between such an intrinsic factor, Down syndrome, and extrinsic factors, such as different object properties. Seven infants with Down syndrome and seven…

A Human-Centered Smart Home System with Wearable-Sensor Behavior Analysis

Energy Technology Data Exchange (ETDEWEB)

Ji, Jianting; Liu, Ting; Shen, Chao; Wu, Hongyu; Liu, Wenyi; Su, Man; Chen, Siyun; Jia, Zhanpei

2016-11-17

Smart home has recently attracted much research interest owing to its potential in improving the quality of human life. How to obtain user's demand is the most important and challenging task for appliance optimal scheduling in smart home, since it is highly related to user's unpredictable behavior. In this paper, a human-centered smart home system is proposed to identify user behavior, predict their demand and schedule the household appliances. Firstly, the sensor data from user's wearable devices are monitored to profile user's full-day behavior. Then, the appliance-demand matrix is constructed to predict user's demand on home environment, which is extracted from the history of appliance load data and user behavior. Two simulations are designed to demonstrate user behavior identification, appliance-demand matrix construction and strategy of appliance optimal scheduling generation.

Viscoelastic behavior of discrete human collagen fibrils

DEFF Research Database (Denmark)

Svensson, René; Hassenkam, Tue; Hansen, Philip

2010-01-01

Whole tendon and fibril bundles display viscoelastic behavior, but to the best of our knowledge this property has not been directly measured in single human tendon fibrils. In the present work an atomic force microscopy (AFM) approach was used for tensile testing of two human patellar tendon...... saline, cyclic testing was performed in the pre-yield region at different strain rates, and the elastic response was determined by a stepwise stress relaxation test. The elastic stress-strain response corresponded to a second-order polynomial fit, while the viscous response showed a linear dependence...

Edwin Grant Dexter: an early researcher in human behavioral biometeorology

Science.gov (United States)

Stewart, Alan E.

2015-06-01

Edwin Grant Dexter (1868-1938) was one of the first researchers to study empirically the effects of specific weather conditions on human behavior. Dexter (1904) published his findings in a book, Weather influences. The author's purposes in this article were to (1) describe briefly Dexter's professional life and examine the historical contexts and motivations that led Dexter to conduct some of the first empirical behavioral biometeorological studies of the time, (2) describe the methods Dexter used to examine weather-behavior relationships and briefly characterize the results that he reported in Weather influences, and (3) provide a historical analysis of Dexter's work and assess its significance for human behavioral biometeorology. Dexter's Weather influences, while demonstrating an exemplary approach to weather, health, and behavior relationships, came at the end of a long era of such studies, as health, social, and meteorological sciences were turning to different paradigms to advance their fields. For these reasons, Dexter's approach and contributions may not have been fully recognized at the time and are, consequently, worthy of consideration by contemporary biometeorologists.

Human behavioral corollary on industrial workplace

International Nuclear Information System (INIS)

Fazil, I.; Kirmani, Z.U.; Hanif, M.; Saeed, A.; Khurshid, A.

2009-01-01

This paper highlights a number of initiatives taken for the introduction of behavior-based safety concepts and customized process control solutions to encourage and instill safe behavior in employees at Attock Refinery Limited (ARL), Morgah Rawalpindi, Pakistan. A Safety culture is entirely dependent on the attitude of employees towards safety. After all, those who actually perform the work are responsible for their safety as well as that of those around them, and also for any accident that occurs whilst they work. In 2005, ARL established a Health Safety Environment (HSE) Department reporting directly to the CEO and it now stands transformed into the HSEQ Department with Quality having been added to its portfolio, with the logic that it is the Quality of our systems and processes that also determines the possibility or otherwise of safe/unsafe behavior. The need was felt to measure, analyze and then control unsafe behavior at the workplace. In spite of providing safety systems and necessary hardware, incident data shows that the majority of misfortunes are triggered by employees' unsafe attitude, proclivity to take shortcuts and intuitive-based decisions, bypassing Standard Operating Procedures (SOPs). Human behavior is a very complex subject as it is linked not only to the workplace environment but has origins from home and upbringing as well. An attempt was, nevertheless, necessary to develop a tool of customized behavioral assessment tool in order to gauge the employees' behavior. On a scale of 1-100, marks were allocated to areas including safety attitude within the department(s), working conditions, supervisor's behavior towards worker safety, job loyalty, personal attitude towards job safety, seriousness towards safety, training and the employees' view about the HSEQ department. This study, based on one-on-one interviews with employees, yielded what we will term employees' potential towards unsafe behaviors, which would facilitate subsequent planning and

Human Behavioral Contributions to Climate Change: Psychological and Contextual Drivers

Science.gov (United States)

Swim, Janet K.; Clayton, Susan; Howard, George S.

2011-01-01

We are facing rapid changes in the global climate, and these changes are attributable to human behavior. Humans produce this global impact through our use of natural resources, multiplied by the vast increase in population seen in the past 50 to 100 years. Our goal in this article is to examine the underlying psychosocial causes of human impact,…

Closed-Loop Neuroprosthesis for Reach-to-Grasp Assistance: Combining Adaptive Multi-channel Neuromuscular Stimulation with a Multi-joint Arm Exoskeleton.

Science.gov (United States)

Grimm, Florian; Gharabaghi, Alireza

2016-01-01

Stroke patients with severe motor deficits cannot execute task-oriented rehabilitation exercises with their affected upper extremity. Advanced rehabilitation technology may support them in performing such reach-to-grasp movements. The challenge is, however, to provide assistance as needed, while maintaining the participants' commitment during the exercises. In this feasibility study, we introduced a closed-loop neuroprosthesis for reach-to-grasp assistance which combines adaptive multi-channel neuromuscular stimulation with a multi-joint arm exoskeleton. Eighteen severely affected chronic stroke patients were assisted by a gravity-compensating, seven-degree-of-freedom exoskeleton which was attached to the paretic arm for performing reach-to-grasp exercises resembling activities of daily living in a virtual environment. During the exercises, adaptive electrical stimulation was applied to seven different muscles of the upper extremity in a performance-dependent way to enhance the task-oriented movement trajectory. The stimulation intensity was individualized for each targeted muscle and remained subthreshold, i.e., induced no overt support. Closed-loop neuromuscular stimulation could be well integrated into the exoskeleton-based training, and increased the task-related range of motion (p = 0.0004) and movement velocity (p = 0.015), while preserving accuracy. The highest relative stimulation intensity was required to facilitate the grasping function. The facilitated range of motion correlated with the upper extremity Fugl-Meyer Assessment score of the patients (p = 0.028). Combining adaptive multi-channel neuromuscular stimulation with antigravity assistance amplifies the residual motor capabilities of severely affected stroke patients during rehabilitation exercises and may thus provide a customized training environment for patient-tailored support while preserving the participants' engagement.

Closed-Loop Neuroprosthesis for Reach-to-Grasp Assistance: Combining Adaptive Multi-channel Neuromuscular Stimulation with a Multi-joint Arm Exoskeleton

Science.gov (United States)

Grimm, Florian; Gharabaghi, Alireza

2016-01-01

Stroke patients with severe motor deficits cannot execute task-oriented rehabilitation exercises with their affected upper extremity. Advanced rehabilitation technology may support them in performing such reach-to-grasp movements. The challenge is, however, to provide assistance as needed, while maintaining the participants' commitment during the exercises. In this feasibility study, we introduced a closed-loop neuroprosthesis for reach-to-grasp assistance which combines adaptive multi-channel neuromuscular stimulation with a multi-joint arm exoskeleton. Eighteen severely affected chronic stroke patients were assisted by a gravity-compensating, seven-degree-of-freedom exoskeleton which was attached to the paretic arm for performing reach-to-grasp exercises resembling activities of daily living in a virtual environment. During the exercises, adaptive electrical stimulation was applied to seven different muscles of the upper extremity in a performance-dependent way to enhance the task-oriented movement trajectory. The stimulation intensity was individualized for each targeted muscle and remained subthreshold, i.e., induced no overt support. Closed-loop neuromuscular stimulation could be well integrated into the exoskeleton-based training, and increased the task-related range of motion (p = 0.0004) and movement velocity (p = 0.015), while preserving accuracy. The highest relative stimulation intensity was required to facilitate the grasping function. The facilitated range of motion correlated with the upper extremity Fugl-Meyer Assessment score of the patients (p = 0.028). Combining adaptive multi-channel neuromuscular stimulation with antigravity assistance amplifies the residual motor capabilities of severely affected stroke patients during rehabilitation exercises and may thus provide a customized training environment for patient-tailored support while preserving the participants' engagement. PMID:27445658

Effects of modified constraint-induced movement therapy on reach-to-grasp movements and functional performance after chronic stroke: a randomized controlled study.

Science.gov (United States)

Lin, K-C; Wu, C-Y; Wei, T-H; Lee, C-Y; Liu, J-S

2007-12-01

To evaluate changes in (1) motor control characteristics of the hemiparetic hand during the performance of a functional reach-to-grasp task and (2) functional performance of daily activities in patients with stroke treated with modified constraint-induced movement therapy. Two-group randomized controlled trial with pretreatment and posttreatment measures. Rehabilitation clinics. Thirty-two chronic stroke patients (21 men, 11 women; mean age=57.9 years, range=43-81 years) 13-26 months (mean 16.3 months) after onset of a first-ever cerebrovascular accident. Thirty-two patients were randomized to receive modified constraint-induced movement therapy (restraint of the unaffected limb combined with intensive training of the affected limb) or traditional rehabilitation for three weeks. Kinematic analysis was used to assess motor control characteristics as patients reached to grasp a beverage can. Functional outcomes were evaluated using the Motor Activity Log and Functional Independence Measure. There were moderate and significant effects of modified constraint-induced movement therapy on some aspects of motor control of reach-to-grasp and on functional ability. The modified constraint-induced movement therapy group preplanned reaching and grasping (P=0.018) more efficiently and depended more on the feedforward control of reaching (P=0.046) than did the traditional rehabilitation group. The modified constraint-induced movement therapy group also showed significantly improved functional performance on the Motor Activity Log (Pcontrol strategy during goal-directed reaching, a possible mechanism for the improved movement performance of stroke patients undergoing this therapy.

Genome-wide analysis identifies 12 loci influencing human reproductive behavior

NARCIS (Netherlands)

Barban, Nicola; Jansen, Rick; de Vlaming, Ronald; Vaez, Ahmad; Mandemakers, Jornt J; Tropf, Felix C; Shen, Xia; Wilson, James F; Chasman, Daniel I; Nolte, Ilja M; Tragante, Vinicius; van der Laan, Sander W; Perry, John R B; Kong, Augustine; Ahluwalia, Tarunveer S; Albrecht, Eva; Yerges-Armstrong, Laura; Atzmon, Gil; Auro, Kirsi; Ayers, Kristin; Bakshi, Andrew; Ben-Avraham, Danny; Berger, Klaus; Bergman, Aviv; Bertram, Lars; Bielak, Lawrence F; Bjornsdottir, Gyda; Bonder, Marc Jan; Broer, Linda; Bui, Minh; Barbieri, Caterina; Cavadino, Alana; Chavarro, Jorge E; Turman, Constance; Concas, Maria Pina; Cordell, Heather J; Davies, Gail; Eibich, Peter; Eriksson, Nicholas; Esko, Tõnu; Eriksson, Joel; Falahi, Fahimeh; Felix, Janine F; Fontana, Mark Alan; Franke, Lude; Gandin, Ilaria; Gaskins, Audrey J; Gieger, Christian; Gunderson, Erica P; Guo, Xiuqing; Hayward, Caroline; He, Chunyan; Hofer, Edith; Huang, Hongyan; Joshi, Peter K; Kanoni, Stavroula; Karlsson, Robert; Kiechl, Stefan; Kifley, Annette; Kluttig, Alexander; Kraft, Peter; Lagou, Vasiliki; Lecoeur, Cecile; Lahti, Jari; Li-Gao, Ruifang; Lind, Penelope A; Liu, Tian; Makalic, Enes; Mamasoula, Crysovalanto; Matteson, Lindsay; Mbarek, Hamdi; McArdle, Patrick F; McMahon, George; Meddens, S Fleur W; Mihailov, Evelin; Miller, Mike; Missmer, Stacey A; Monnereau, Claire; van der Most, Peter J; Myhre, Ronny; Nalls, Mike A; Nutile, Teresa; Kalafati, Ioanna Panagiota; Porcu, Eleonora; Prokopenko, Inga; Rajan, Kumar B; Rich-Edwards, Janet; Rietveld, Cornelius A; Robino, Antonietta; Rose, Lynda M; Rueedi, Rico; Ryan, Kathleen A; Saba, Yasaman; Schmidt, Daniel; Smith, Jennifer A; Stolk, Lisette; Streeten, Elizabeth; Tönjes, Anke; Thorleifsson, Gudmar; Ulivi, Sheila; Wedenoja, Juho; Wellmann, Juergen; Willeit, Peter; Yao, Jie; Yengo, Loic; Zhao, Jing Hua; Zhao, Wei; Zhernakova, Daria V; Amin, Najaf; Andrews, Howard; Balkau, Beverley; Barzilai, Nir; Bergmann, Sven; Biino, Ginevra; Bisgaard, Hans; Bønnelykke, Klaus; Boomsma, Dorret I; Buring, Julie E; Campbell, Harry; Cappellani, Stefania; Ciullo, Marina; Cox, Simon R; Cucca, Francesco; Toniolo, Daniela; Davey-Smith, George; Deary, Ian J; Dedoussis, George; Deloukas, Panos; van Duijn, Cornelia M; de Geus, Eco J C; Eriksson, Johan G; Evans, Denis A; Faul, Jessica D; Sala, Cinzia Felicita; Froguel, Philippe; Gasparini, Paolo; Girotto, Giorgia; Grabe, Hans-Jörgen; Greiser, Karin Halina; Groenen, Patrick J F; de Haan, Hugoline G; Haerting, Johannes; Harris, Tamara B; Heath, Andrew C; Heikkilä, Kauko; Hofman, Albert; Homuth, Georg; Holliday, Elizabeth G; Hopper, John; Hyppönen, Elina; Jacobsson, Bo; Jaddoe, Vincent W V; Johannesson, Magnus; Jugessur, Astanand; Kähönen, Mika; Kajantie, Eero; Kardia, Sharon L R; Keavney, Bernard; Kolcic, Ivana; Koponen, Päivikki; Kovacs, Peter; Kronenberg, Florian; Kutalik, Zoltan; La Bianca, Martina; Lachance, Genevieve; Iacono, William G; Lai, Sandra; Lehtimäki, Terho; Liewald, David C; Lindgren, Cecilia M; Liu, Yongmei; Luben, Robert; Lucht, Michael; Luoto, Riitta; Magnus, Per; Magnusson, Patrik K E; Martin, Nicholas G; McGue, Matt; McQuillan, Ruth; Medland, Sarah E; Meisinger, Christa; Mellström, Dan; Metspalu, Andres; Traglia, Michela; Milani, Lili; Mitchell, Paul; Montgomery, Grant W; Mook-Kanamori, Dennis; de Mutsert, Renée; Nohr, Ellen A; Ohlsson, Claes; Olsen, Jørn; Ong, Ken K; Paternoster, Lavinia; Pattie, Alison; Penninx, Brenda W J H; Perola, Markus; Peyser, Patricia A; Pirastu, Mario; Polasek, Ozren; Power, Chris; Kaprio, Jaakko; Raffel, Leslie J; Räikkönen, Katri; Raitakari, Olli; Ridker, Paul M; Ring, Susan M; Roll, Kathryn; Rudan, Igor; Ruggiero, Daniela; Rujescu, Dan; Salomaa, Veikko; Schlessinger, David; Schmidt, Helena; Schmidt, Reinhold; Schupf, Nicole; Smit, Johannes; Sorice, Rossella; Spector, Tim D; Starr, John M; Stöckl, Doris; Strauch, Konstantin; Stumvoll, Michael; Swertz, Morris A; Thorsteinsdottir, Unnur; Thurik, A Roy; Timpson, Nicholas J; Tung, Joyce Y; Uitterlinden, André G; Vaccargiu, Simona; Viikari, Jorma; Vitart, Veronique; Völzke, Henry; Vollenweider, Peter; Vuckovic, Dragana; Waage, Johannes; Wagner, Gert G; Wang, Jie Jin; Wareham, Nicholas J; Weir, David R; Willemsen, Gonneke; Willeit, Johann; Wright, Alan F; Zondervan, Krina T; Stefansson, Kari; Krueger, Robert F; Lee, James J; Benjamin, Daniel J; Cesarini, David; Koellinger, Philipp D; den Hoed, Marcel; Snieder, Harold; Mills, Melinda C

2016-01-01

The genetic architecture of human reproductive behavior age at first birth (AFB) and number of children ever born (NEB) has a strong relationship with fitness, human development, infertility and risk of neuropsychiatric disorders. However, very few genetic loci have been identified, and the

Genome-wide analysis identifies 12 loci influencing human reproductive behavior

NARCIS (Netherlands)

Barban, Nicola; Jansen, Rick; De Vlaming, Ronald; Vaez, Ahmad; Mandemakers, Jornt J.; Tropf, Felix C.; Shen, Xia; Wilson, James F.; Chasman, Daniel I.; Nolte, Ilja M.; Tragante, Vinicius; Van Der Laan, Sander W.; Perry, John R B; Kong, Augustine; Ahluwalia, Tarunveer S.; Albrecht, Eva; Yerges-Armstrong, Laura; Atzmon, Gil; Auro, Kirsi; Ayers, Kristin; Bakshi, Andrew; Ben-Avraham, Danny; Berger, Klaus; Bergman, Aviv; Bertram, Lars; Bielak, Lawrence F.; Bjornsdottir, Gyda; Bonder, Marc Jan; Broer, Linda; Bui, Minh; Barbieri, Caterina; Cavadino, Alana; Chavarro, Jorge E.; Turman, Constance; Concas, Maria Pina; Cordell, Heather J.; Davies, Gail; Eibich, Peter; Eriksson, Nicholas; Esko, Tõnu; Eriksson, Joel; Falahi, Fahimeh; Felix, Janine F.; Fontana, Mark Alan; Franke, Lude; Gandin, Ilaria; Gaskins, Audrey J.; Gieger, Christian; Gunderson, Erica P.; Guo, Xiuqing; Hayward, Caroline; He, Chunyan; Hofer, Edith; Huang, Hongyan; Joshi, Peter K.; Kanoni, Stavroula; Karlsson, Robert; Kiechl, Stefan; Kifley, Annette; Kluttig, Alexander; Kraft, Peter; Lagou, Vasiliki; Lecoeur, Cecile; Lahti, Jari; Li-Gao, Ruifang; Lind, Penelope A.; Liu, Tian; Makalic, Enes; Mamasoula, Crysovalanto; Matteson, Lindsay; Mbarek, Hamdi; McArdle, Patrick F.; McMahon, George; Meddens, S. Fleur W; Mihailov, Evelin; Miller, Mike; Missmer, Stacey A.; Monnereau, Claire; Van Der Most, Peter J.; Myhre, Ronny; Nalls, Mike A.; Nutile, Teresa; Kalafati, Ioanna Panagiota; Porcu, Eleonora; Prokopenko, Inga; Rajan, Kumar B.; Rich-Edwards, Janet; Rietveld, Cornelius A.; Robino, Antonietta; Rose, Lynda M.; Rueedi, Rico; Ryan, Kathleen A.; Saba, Yasaman; Schmidt, Daniel; Smith, Jennifer A.; Stolk, Lisette; Streeten, Elizabeth; Tönjes, Anke; Thorleifsson, Gudmar; Ulivi, Sheila; Wedenoja, Juho; Wellmann, Juergen; Willeit, Peter; Yao, Jie; Yengo, Loic; Zhao, Jing Hua; Zhao, Wei; Zhernakova, Daria V.; Amin, Najaf; Andrews, Howard; Balkau, Beverley; Barzilai, Nir; Bergmann, Sven; Biino, Ginevra; Bisgaard, Hans; Bønnelykke, Klaus; Boomsma, Dorret I.; Buring, Julie E.; Campbell, Harry; Cappellani, Stefania; Ciullo, Marina; Cox, Simon R.; Cucca, Francesco; Toniolo, Daniela; Davey-Smith, George; Deary, Ian J.; Dedoussis, George; Deloukas, Panos; Van Duijn, Cornelia M.; De Geus, Eco J C; Eriksson, Johan G.; Evans, Denis A.; Faul, Jessica D.; Sala, Cinzia Felicita; Froguel, Philippe; Gasparini, Paolo; Girotto, Giorgia; Grabe, Hans Jörgen; Greiser, Karin Halina; Groenen, Patrick J F; De Haan, Hugoline G.; Haerting, Johannes; Harris, Tamara B.; Heath, Andrew C.; Heikkilä, Kauko; Hofman, Albert; Homuth, Georg; Holliday, Elizabeth G.; Hopper, John; Hyppönen, Elina; Jacobsson, Bo; Jaddoe, Vincent W V; Johannesson, Magnus; Jugessur, Astanand; Kähönen, Mika; Kajantie, Eero; Kardia, Sharon L R; Keavney, Bernard; Kolcic, Ivana; Koponen, Päivikki; Kovacs, Peter; Kronenberg, Florian; Kutalik, Zoltan; La Bianca, Martina; Lachance, Genevieve; Iacono, William G.; Lai, Sandra; Lehtimäki, Terho; Liewald, David C.; Lindgren, Cecilia M.; Liu, Yongmei; Luben, Robert; Lucht, Michael; Luoto, Riitta; Magnus, Per; Magnusson, Patrikke; Martin, Nicholas G.; McGue, Matt; McQuillan, Ruth; Medland, Sarah E.; Meisinger, Christa; Mellström, Dan; Metspalu, Andres; Traglia, Michela; Milani, Lili; Mitchell, Paul; Montgomery, Grant W.; Mook-Kanamori, Dennis; De Mutsert, Renée; Nohr, Ellen A.; Ohlsson, Claes; Olsen, Jørn; Ong, Ken K.; Paternoster, Lavinia; Pattie, Alison; Penninx, Brenda W J H; Perola, Markus; Peyser, Patricia A.; Pirastu, Mario; Polasek, Ozren; Power, Chris; Kaprio, Jaakko; Raffel, Leslie J.; Räikkönen, Katri; Raitakari, Olli; Ridker, Paul M.; Ring, Susan M.; Roll, Kathryn; Rudan, Igor; Ruggiero, Daniela; Rujescu, Dan; Salomaa, Veikko; Schlessinger, David; Schmidt, Helena; Schmidt, Reinhold; Schupf, Nicole; Smit, Johannes; Sorice, Rossella; Spector, Tim D.; Starr, John M.; Stöckl, Doris; Strauch, Konstantin; Stumvoll, Michael; Swertz, Morris A.; Thorsteinsdottir, Unnur; Roy Thurik, A.; Timpson, Nicholas J.; Tung, Joyce Y.; Uitterlinden, André G.; Vaccargiu, Simona; Viikari, Jorma; Vitart, Veronique; Völzke, Henry; Vollenweider, Peter; Vuckovic, Dragana; Waage, Johannes; Wagner, Gert G.; Wang, Jie Jin; Wareham, Nicholas J.; Weir, David R.; Willemsen, Gonneke; Willeit, Johann; Wright, Alan F.; Zondervan, Krina T.; Stefansson, Kari; Krueger, Robert F.; Lee, James J.; Benjamin, Daniel J.; Cesarini, David; Koellinger, Philipp D.; Den Hoed, Marcel; Snieder, Harold; Mills, Melinda C.

2016-01-01

The genetic architecture of human reproductive behavior - age at first birth (AFB) and number of children ever born (NEB) - has a strong relationship with fitness, human development, infertility and risk of neuropsychiatric disorders. However, very few genetic loci have been identified, and the

The influence of visual feedback from the recent past on the programming of grip aperture is grasp-specific, shared between hands, and mediated by sensorimotor memory not task set.

Science.gov (United States)

Tang, Rixin; Whitwell, Robert L; Goodale, Melvyn A

2015-05-01

Goal-directed movements, such as reaching out to grasp an object, are necessarily constrained by the spatial properties of the target such as its size, shape, and position. For example, during a reach-to-grasp movement, the peak width of the aperture formed by the thumb and fingers in flight (peak grip aperture, PGA) is linearly related to the target's size. Suppressing vision throughout the movement (visual open loop) has a small though significant effect on this relationship. Visual open loop conditions also produce a large increase in the PGA compared to when vision is available throughout the movement (visual closed loop). Curiously, this differential effect of the availability of visual feedback is influenced by the presentation order: the difference in PGA between closed- and open-loop trials is smaller when these trials are intermixed (an effect we have called 'homogenization'). Thus, grasping movements are affected not only by the availability of visual feedback (closed loop or open loop) but also by what happened on the previous trial. It is not clear, however, whether this carry-over effect is mediated through motor (or sensorimotor) memory or through the interference of different task sets for closed-loop and open-loop feedback that determine when the movements are fully specified. We reasoned that sensorimotor memory, but not a task set for closed and open loop feedback, would be specific to the type of response. We tested this prediction in a condition in which pointing to targets was alternated with grasping those same targets. Critically, in this condition, when pointing was performed in open loop, grasping was always performed in closed loop (and vice versa). Despite the fact that closed- and open-loop trials were alternating in this condition, we found no evidence for homogenization of the PGA. Homogenization did occur, however, in a follow-up experiment in which grasping movements and visual feedback were alternated between the left and the right

Hybrid Feature Selection Approach Based on GRASP for Cancer Microarray Data

Directory of Open Access Journals (Sweden)

Arpita Nagpal

2017-01-01

Full Text Available Microarray data usually contain a large number of genes, but a small number of samples. Feature subset selection for microarray data aims at reducing the number of genes so that useful information can be extracted from the samples. Reducing the dimension of data sets further helps in improving the computational efficiency of the learning model. In this paper, we propose a modified algorithm based on the tabu search as local search procedures to a Greedy Randomized Adaptive Search Procedure (GRASP for high dimensional microarray data sets. The proposed Tabu based Greedy Randomized Adaptive Search Procedure algorithm is named as TGRASP. In TGRASP, a new parameter has been introduced named as Tabu Tenure and the existing parameters, NumIter and size have been modified. We observed that different parameter settings affect the quality of the optimum. The second proposed algorithm known as FFGRASP (Firefly Greedy Randomized Adaptive Search Procedure uses a firefly optimization algorithm in the local search optimzation phase of the greedy randomized adaptive search procedure (GRASP. Firefly algorithm is one of the powerful algorithms for optimization of multimodal applications. Experimental results show that the proposed TGRASP and FFGRASP algorithms are much better than existing algorithm with respect to three performance parameters viz. accuracy, run time, number of a selected subset of features. We have also compared both the approaches with a unified metric (Extended Adjusted Ratio of Ratios which has shown that TGRASP approach outperforms existing approach for six out of nine cancer microarray datasets and FFGRASP performs better on seven out of nine datasets.

Classification of Anticipatory Signals for Grasp and Release from Surface Electromyography

Science.gov (United States)

Siu, Ho Chit; Shah, Julie A.; Stirling, Leia A.

2016-01-01

Surface electromyography (sEMG) is a technique for recording natural muscle activation signals, which can serve as control inputs for exoskeletons and prosthetic devices. Previous experiments have incorporated these signals using both classical and pattern-recognition control methods in order to actuate such devices. We used the results of an experiment incorporating grasp and release actions with object contact to develop an intent-recognition system based on Gaussian mixture models (GMM) and continuous-emission hidden Markov models (HMM) of sEMG data. We tested this system with data collected from 16 individuals using a forearm band with distributed sEMG sensors. The data contain trials with shifted band alignments to assess robustness to sensor placement. This study evaluated and found that pattern-recognition-based methods could classify transient anticipatory sEMG signals in the presence of shifted sensor placement and object contact. With the best-performing classifier, the effect of label lengths in the training data was also examined. A mean classification accuracy of 75.96% was achieved through a unigram HMM method with five mixture components. Classification accuracy on different sub-movements was found to be limited by the length of the shortest sub-movement, which means that shorter sub-movements within dynamic sequences require larger training sets to be classified correctly. This classification of user intent is a potential control mechanism for a dynamic grasping task involving user contact with external objects and noise. Further work is required to test its performance as part of an exoskeleton controller, which involves contact with actuated external surfaces. PMID:27792155

Control of aperture closure initiation during reach-to-grasp movements under manipulations of visual feedback and trunk involvement in Parkinson's disease.

Science.gov (United States)

Rand, Miya Kato; Lemay, Martin; Squire, Linda M; Shimansky, Yury P; Stelmach, George E

2010-03-01

The present project was aimed at investigating how two distinct and important difficulties (coordination difficulty and pronounced dependency on visual feedback) in Parkinson's disease (PD) affect each other for the coordination between hand transport toward an object and the initiation of finger closure during reach-to-grasp movement. Subjects with PD and age-matched healthy subjects made reach-to-grasp movements to a dowel under conditions in which the target object and/or the hand were either visible or not visible. The involvement of the trunk in task performance was manipulated by positioning the target object within or beyond the participant's outstretched arm to evaluate the effects of increasing the complexity of intersegmental coordination under different conditions related to the availability of visual feedback in subjects with PD. General kinematic characteristics of the reach-to-grasp movements of the subjects with PD were altered substantially by the removal of target object visibility. Compared with the controls, the subjects with PD considerably lengthened transport time, especially during the aperture closure period, and decreased peak velocity of wrist and trunk movement without target object visibility. Most of these differences were accentuated when the trunk was involved. In contrast, these kinematic parameters did not change depending on the visibility of the hand for both groups. The transport-aperture coordination was assessed in terms of the control law according to which the initiation of aperture closure during the reach occurred when the hand distance-to-target crossed a hand-target distance threshold for grasp initiation that is a function of peak aperture, hand velocity and acceleration, trunk velocity and acceleration, and trunk-target distance at the time of aperture closure initiation. When the hand or the target object was not visible, both groups increased the hand-target distance threshold for grasp initiation compared to its

Procedures of grasp92 code to calculate accurate Dirac-Coulomb energy for the ground sate of helium atom

International Nuclear Information System (INIS)

Utsumi, Takayuki; Sasaki, Akira

2000-02-01

The procedures of grasp92 code to calculate accurate (relative error nearly equal 10 -7 ) eigenvalue for the ground sate of helium atom of the Dirac-Coulomb Hamiltonian are presented. The grasp92 code, based on the multi-configuration Dirac-Fock method, is widely used to calculate the atomic properties. However, the main part of the accurate calculations, extended optimal level calculation (EOL), suffer frequently numerical instabilities due to the lack of the confident procedures. The purpose of this report is to illustrate the guideline for stable EOL calculations by calculating the most fundamental atomic system, i.e. the ground sate of helium atom ls 2 1 S 2 . This procedure could be extended for the high-precise eigenfunction calculation of more complex atomic systems, for example highly ionized atoms and high-Z atoms. (author)

Behaviors of radon in indoor environment

International Nuclear Information System (INIS)

Mochizuki, Sadamu; Shimo, Michikuni.

1987-01-01

The source of radon ( 222 Rn) in the atmosphere is radioactive nuclide, uranium ( 238 U), which exists fairly common throughout the earth's crust. Radium ( 226 Ra) descended from uranium produce radon ( 222 Rn) of noble gas by decay. After formation in the ground, radon diffuses into the atmosphere. Without exception radon decay products are heavy metals which soon become attached to natural aerosols. Therefore, radon and its daughters (decay products) appear also in indoor environment, and generally, their concentration levels become higher than that of outdoor air due to build-up effects in the closed indoor environments. With the progress of the study on the influence of radon and its daughers on human health, it has become clear that they act effectively as an exciting cause of lung cancer. So, the study on the risk evaluation of them in room air has become to be very important. Concequently, the behaviors of radon and its daughters in indoor environment, first of all, should be studied in detail for the accurate estimation of the risk caused by them. In this special edition, fundamental characteristics of radon and its daughters, some measuring methods, theoretical considerations and some observational evidences obtained from various circumstances of indoor environment are described inorder to grasp and understand the behaviors of radon and its daughters in the indoor environment. (author)

Ten-dimensional anthropomorphic arm control in a human brain-machine interface: difficulties, solutions, and limitations

Science.gov (United States)

Wodlinger, B.; Downey, J. E.; Tyler-Kabara, E. C.; Schwartz, A. B.; Boninger, M. L.; Collinger, J. L.

2015-02-01

Objective. In a previous study we demonstrated continuous translation, orientation and one-dimensional grasping control of a prosthetic limb (seven degrees of freedom) by a human subject with tetraplegia using a brain-machine interface (BMI). The current study, in the same subject, immediately followed the previous work and expanded the scope of the control signal by also extracting hand-shape commands from the two 96-channel intracortical electrode arrays implanted in the subject’s left motor cortex. Approach. Four new control signals, dictating prosthetic hand shape, replaced the one-dimensional grasping in the previous study, allowing the subject to control the prosthetic limb with ten degrees of freedom (three-dimensional (3D) translation, 3D orientation, four-dimensional hand shaping) simultaneously. Main results. Robust neural tuning to hand shaping was found, leading to ten-dimensional (10D) performance well above chance levels in all tests. Neural unit preferred directions were broadly distributed through the 10D space, with the majority of units significantly tuned to all ten dimensions, instead of being restricted to isolated domains (e.g. translation, orientation or hand shape). The addition of hand shaping emphasized object-interaction behavior. A fundamental component of BMIs is the calibration used to associate neural activity to intended movement. We found that the presence of an object during calibration enhanced successful shaping of the prosthetic hand as it closed around the object during grasping. Significance. Our results show that individual motor cortical neurons encode many parameters of movement, that object interaction is an important factor when extracting these signals, and that high-dimensional operation of prosthetic devices can be achieved with simple decoding algorithms. ClinicalTrials.gov Identifier: NCT01364480.

Playing With Nonverbal Communication: Using Grasp and Facial Direction to Create Adaptive Interaction in a Game

DEFF Research Database (Denmark)

Mortensen, Ditte Hvas; Bærentsen, Klaus B.

2014-01-01

. The results indicate that participants grasp a remote control according to the intended use and turn their face towards the object with which they intend to interact. The amount of time during which the participants turned their faces towards the object was influenced by the available visual information...

Getting a grip: different actions and visual guidance of the thumb and finger in precision grasping.

Science.gov (United States)

Melmoth, Dean R; Grant, Simon

2012-10-01

We manipulated the visual information available for grasping to examine what is visually guided when subjects get a precision grip on a common class of object (upright cylinders). In Experiment 1, objects (2 sizes) were placed at different eccentricities to vary the relative proximity to the participant's (n = 6) body of their thumb and finger contact positions in the final grip orientations, with vision available throughout or only for movement programming. Thumb trajectories were straighter and less variable than finger paths, and the thumb normally made initial contact with the objects at a relatively invariant landing site, but consistent thumb first-contacts were disrupted without visual guidance. Finger deviations were more affected by the object's properties and increased when vision was unavailable after movement onset. In Experiment 2, participants (n = 12) grasped 'glow-in-the-dark' objects wearing different luminous gloves in which the whole hand was visible or the thumb or the index finger was selectively occluded. Grip closure times were prolonged and thumb first-contacts disrupted when subjects could not see their thumb, whereas occluding the finger resulted in wider grips at contact because this digit remained distant from the object. Results were together consistent with visual feedback guiding the thumb in the period just prior to contacting the object, with the finger more involved in opening the grip and avoiding collision with the opposite contact surface. As people can overtly fixate only one object contact point at a time, we suggest that selecting one digit for online guidance represents an optimal strategy for initial grip placement. Other grasping tasks, in which the finger appears to be used for this purpose, are discussed.

The multifactorial nature of human homosexual behavior: A brief review

Directory of Open Access Journals (Sweden)

Barona, Daniel

2014-12-01

Full Text Available Homosexual behavior has been analyzed as an evolutionary paradox in the biological context. In this review, we will try to compile the main genetic, epigenetic, hormonal, neurological and immune explanations of homosexuality, as well as the ultimate evolutionary causes of this complex behavior in the human being, incorporating information from studies in other animal species. All these factors determine the homosexual behavior, acting most of the times, simultaneously. Hereditary and non hereditary factors determine homosexual behavior, explaining its persistence despite its apparent disadvantages in relation to reproductive fitness.

The principle of superposition in human prehension.

Science.gov (United States)

Zatsiorsky, Vladimir M; Latash, Mark L; Gao, Fan; Shim, Jae Kun

2004-03-01

The experimental evidence supports the validity of the principle of superposition for multi-finger prehension in humans. Forces and moments of individual digits are defined by two independent commands: "Grasp the object stronger/weaker to prevent slipping" and "Maintain the rotational equilibrium of the object". The effects of the two commands are summed up.

Deformation behavior of human enamel and dentin-enamel junction under compression.

Science.gov (United States)

Zaytsev, Dmitry; Panfilov, Peter

2014-01-01

Deformation behavior under uniaxial compression of human enamel and dentin-enamel junction (DEJ) is considered in comparison with human dentin. This deformation scheme allows estimating the total response from all levels of the hierarchical composite material in contrast with the indentation, which are limited by the mesoscopic and microscopic scales. It was shown for the first time that dental enamel is the strength (up to 1850MPa) hard tissue, which is able to consider some elastic (up to 8%) and plastic (up to 5%) deformation under compression. In so doing, it is almost undeformable substance under the creep condition. Mechanical properties of human enamel depend on the geometry of sample. Human dentin exhibits the similar deformation behavior under compression, but the values of its elasticity (up to 40%) and plasticity (up to 18%) are much more, while its strength (up to 800MPa) is less in two times. Despite the difference in mechanical properties, human enamel is able to suppress the cracking alike dentin. Deformation behavior under the compression of the samples contained DEJ as the same to dentin. This feature allows a tooth to be elastic-plastic (as dentin) and wear resistible (as enamel), simultaneously. © 2013 Elsevier B.V. All rights reserved.

Evaluation technology of human behavior cognition; Ningen kodo ninchi hyoka gijutsu

Energy Technology Data Exchange (ETDEWEB)

NONE

1997-03-01

For human engineering and improvement of the living environment, the evaluation technology of human behavior cognition was studied. For the future reformation and creation of economic structure, the following are required: establishment of safe and affluent communities, further improvement of the safety and harmonious balance of people, lives and society, and R & D close to people and social needs. Introduction of Product Liability law and a fail-safe concept are examples of such efforts. However, since many accidents are found in the human society, the relation between human errors and human characteristics should be studied in detail. The cognitive science of human behavior is an objective evaluation technology from the viewpoint of human being, object, environment and society. Based on these social and technological background, the feasibility of the evaluation technology is studied, and the future trend and skeleton of this project are clarified. The domestic and foreign trends of technologies concerned are thus surveyed, and the important points, features, skeleton and ripple effect of the technology are summarized. 500 refs., 70 figs., 5 tabs.

An on-line BCI for control of hand grasp sequence and holding using adaptive probabilistic neural network.

Science.gov (United States)

Hazrati, Mehrnaz Kh; Erfanian, Abbas

2008-01-01

This paper presents a new EEG-based Brain-Computer Interface (BCI) for on-line controlling the sequence of hand grasping and holding in a virtual reality environment. The goal of this research is to develop an interaction technique that will allow the BCI to be effective in real-world scenarios for hand grasp control. Moreover, for consistency of man-machine interface, it is desirable the intended movement to be what the subject imagines. For this purpose, we developed an on-line BCI which was based on the classification of EEG associated with imagination of the movement of hand grasping and resting state. A classifier based on probabilistic neural network (PNN) was introduced for classifying the EEG. The PNN is a feedforward neural network that realizes the Bayes decision discriminant function by estimating probability density function using mixtures of Gaussian kernels. Two types of classification schemes were considered here for on-line hand control: adaptive and static. In contrast to static classification, the adaptive classifier was continuously updated on-line during recording. The experimental evaluation on six subjects on different days demonstrated that by using the static scheme, a classification accuracy as high as the rate obtained by the adaptive scheme can be achieved. At the best case, an average classification accuracy of 93.0% and 85.8% was obtained using adaptive and static scheme, respectively. The results obtained from more than 1500 trials on six subjects showed that interactive virtual reality environment can be used as an effective tool for subject training in BCI.

Data Mining and Visualization of Large Human Behavior Data Sets

DEFF Research Database (Denmark)

Cuttone, Andrea

and credit card transactions – have provided us new sources for studying our behavior. In particular smartphones have emerged as new tools for collecting data about human activity, thanks to their sensing capabilities and their ubiquity. This thesis investigates the question of what we can learn about human...... behavior from this rich and pervasive mobile sensing data. In the first part, we describe a large-scale data collection deployment collecting high-resolution data for over 800 students at the Technical University of Denmark using smartphones, including location, social proximity, calls and SMS. We provide...... an overview of the technical infrastructure, the experimental design, and the privacy measures. The second part investigates the usage of this mobile sensing data for understanding personal behavior. We describe two large-scale user studies on the deployment of self-tracking apps, in order to understand...

Behavioral Correlations Associated with Fear of Humans Differ between Rural and Urban Burrowing Owls

Directory of Open Access Journals (Sweden)

Martina Carrete

2017-05-01

Full Text Available Behavioral studies are fundamental to understanding how animal populations face global change. Although much research has centered upon the idea that individuals can adaptively modify their behaviors to cope with environmental changes, recent evidence supports the existence of individual differences in suites of correlated behaviors. However, little is known about how selection can change these behavioral structures in populations subject to different environmental constraints. The colonization of urban environments by birds has been related to their inter-individual variability in their fear of humans, measured as their flight initiation distance to an approaching human, such that urban life would select for fearless individuals. This behavior has been demonstrated to be heritable and highly consistent throughout the adult lifespan of burrowing owls (Athene cunicularia. Here, we experimentally assessed, in field conditions, whether urban life involves changes in other behaviors such as exploration and antipredatory response through their correlation with fear of humans. Breeding urban birds were more fearless toward humans and were quicker to explore a new food resource and defend their nests from predators than their rural counterparts. However, while fear of humans positively correlated with exploration and antipredatory response in the rural population, it only correlated with exploration in the urban one. Predator release in urban environments could relax—and even counterselect—antipredator behaviors, thus dismantling the behavioral correlation existent in natural populations. Altogether, our results suggest that rural and urban animals may differ in some behavioral aspects, may be as a consequence of the selection processes acting during the colonization of urban areas as well as the different ecological environments encountered by individuals.

Age-related loss of early grasp affordance when viewing a safety handle

OpenAIRE

McDannald, Doug

2018-01-01

Age-related loss of early grasp affordance when viewing a safety handle Author: D.W. McDannald1, , M. Mansour2, G. Rydalch3, D.A.E. Bolton1 Mere observation of objects in our surroundings can potentiate movement, a fact reflected by visually-primed activation of motor cortical networks. This mechanism holds potential value for reactive balance control where recovery actions of the arms or legs must be targeted to a new support base to avoid a fall. The present study was conducted to test if t...

A continuous GRASP to determine the relationship between drugs and adverse reactions

International Nuclear Information System (INIS)

Hirsch, Michael J.; Meneses, Claudio N.; Pardalos, Panos M.; Ragle, Michelle; Resende, Mauricio G. C.

2007-01-01

Adverse drag reactions (ADRs) are estimated to be one of the leading causes of death. Many national and international agencies have set up databases of ADR reports for the express purpose of determining the relationship between drugs and adverse reactions that they cause. We formulate the drug-reaction relationship problem as a continuous optimization problem and utilize C-GRASP, a new continuous global optimization heuristic, to approximately determine the relationship between drugs and adverse reactions. Our approach is compared against others in the literature and is shown to find better solutions

Grasp Assist Device with Shared Tendon Actuator Assembly

Science.gov (United States)

Ihrke, Chris A. (Inventor); Bergelin, Bryan J. (Inventor); Bridgwater, Lyndon (Inventor)

2015-01-01

A grasp assist device includes a glove with first and second tendon-driven fingers, a tendon, and a sleeve with a shared tendon actuator assembly. Tendon ends are connected to the respective first and second fingers. The actuator assembly includes a drive assembly having a drive axis and a tendon hook. The tendon hook, which defines an arcuate surface slot, is linearly translatable along the drive axis via the drive assembly, e.g., a servo motor thereof. The flexible tendon is routed through the surface slot such that the surface slot divides the flexible tendon into two portions each terminating in a respective one of the first and second ends. The drive assembly may include a ball screw and nut. An end cap of the actuator assembly may define two channels through which the respective tendon portions pass. The servo motor may be positioned off-axis with respect to the drive axis.

Accommodating complexity and human behaviors in decision analysis.

Energy Technology Data Exchange (ETDEWEB)

Backus, George A.; Siirola, John Daniel; Schoenwald, David Alan; Strip, David R.; Hirsch, Gary B.; Bastian, Mark S.; Braithwaite, Karl R.; Homer, Jack [Homer Consulting

2007-11-01

This is the final report for a LDRD effort to address human behavior in decision support systems. One sister LDRD effort reports the extension of this work to include actual human choices and additional simulation analyses. Another provides the background for this effort and the programmatic directions for future work. This specific effort considered the feasibility of five aspects of model development required for analysis viability. To avoid the use of classified information, healthcare decisions and the system embedding them became the illustrative example for assessment.

Fingertip force planning during grasp is disrupted by impaired sensorimotor integration in children with hemiplegic cerebral palsy

NARCIS (Netherlands)

Gordon, A.M.; Charles, J.; Steenbergen, B.

2006-01-01

In the present study we examine the ability of children with hemiplegic cerebral palsy (CP) to use anticipatory control of fingertip forces during grasping, and whether anticipatory control is facilitated by lifts with the contralateral hand. Eight children with CP (age 4-13) were asked to perform

Selective interference of grasp and space representations with number magnitude and serial order processing.

Science.gov (United States)

van Dijck, Jean-Philippe; Fias, Wim; Andres, Michael

2015-10-01

It has been proposed that the metrics of space, time and other magnitudes relevant for action are coupled through a generalized magnitude system that also contribute to number representation. Several studies capitalized on stimulus-response compatibility effects to show that numbers map onto left-right representations and grasp representations as a function of their magnitude. However, the tasks typically used do not allow disentangling magnitude from serial order processing. Here, we devised a working memory (WM) task where participants had to remember random sequences of numbers and perform a precision/whole-hand grip (Experiment 1) or a uni-manual left/right button press (Experiment 2) in response to numbers presented during the retention interval. This task does allow differentiating the interference of number magnitude and serial order with each set of responses. Experiment 1 showed that precision grips were initiated faster than whole-hand grips in response to small numbers, irrespective of their serial position in WM. In contrast, Experiment 2 revealed an advantage of right over left button presses as serial position increased, without any influence of number magnitude. These findings demonstrate that grasping and left-right movements overlap with distinct dimensions of number processing. These findings are discussed in the light of different theories explaining the interactions between numbers, space and action.

Oxytocin receptor gene polymorphisms are associated with human directed social behavior in dogs (Canis familiaris.

Directory of Open Access Journals (Sweden)

Anna Kis

Full Text Available The oxytocin system has a crucial role in human sociality; several results prove that polymorphisms of the oxytocin receptor gene are related to complex social behaviors in humans. Dogs' parallel evolution with humans and their adaptation to the human environment has made them a useful species to model human social interactions. Previous research indicates that dogs are eligible models for behavioral genetic research, as well. Based on these previous findings, our research investigated associations between human directed social behaviors and two newly described (-212AG, 19131AG and one known (rs8679684 single nucleotide polymorphisms (SNPs in the regulatory regions (5' and 3' UTR of the oxytocin receptor gene in German Shepherd (N = 104 and Border Collie (N = 103 dogs. Dogs' behavior traits have been estimated in a newly developed test series consisting of five episodes: Greeting by a stranger, Separation from the owner, Problem solving, Threatening approach, Hiding of the owner. Buccal samples were collected and DNA was isolated using standard protocols. SNPs in the 3' and 5' UTR regions were analyzed by polymerase chain reaction based techniques followed by subsequent electrophoresis analysis. The gene-behavior association analysis suggests that oxytocin receptor gene polymorphisms have an impact in both breeds on (i proximity seeking towards an unfamiliar person, as well as their owner, and on (ii how friendly dogs behave towards strangers, although the mediating molecular regulatory mechanisms are yet unknown. Based on these results, we conclude that similarly to humans, the social behavior of dogs towards humans is influenced by the oxytocin system.

Oxytocin receptor gene polymorphisms are associated with human directed social behavior in dogs (Canis familiaris).

Science.gov (United States)

Kis, Anna; Bence, Melinda; Lakatos, Gabriella; Pergel, Enikő; Turcsán, Borbála; Pluijmakers, Jolanda; Vas, Judit; Elek, Zsuzsanna; Brúder, Ildikó; Földi, Levente; Sasvári-Székely, Mária; Miklósi, Adám; Rónai, Zsolt; Kubinyi, Enikő

2014-01-01

The oxytocin system has a crucial role in human sociality; several results prove that polymorphisms of the oxytocin receptor gene are related to complex social behaviors in humans. Dogs' parallel evolution with humans and their adaptation to the human environment has made them a useful species to model human social interactions. Previous research indicates that dogs are eligible models for behavioral genetic research, as well. Based on these previous findings, our research investigated associations between human directed social behaviors and two newly described (-212AG, 19131AG) and one known (rs8679684) single nucleotide polymorphisms (SNPs) in the regulatory regions (5' and 3' UTR) of the oxytocin receptor gene in German Shepherd (N = 104) and Border Collie (N = 103) dogs. Dogs' behavior traits have been estimated in a newly developed test series consisting of five episodes: Greeting by a stranger, Separation from the owner, Problem solving, Threatening approach, Hiding of the owner. Buccal samples were collected and DNA was isolated using standard protocols. SNPs in the 3' and 5' UTR regions were analyzed by polymerase chain reaction based techniques followed by subsequent electrophoresis analysis. The gene-behavior association analysis suggests that oxytocin receptor gene polymorphisms have an impact in both breeds on (i) proximity seeking towards an unfamiliar person, as well as their owner, and on (ii) how friendly dogs behave towards strangers, although the mediating molecular regulatory mechanisms are yet unknown. Based on these results, we conclude that similarly to humans, the social behavior of dogs towards humans is influenced by the oxytocin system.

The GRASP 3: Graphical Reliability Analysis Simulation Program. Version 3: A users' manual and modelling guide

Science.gov (United States)

Phillips, D. T.; Manseur, B.; Foster, J. W.

1982-01-01

Alternate definitions of system failure create complex analysis for which analytic solutions are available only for simple, special cases. The GRASP methodology is a computer simulation approach for solving all classes of problems in which both failure and repair events are modeled according to the probability laws of the individual components of the system.

Methodological and reporting quality in laboratory studies of human eating behavior

NARCIS (Netherlands)

Robinson, E.; Bevelander, K.E.; Field, M.; Jones, A.

2018-01-01

The methodological quality and reporting practices of laboratory studies of human eating behavior determine the validity and replicability of nutrition science. The aim of this research was to examine basic methodology and reporting practices in recent representative laboratory studies of human

The Human Factor: Behavioral and Neural Correlates of Humanized Perception in Moral Decision Making

OpenAIRE

Majdandžić, Jasminka; Bauer, Herbert; Windischberger, Christian; Moser, Ewald; Engl, Elisabeth; Lamm, Claus

2012-01-01

The extent to which people regard others as full-blown individuals with mental states ("humanization") seems crucial for their prosocial motivation towards them. Previous research has shown that decisions about moral dilemmas in which one person can be sacrificed to save multiple others do not consistently follow utilitarian principles. We hypothesized that this behavior can be explained by the potential victim's perceived humanness and an ensuing increase in vicarious emotions and emotional ...

Postural Hand Synergies during Environmental Constraint Exploitation

Directory of Open Access Journals (Sweden)

Cosimo Della Santina

2017-08-01

Full Text Available Humans are able to intuitively exploit the shape of an object and environmental constraints to achieve stable grasps and perform dexterous manipulations. In doing that, a vast range of kinematic strategies can be observed. However, in this work we formulate the hypothesis that such ability can be described in terms of a synergistic behavior in the generation of hand postures, i.e., using a reduced set of commonly used kinematic patterns. This is in analogy with previous studies showing the presence of such behavior in different tasks, such as grasping. We investigated this hypothesis in experiments performed by six subjects, who were asked to grasp objects from a flat surface. We quantitatively characterized hand posture behavior from a kinematic perspective, i.e., the hand joint angles, in both pre-shaping and during the interaction with the environment. To determine the role of tactile feedback, we repeated the same experiments but with subjects wearing a rigid shell on the fingertips to reduce cutaneous afferent inputs. Results show the persistence of at least two postural synergies in all the considered experimental conditions and phases. Tactile impairment does not alter significantly the first two synergies, and contact with the environment generates a change only for higher order Principal Components. A good match also arises between the first synergy found in our analysis and the first synergy of grasping as quantified by previous work. The present study is motivated by the interest of learning from the human example, extracting lessons that can be applied in robot design and control. Thus, we conclude with a discussion on implications for robotics of our findings.

Long-term bedrock behavior research for soft rock

International Nuclear Information System (INIS)

Inoue, Hiroyuki; Noda, Kenji

2002-02-01

When a formation disposal system is thought about, it is important to evaluate long-term dynamics behavior of boundary condition and near field bedrock of an artificial barrier adequately. In this study, three matters were executed for improvement of a dependability of the evaluation as follows. (1) Creep test was executed as purpose by dependability improvement of evaluation technique of creep problem by Okubo model. Okubo model constant was calculated than the unconfined compression test which let strain rate change with true rock, and the creep test which the constant was used, and estimated breaking time was done. As a result, the estimation of breaking time by Okubo model almost suffered according to the estimation although a variation of test-piece influenced it. (2) A tunnel model apparatus was produced in the purpose which grasped near field bedrock behavior, and it was tested. Simulation rock test body of 1 m * 1 m * 0.5 m was used for a test, and 15 cm tunnel excavation was carried out in an initial stress bottom. Quantities of inner space displacement were measured in a test, and a hardness-test was done after dismantlement, and looseness area was grasped quantitatively. As a result, the looseness area was able to be estimated with about 17.5 cm than tunnel center position. (3) A test approach in deep underground laboratory was examined, and examination/the in situ test which took advantage of rock core analysis/borehole as purpose and done examination item by grip of long-term bedrock behavior (a bord is taken advantage of, and bord itself is used) was shown. In addition, layout of the deep underground laboratory which carried out various tests about long-term behavior in 3 depth was shown. (author)

Decoding 3D reach and grasp from hybrid signals in motor and premotor cortices: spikes, multiunit activity, and local field potentials.

Science.gov (United States)

Bansal, Arjun K; Truccolo, Wilson; Vargas-Irwin, Carlos E; Donoghue, John P

2012-03-01

Neural activity in motor cortex during reach and grasp movements shows modulations in a broad range of signals from single-neuron spiking activity (SA) to various frequency bands in broadband local field potentials (LFPs). In particular, spatiotemporal patterns in multiband LFPs are thought to reflect dendritic integration of local and interareal synaptic inputs, attentional and preparatory processes, and multiunit activity (MUA) related to movement representation in the local motor area. Nevertheless, the relationship between multiband LFPs and SA, and their relationship to movement parameters and their relative value as brain-computer interface (BCI) control signals, remain poorly understood. Also, although this broad range of signals may provide complementary information channels in primary (MI) and ventral premotor (PMv) areas, areal differences in information have not been systematically examined. Here, for the first time, the amount of information in SA and multiband LFPs was compared for MI and PMv by recording from dual 96-multielectrode arrays while monkeys made naturalistic reach and grasp actions. Information was assessed as decoding accuracy for 3D arm end point and grip aperture kinematics based on SA or LFPs in MI and PMv, or combinations of signal types across areas. In contrast with previous studies with ≤16 simultaneous electrodes, here ensembles of >16 units (on average) carried more information than multiband, multichannel LFPs. Furthermore, reach and grasp information added by various LFP frequency bands was not independent from that in SA ensembles but rather typically less than and primarily contained within the latter. Notably, MI and PMv did not show a particular bias toward reach or grasp for this task or for a broad range of signal types. For BCIs, our results indicate that neuronal ensemble spiking is the preferred signal for decoding, while LFPs and combined signals from PMv and MI can add robustness to BCI control.

Earlier and greater hand pre-shaping in the elderly: a study based on kinematic analysis of reaching movements to grasp objects.

Science.gov (United States)

Tamaru, Yoshiki; Naito, Yasuo; Nishikawa, Takashi

2017-11-01

Elderly people are less able to manipulate objects skilfully than young adults. Although previous studies have examined age-related deterioration of hand movements with a focus on the phase after grasping objects, the changes in the reaching phase have not been studied thus far. We aimed to examine whether changes in hand shape patterns during the reaching phase of grasping movements differ between young adults and the elderly. Ten healthy elderly adults and 10 healthy young adults were examined using the Simple Test for Evaluating Hand Functions and kinetic analysis of hand pre-shaping reach-to-grasp tasks. The results were then compared between the two groups. For kinetic analysis, we measured the time of peak tangential velocity of the wrist and the inter-fingertip distance (the distance between the tips of the thumb and index finger) at different time points. The results showed that the elderly group's performance on the Simple Test for Evaluating Hand Functions was significantly lower than that of the young adult group, irrespective of whether the dominant or non-dominant hand was used, indicating deterioration of hand movement in the elderly. The peak tangential velocity of the wrist in either hand appeared significantly earlier in the elderly group than in the young adult group. The elderly group also showed larger inter-fingertip distances with arch-like fingertip trajectories compared to the young adult group for all object sizes. To perform accurate prehension, elderly people have an earlier peak tangential velocity point than young adults. This allows for a longer adjustment time for reaching and grasping movements and for reducing errors in object prehension by opening the hand and fingers wider. Elderly individuals gradually modify their strategy based on previous successes and failures during daily living to compensate for their decline in dexterity and operational capabilities. © 2017 Japanese Psychogeriatric Society.

Ontology-Based High-Level Context Inference for Human Behavior Identification

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Villalonga, Claudia; Razzaq, Muhammad Asif; Khan, Wajahat Ali; Pomares, Hector; Rojas, Ignacio; Lee, Sungyoung; Banos, Oresti

2016-01-01

Recent years have witnessed a huge progress in the automatic identification of individual primitives of human behavior, such as activities or locations. However, the complex nature of human behavior demands more abstract contextual information for its analysis. This work presents an ontology-based method that combines low-level primitives of behavior, namely activity, locations and emotions, unprecedented to date, to intelligently derive more meaningful high-level context information. The paper contributes with a new open ontology describing both low-level and high-level context information, as well as their relationships. Furthermore, a framework building on the developed ontology and reasoning models is presented and evaluated. The proposed method proves to be robust while identifying high-level contexts even in the event of erroneously-detected low-level contexts. Despite reasonable inference times being obtained for a relevant set of users and instances, additional work is required to scale to long-term scenarios with a large number of users. PMID:27690050

Ontology-Based High-Level Context Inference for Human Behavior Identification

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Claudia Villalonga

2016-09-01

Full Text Available Recent years have witnessed a huge progress in the automatic identification of individual primitives of human behavior, such as activities or locations. However, the complex nature of human behavior demands more abstract contextual information for its analysis. This work presents an ontology-based method that combines low-level primitives of behavior, namely activity, locations and emotions, unprecedented to date, to intelligently derive more meaningful high-level context information. The paper contributes with a new open ontology describing both low-level and high-level context information, as well as their relationships. Furthermore, a framework building on the developed ontology and reasoning models is presented and evaluated. The proposed method proves to be robust while identifying high-level contexts even in the event of erroneously-detected low-level contexts. Despite reasonable inference times being obtained for a relevant set of users and instances, additional work is required to scale to long-term scenarios with a large number of users.

Radial force distribution changes associated with tangential force production in cylindrical grasping, and the importance of anatomical registration.

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Pataky, Todd C; Slota, Gregory P; Latash, Mark L; Zatsiorsky, Vladimir M

2012-01-10

Radial force (F(r)) distributions describe grip force coordination about a cylindrical object. Recent studies have employed only explicit F(r) tasks, and have not normalized for anatomical variance when considering F(r) distributions. The goals of the present study were (i) to explore F(r) during tangential force production tasks, and (ii) to examine the extent to which anatomical registration (i.e. spatial normalization of anatomically analogous structures) could improve signal detectability in F(r) data. Twelve subjects grasped a vertically oriented cylindrical handle (diameter=6 cm) and matched target upward tangential forces of 10, 20, and 30 N. F(r) data were measured using a flexible pressure mat with an angular resolution of 4.8°, and were registered using piecewise-linear interpolation between five manually identified points-of-interest. Results indicate that F(r) was primarily limited to three contact regions: the distal thumb, the distal fingers, and the fingers' metatacarpal heads, and that, while increases in tangential force caused significant increases in F(r) for these regions, they did not significantly affect the F(r) distribution across the hand. Registration was found to substantially reduce between-subject variability, as indicated by both accentuated F(r) trends, and amplification of the test statistic. These results imply that, while subjects focus F(r) primarily on three anatomical regions during cylindrical grasp, inter-subject anatomical differences introduce a variability that, if not corrected for via registration, may compromise one's ability to draw anatomically relevant conclusions from grasping force data. Copyright © 2011 Elsevier Ltd. All rights reserved.

A comparison of antemortem tooth loss in human hunter-gatherers and non-human catarrhines: implications for the identification of behavioral evolution in the human fossil record.

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Gilmore, Cassandra C

2013-06-01

Middle and Late Pleistocene fossil hominin specimens with severe antemortem tooth loss are often regarded as evidence for the precocious evolution of human-like behaviors, such as conspecific care or cooking, in ancient hominin species. The goal of this project was to ask whether the theoretical association between antemortem tooth loss and uniquely human behaviors is supported empirically in a large skeletal sample of human hunter-gatherers, chimpanzees, orangutans, and baboons. Binomial regression modeling in a Bayesian framework allows for the investigation of the effects of tooth class, genus, age, and sex on the likelihood of tooth loss. The results strongly suggest that modern humans experience more antemortem tooth loss than non-human primates and identify age in years as an important predictor. Once age is accounted for, the difference between the humans and the closest non-human genus (chimpanzees) is less pronounced; humans are still more likely on average to experience antemortem tooth loss though 95% uncertainty envelopes around the average prediction for each genus show some overlap. These analyses support theoretical links between antemortem tooth loss and modern human characteristics; humans' significantly longer life history and a positive correlation between age and antemortem tooth loss explain, in part, the reason why humans are more likely to experience tooth loss than non-human primates, but the results do not exclude behavioral differences as a contributing factor. Copyright © 2013 Wiley Periodicals, Inc.

An elevated plus-maze in mixed reality for studying human anxiety-related behavior.

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Biedermann, Sarah V; Biedermann, Daniel G; Wenzlaff, Frederike; Kurjak, Tim; Nouri, Sawis; Auer, Matthias K; Wiedemann, Klaus; Briken, Peer; Haaker, Jan; Lonsdorf, Tina B; Fuss, Johannes

2017-12-21

A dearth of laboratory tests to study actual human approach-avoidance behavior has complicated translational research on anxiety. The elevated plus-maze (EPM) is the gold standard to assess approach-avoidance behavior in rodents. Here, we translated the EPM to humans using mixed reality through a combination of virtual and real-world elements. In two validation studies, we observed participants' anxiety on a behavioral, physiological, and subjective level. Participants reported higher anxiety on open arms, avoided open arms, and showed an activation of endogenous stress systems. Participants' with high anxiety exhibited higher avoidance. Moreover, open arm avoidance was moderately predicted by participants' acrophobia and sensation seeking, with opposing influences. In a randomized, double blind, placebo controlled experiment, GABAergic stimulation decreased avoidance of open arms while alpha-2-adrenergic antagonism increased avoidance. These findings demonstrate cross-species validity of open arm avoidance as a translational measure of anxiety. We thus introduce the first ecologically valid assay to track actual human approach-avoidance behavior under laboratory conditions.

Combining fMRI and behavioral measures to examine the process of human learning.

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Karuza, Elisabeth A; Emberson, Lauren L; Aslin, Richard N

2014-03-01

Prior to the advent of fMRI, the primary means of examining the mechanisms underlying learning were restricted to studying human behavior and non-human neural systems. However, recent advances in neuroimaging technology have enabled the concurrent study of human behavior and neural activity. We propose that the integration of behavioral response with brain activity provides a powerful method of investigating the process through which internal representations are formed or changed. Nevertheless, a review of the literature reveals that many fMRI studies of learning either (1) focus on outcome rather than process or (2) are built on the untested assumption that learning unfolds uniformly over time. We discuss here various challenges faced by the field and highlight studies that have begun to address them. In doing so, we aim to encourage more research that examines the process of learning by considering the interrelation of behavioral measures and fMRI recording during learning. Copyright © 2013 Elsevier Inc. All rights reserved.

Sociability and gazing toward humans in dogs and wolves: Simple behaviors with broad implications.

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Bentosela, Mariana; Wynne, C D L; D'Orazio, M; Elgier, A; Udell, M A R

2016-01-01

Sociability, defined as the tendency to approach and interact with unfamiliar people, has been found to modulate some communicative responses in domestic dogs, including gaze behavior toward the human face. The objective of this study was to compare sociability and gaze behavior in pet domestic dogs and in human-socialized captive wolves in order to identify the relative influence of domestication and learning in the development of the dog-human bond. In Experiment 1, we assessed the approach behavior and social tendencies of dogs and wolves to a familiar and an unfamiliar person. In Experiment 2, we compared the animal's duration of gaze toward a person's face in the presence of food, which the animals could see but not access. Dogs showed higher levels of interspecific sociability than wolves in all conditions, including those where attention was unavailable. In addition, dogs gazed longer at the person's face than wolves in the presence of out-of-reach food. The potential contributions of domestication, associative learning, and experiences during ontogeny to prosocial behavior toward humans are discussed. © 2016 Society for the Experimental Analysis of Behavior.

The origins of thalamic inputs to grasp zones in frontal cortex of macaque monkeys

OpenAIRE

Gharbawie, Omar A.; Stepniewska, Iwona; Kaas, Jon H.

2015-01-01

The hand representation in primary motor cortex (M1) is instrumental to manual dexterity in primates. In Old World monkeys, rostral and caudal aspects of the hand representation are located in the precentral gyrus and the anterior bank of the central sulcus, respectively. We previously reported the organization of the cortico-cortical connections of the grasp zone in rostral M1. Here we describe the organization of thalamocortical connections that were labeled from the same tracer injections....

Fracture behavior of human molars.

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Keown, Amanda J; Lee, James J-W; Bush, Mark B

2012-12-01

Despite the durability of human teeth, which are able to withstand repeated loading while maintaining form and function, they are still susceptible to fracture. We focus here on longitudinal fracture in molar teeth-channel-like cracks that run along the enamel sidewall of the tooth between the gum line (cemento-enamel junction-CEJ) and the occlusal surface. Such fractures can often be painful and necessitate costly restorative work. The following study describes fracture experiments made on molar teeth of humans in which the molars are placed under axial compressive load using a hard indenting plate in order to induce longitudinal cracks in the enamel. Observed damage modes include fractures originating in the occlusal region ('radial-median cracks') and fractures emanating from the margin of the enamel in the region of the CEJ ('margin cracks'), as well as 'spalling' of enamel (the linking of longitudinal cracks). The loading conditions that govern fracture behavior in enamel are reported and observations made of the evolution of fracture as the load is increased. Relatively low loads were required to induce observable crack initiation-approximately 100 N for radial-median cracks and 200 N for margin cracks-both of which are less than the reported maximum biting force on a single molar tooth of several hundred Newtons. Unstable crack growth was observed to take place soon after and occurred at loads lower than those calculated by the current fracture models. Multiple cracks were observed on a single cusp, their interactions influencing crack growth behavior. The majority of the teeth tested in this study were noted to exhibit margin cracks prior to compression testing, which were apparently formed during the functional lifetime of the tooth. Such teeth were still able to withstand additional loading prior to catastrophic fracture, highlighting the remarkable damage containment capabilities of the natural tooth structure.

Did warfare among ancestral hunter-gatherers affect the evolution of human social behaviors?

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Bowles, Samuel

2009-06-05

Since Darwin, intergroup hostilities have figured prominently in explanations of the evolution of human social behavior. Yet whether ancestral humans were largely "peaceful" or "warlike" remains controversial. I ask a more precise question: If more cooperative groups were more likely to prevail in conflicts with other groups, was the level of intergroup violence sufficient to influence the evolution of human social behavior? Using a model of the evolutionary impact of between-group competition and a new data set that combines archaeological evidence on causes of death during the Late Pleistocene and early Holocene with ethnographic and historical reports on hunter-gatherer populations, I find that the estimated level of mortality in intergroup conflicts would have had substantial effects, allowing the proliferation of group-beneficial behaviors that were quite costly to the individual altruist.

A Formal Investigation of the Organization of Guidance Behavior: Implications for Humans and Autonomous Guidance

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Kong, Zhaodan

Guidance behavior generated either by artificial agents or humans has been actively studied in the fields of both robotics and cognitive science. The goals of these two fields are different. The former is the automatic generation of appropriate or even optimal behavior, while the latter is the understanding of the underlying mechanism. Their challenges, though, are closely related, the most important one being the lack of a unified, formal and grounded framework where the guidance behavior can be modeled and studied. This dissertation presents such a framework. In this framework, guidance behavior is analyzed as the closed-loop dynamics of the whole agent-environment system. The resulting dynamics give rise to interaction patterns. The central points of this dissertation are that: first of all, these patterns, which can be explained in terms of symmetries that are inherent to the guidance behavior, provide building blocks for the organization of behavior; second, the existence of these patterns and humans' organization of their guidance behavior based on these patterns are the reasons that humans can generate successful behavior in spite of all the complexities involved in the planning and control. This dissertation first gives an overview of the challenges existing in both scientific endeavors, such as human and animal spatial behavior study, and engineering endeavors, such as autonomous guidance system design. It then lays out the foundation for our formal framework, which states that guidance behavior should be interpreted as the collection of the closed-loop dynamics resulting from the agent's interaction with the environment. The following, illustrated by examples of three different UAVs, shows that the study of the closed-loop dynamics should not be done without the consideration of vehicle dynamics, as is the common practice in some of the studies in both autonomous guidance and human behavior analysis. The framework, the core concepts of which are

A Language for Modeling Cultural Norms, Biases and Stereotypes for Human Behavior Models