WorldWideScience

Sample records for human grasping behavior

  1. From robot to human grasping simulation

    CERN Document Server

    León, Beatriz; Sancho-Bru, Joaquin

    2013-01-01

    The human hand and its dexterity in grasping and manipulating objects are some of the hallmarks of the human species. For years, anatomic and biomechanical studies have deepened the understanding of the human hand’s functioning and, in parallel, the robotics community has been working on the design of robotic hands capable of manipulating objects with a performance similar to that of the human hand. However, although many researchers have partially studied various aspects, to date there has been no comprehensive characterization of the human hand’s function for grasping and manipulation of

  2. Towards a complete description of grasping kinematics: a framework for quantifying human grasping and manipulation.

    Science.gov (United States)

    Fu, Qiushi; Santello, Marco

    2011-01-01

    This paper proposes a framework for tracking both human hand kinematics and object contour during grasping task. The framework is based on modeling the object as point cloud and the use of marker-based tracking. We introduce how to estimate contact sites on both the hand and object, hand enclosing space, and graspable features from recorded data. Two experiments were performed to 1) verify the accuracy of contact site estimation (less than 5 mm), and 2) validate the feature extraction. Our approach can provide significant insight into how humans plan grasping and manipulation based on object recognition.

  3. Human Grasp Assist Device With Exoskeleton

    Science.gov (United States)

    Bergelin, Bryan J (Inventor); Ihrke, Chris A. (Inventor); Davis, Donald R. (Inventor); Linn, Douglas Martin (Inventor); Bridgwater, Lyndon B. J. (Inventor)

    2014-01-01

    A grasp assist system includes a glove, actuator assembly, and controller. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. Phalange rings are positioned with respect to the digit. A flexible tendon is connected at one end to one of the rings and is routed through the remaining rings. An exoskeleton positioned with respect to the digit includes hinged interconnecting members each connected to a corresponding ring, and/or a single piece of slotted material. The actuator assembly is connected to another end of the tendon. The controller calculates a tensile force in response to the measured grasping force, and commands the tensile force from the actuator assembly to thereby pull on the tendon. The exoskeleton offloads some of the tensile force from the operator's finger to the glove.

  4. Electromyographic analysis of goal-directed grasping behavior in the American lobster.

    Science.gov (United States)

    Tomina, Yusuke; Takahata, Masakazu

    2014-10-15

    Animals spontaneously initiate goal-directed behavior including foraging action based on their appetitive motivation. The American lobster Homarus americanus exhibits grasping behavior with its crusher claw as feeding behavior that can be initiated after appropriate operant conditioning. In order to quantitatively characterize the goal-directed grasping behavior with a time resolution fine enough for neurophysiological analysis of its initiation and control mechanisms, we made simultaneous electromyographic (EMG) recording from grasping- and reaching-related muscles of the crusher claw while animals initiated grasping behavior. We developed an in vivo extracellular recording chamber that allowed the animal under a semi-restrained condition to perform operant reward learning of claw grasping. Three muscles in the crusher claw (propodite-dactyl closer/opener and coxal protractor) were found to be closely associated with spontaneous grasping behavior. In spontaneous grasping, the activation of those muscles consistently preceded the grasping onset time and exhibited different activity patterns from the grasp induced by a mechanical stimulus. Furthermore, we found that the timing of coxal protractor activation was closer to the grasp onset and its activity was briefer for goal-directed grasping behavior in trained and hungry animals than for non-goal-directed spontaneous grasping behavior in naive or satiated animals. It is suggested that the goal-directed grasping behavior of lobster is characterized, at least partly, by experience-dependent briefer activity of specific muscles involved in reaching action.

  5. The design and implementation of virtual hand grasp behavior process in virtual assembly

    Institute of Scientific and Technical Information of China (English)

    LIU Cheng; FU Yi-li

    2010-01-01

    Virtual hand is an important medium for implementation of human-computer interaction in the process of virtual assembly.And the comparability between the action of virtual hand and real man-hand has always been regarded as one of the important criteria to judge whether the virtual environment has the property of immersion.On the basis of analyzing the relative position,posture,and motion behavior relationship between virtual hand and the object to be operated during virtual assembly,this paper proposed an implementation method of combining grasp index with collision detecting technology for identifying grasp action of virtual hand.The method is to identify grasp/quit using grasp index and to implement joint angle adjustment through simulation cyclic iteration and joint angle interpolation calculation.Although some traditional method identifying the grasp action on the basis of the shape of the object is operated,the simulation result getting from virtual environment created by EON STUDIO shows that it has good features of serviceability and fidelity to realize operation control of virtual hand.

  6. Human Hand Motion Analysis and Synthesis of Optimal Power Grasps for a Robotic Hand

    Directory of Open Access Journals (Sweden)

    Francesca Cordella

    2014-03-01

    and experimental trials on an arm-hand robotic system. The obtained results have shown the effectiveness of the extracted indicators to reduce the non-linear optimization problem complexity and lead to the synthesis of a grasping posture able to replicate the human behaviour while ensuring grasp stability. The experimental results have also highlighted the limitations of the adopted robotic platform (mainly due to the mechanical structure to achieve the optimal grasp configuration.

  7. Human Hand Motion Analysis and Synthesis of Optimal Power Grasps for a Robotic Hand

    Directory of Open Access Journals (Sweden)

    Francesca Cordella

    2014-03-01

    Full Text Available Biologically inspired robotic systems can find important applications in biomedical robotics, since studying and replicating human behaviour can provide new insights into motor recovery, functional substitution and human-robot interaction. The analysis of human hand motion is essential for collecting information about human hand movements useful for generalizing reaching and grasping actions on a robotic system. This paper focuses on the definition and extraction of quantitative indicators for describing optimal hand grasping postures and replicating them on an anthropomorphic robotic hand. A motion analysis has been carried out on six healthy human subjects performing a transverse volar grasp. The extracted indicators point to invariant grasping behaviours between the involved subjects, thus providing some constraints for identifying the optimal grasping configuration. Hence, an optimization algorithm based on the Nelder-Mead simplex method has been developed for determining the optimal grasp configuration of a robotic hand, grounded on the aforementioned constraints. It is characterized by a reduced computational cost. The grasp stability has been tested by introducing a quality index that satisfies the form-closure property. The grasping strategy has been validated by means of simulation tests and experimental trials on an arm-hand robotic system. The obtained results have shown the effectiveness of the extracted indicators to reduce the non-linear optimization problem complexity and lead to the synthesis of a grasping posture able to replicate the human behaviour while ensuring grasp stability. The experimental results have also highlighted the limitations of the adopted robotic platform (mainly due to the mechanical structure to achieve the optimal grasp configuration.

  8. Corticospinal excitability underlying digit force planning for grasping in humans.

    Science.gov (United States)

    Parikh, Pranav; Davare, Marco; McGurrin, Patrick; Santello, Marco

    2014-06-15

    Control of digit forces for grasping relies on sensorimotor memory gained from prior experience with the same or similar objects and on online sensory feedback. However, little is known about neural mechanisms underlying digit force planning. We addressed this question by quantifying the temporal evolution of corticospinal excitability (CSE) using single-pulse transcranial magnetic stimulation (TMS) during two reach-to-grasp tasks. These tasks differed in terms of the magnitude of force exerted on the same points on the object to isolate digit force planning from reach and grasp planning. We also addressed the role of intracortical circuitry within primary motor cortex (M1) by quantifying the balance between short intracortical inhibition and facilitation using paired-pulse TMS on the same tasks. Eighteen right-handed subjects were visually cued to plan digit placement at predetermined locations on the object and subsequently to exert either negligible force ("low-force" task, LF) or 10% of their maximum pinch force ("high-force" task, HF) on the object. We found that the HF task elicited significantly smaller CSE than the LF task, but only when the TMS pulse coincided with the signal to initiate the reach. This force planning-related CSE modulation was specific to the muscles involved in the performance of both tasks. Interestingly, digit force planning did not result in modulation of M1 intracortical inhibitory and facilitatory circuitry. Our findings suggest that planning of digit forces reflected by CSE modulation starts well before object contact and appears to be driven by inputs from frontoparietal areas other than M1.

  9. The force synergy of human digits in static and dynamic cylindrical grasps.

    Directory of Open Access Journals (Sweden)

    Li-Chieh Kuo

    Full Text Available This study explores the force synergy of human digits in both static and dynamic cylindrical grasping conditions. The patterns of digit force distribution, error compensation, and the relationships among digit forces are examined to quantify the synergetic patterns and coordination of multi-finger movements. This study recruited 24 healthy participants to perform cylindrical grasps using a glass simulator under normal grasping and one-finger restricted conditions. Parameters such as the grasping force, patterns of digit force distribution, and the force coefficient of variation are determined. Correlation coefficients and principal component analysis (PCA are used to estimate the synergy strength under the dynamic grasping condition. Specific distribution patterns of digit forces are identified for various conditions. The compensation of adjacent fingers for the force in the normal direction of an absent finger agrees with the principle of error compensation. For digit forces in anti-gravity directions, the distribution patterns vary significantly by participant. The forces exerted by the thumb are closely related to those exerted by other fingers under all conditions. The index-middle and middle-ring finger pairs demonstrate a significant relationship. The PCA results show that the normal forces of digits are highly coordinated. This study reveals that normal force synergy exists under both static and dynamic cylindrical grasping conditions.

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

    Directory of Open Access Journals (Sweden)

    Brittany L Thomas

    2015-01-01

    Full Text Available 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 dissociated development for the Reach and the Grasp in nonvisual hand use in very early infancy. The study documents a rich array of spontaneous self-touching behavior in infants during the first six months of life and subjects the movements to analyses of body target, contact type, and Grasp. Video recordings were made of resting alert infants biweekly from birth to 6 months. In younger infants, self-touching targets included the head and trunk. As infants aged, targets became more caudal including the hips, legs, and feet. In younger infants hand contact was mainly made with the dorsum of the hand, but as infants aged contacts included palmar and eventually grasp and manipulatory contacts with the body and clothes. The relative incidence of caudal contacts and palmar contacts increased concurrently and were significantly correlated throughout the period of study. In contrast, developmental increases in self grasping emerged a few weeks after the increases observed in caudal and palmar contacts. The behavioral and temporal pattern of these spontaneous self-touching movements suggest that the Reach, in which the hand extends to make a palmar self-contact, and the Grasp, in which the digits close and make manipulatory movements, have partially independent developmental profiles. The results additionally suggest that self-touching behavior is an important developmental phase that allows for the coordination of the Reach and the Grasp prior to their use under visual

  11. A novel design method of anthropomorphic prosthetic hands for reproducing human hand grasping.

    Science.gov (United States)

    Sun, Baiyang; Xiong, Caihua; Chen, Wenrui; Zhang, Qiaofei; Mao, Liu; Zhang, Qin

    2014-01-01

    Because hand is often used for grasping, developing a design of prosthetic hands, particularly light and compact underactuated anthropomorphic transradial prostheses for reproducing human hand complex grasping is crucial for upper-limb amputees. Obviously, the less the number of actuators is, the worse the anthropomorphic motion capability of the prosthetic hands will be. This paper aims to design a transmission mechanism with few motors actuating fingers which could serve the relatively accurate grasp movement of a human hand and has the potential to be embedded in a palm including the motors. We start with establishing an index for evaluating the anthropomorphic motion capability of a prosthetic hand. Based on the optimization of this index, we determine the number of actuators in fingers and the transmission relationship between the actuators and the metacarpophalangeal(MCP) joints. Then, a new design method to mechanically implement the transmission relationship based on a novel decomposition of transmission matrix is proposed in this paper. Utilizing this method, we obtained the final mechanical structure of a new prosthetic hand.

  12. Enhanced propriospinal excitation from hand muscles to wrist flexors during reach-to-grasp in humans.

    Science.gov (United States)

    Giboin, Louis-Solal; Lackmy-Vallée, Alexandra; Burke, David; Marchand-Pauvert, Véronique

    2012-01-01

    In humans, propriospinal neurons located at midcervical levels receive peripheral and corticospinal inputs and probably participate in the control of grip tasks, but their role in reaching movements, as observed in cats and primates, is still an open question. The effect of ulnar nerve stimulation on flexor carpi radialis (FCR) motor evoked potential (MEP) was tested during reaching tasks and tonic wrist flexion. Significant MEP facilitation was observed at the end of reach during reach-to-grasp but not during grasp, reach-to-point, or tonic contractions. MEP facilitation occurred at a longer interstimulus interval than expected for convergence of corticospinal and afferent volleys at motoneuron level and was not paralleled by a change in the H-reflex. These findings suggest convergence of the two volleys at propriospinal level. Ulnar-induced MEP facilitation was observed when conditioning stimuli were at 0.75 motor response threshold (MT), but not 1 MT. This favors an increased excitability of propriospinal neurons rather than depression of their feedback inhibition, as has been observed during tonic power grip tasks. It is suggested that the ulnar-induced facilitation of FCR MEP during reach may be due to descending activation of propriospinal neurons, assisting the early recruitment of large motoneurons for rapid movement. Because the feedback inhibitory control is still open, this excitation can be truncated by cutaneous inputs from the palmar side of the hand during grasp, thus assisting movement termination. It is concluded that the feedforward activation of propriospinal neurons and their feedback control may be involved in the internal model, motor planning, and online adjustments for reach-to-grasp movements in humans.

  13. 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...

  14. Size-assortative mating and sexual size dimorphism are predictable from simple mechanics of mate-grasping behavior

    Directory of Open Access Journals (Sweden)

    Jablonski Piotr G

    2010-11-01

    Full Text Available Abstract Background A major challenge in evolutionary biology is to understand the typically complex interactions between diverse counter-balancing factors of Darwinian selection for size assortative mating and sexual size dimorphism. It appears that rarely a simple mechanism could provide a major explanation of these phenomena. Mechanics of behaviors can predict animal morphology, such like adaptations to locomotion in animals from various of taxa, but its potential to predict size-assortative mating and its evolutionary consequences has been less explored. Mate-grasping by males, using specialized adaptive morphologies of their forelegs, midlegs or even antennae wrapped around female body at specific locations, is a general mating strategy of many animals, but the contribution of the mechanics of this wide-spread behavior to the evolution of mating behavior and sexual size dimorphism has been largely ignored. Results Here, we explore the consequences of a simple, and previously ignored, fact that in a grasping posture the position of the male's grasping appendages relative to the female's body is often a function of body size difference between the sexes. Using an approach taken from robot mechanics we model coercive grasping of females by water strider Gerris gracilicornis males during mating initiation struggles. We determine that the male optimal size (relative to the female size, which gives the males the highest grasping force, properly predicts the experimentally measured highest mating success. Through field sampling and simulation modeling of a natural population we determine that the simple mechanical model, which ignores most of the other hypothetical counter-balancing selection pressures on body size, is sufficient to account for size-assortative mating pattern as well as species-specific sexual dimorphism in body size of G. gracilicornis. Conclusion The results indicate how a simple and previously overlooked physical mechanism

  15. Continuous decoding of human grasp kinematics using epidural and subdural signals

    Science.gov (United States)

    Flint, Robert D.; Rosenow, Joshua M.; Tate, Matthew C.; Slutzky, Marc W.

    2017-02-01

    Objective. Restoring or replacing function in paralyzed individuals will one day be achieved through the use of brain-machine interfaces. Regaining hand function is a major goal for paralyzed patients. Two competing prerequisites for the widespread adoption of any hand neuroprosthesis are accurate control over the fine details of movement, and minimized invasiveness. Here, we explore the interplay between these two goals by comparing our ability to decode hand movements with subdural and epidural field potentials (EFPs). Approach. We measured the accuracy of decoding continuous hand and finger kinematics during naturalistic grasping motions in five human subjects. We recorded subdural surface potentials (electrocorticography; ECoG) as well as with EFPs, with both standard- and high-resolution electrode arrays. Main results. In all five subjects, decoding of continuous kinematics significantly exceeded chance, using either EGoG or EFPs. ECoG decoding accuracy compared favorably with prior investigations of grasp kinematics (mean ± SD grasp aperture variance accounted for was 0.54 ± 0.05 across all subjects, 0.75 ± 0.09 for the best subject). In general, EFP decoding performed comparably to ECoG decoding. The 7-20 Hz and 70-115 Hz spectral bands contained the most information about grasp kinematics, with the 70-115 Hz band containing greater information about more subtle movements. Higher-resolution recording arrays provided clearly superior performance compared to standard-resolution arrays. Significance. To approach the fine motor control achieved by an intact brain-body system, it will be necessary to execute motor intent on a continuous basis with high accuracy. The current results demonstrate that this level of accuracy might be achievable not just with ECoG, but with EFPs as well. Epidural placement of electrodes is less invasive, and therefore may incur less risk of encephalitis or stroke than subdural placement of electrodes. Accurately decoding motor

  16. Human cortical control of hand movements: parietofrontal networks for reaching, grasping, and pointing.

    Science.gov (United States)

    Filimon, Flavia

    2010-08-01

    In primates, control of the limb depends on many cortical areas. Whereas specialized parietofrontal circuits have been proposed for different movements in macaques, functional neuroimaging in humans has revealed widespread, overlapping activations for hand and eye movements and for movements such as reaching and grasping. This review examines the involvement of frontal and parietal areas in hand and arm movements in humans as revealed with functional neuroimaging. The degree of functional specialization, possible homologies with macaque cortical regions, and differences between frontal and posterior parietal areas are discussed, as well as a possible organization of hand movements with respect to different spatial reference frames. The available evidence supports a cortical organization along gradients of sensory (visual to somatosensory) and effector (eye to hand) preferences.

  17. Interlimb Transfer of Grasp Orientation is Asymmetrical

    Directory of Open Access Journals (Sweden)

    Victor Frak

    2006-01-01

    Full Text Available One the most fundamental aspects of the human motor system is the hemispheric asymmetry seen in behavioral specialization. Hemispheric dominance can be inferred by a contralateral hand preference in grasping. Few studies have considered grasp orientation in the context of manual lateralization and none has looked at grasp orientation with natural prehension. Thirty right-handed adults performed precision grasps of a cylinder using the thumb and index fingers, and the opposition axis (OA was defined as the line connecting these two contact points on the cylinder. Subjects made ten consecutive grasps with one hand (primary hand movements followed by ten grasps with the other hand (trailing movements. Differences between primary and trailing grasps revealed that each hemisphere is capable of programming the orientation of the OA and that primary movements with the right hand significantly influenced OA orientation of the trailing left hand. These results extend the hemispheric dominance of the left hemisphere to the final positions of fingers during prehension.

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

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    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.

  19. Multijoint grasping movements; Simulated and observed effects of object location, object size, and initial aperture

    NARCIS (Netherlands)

    Meulenbroek, R.G.J.; Rosenbaum, D.A.; Jansen, C.; Vaughan, J.; Vogt, S.

    2001-01-01

    Studies of human prehension have revealed characteristic patterns of grasping kinematics. We sought to gain insight into the determinants of those patterns by means of a computer simulation and accompanying behavioral experiment concerning multijoint, planar grasping behavior. The simulation was bas

  20. Grasp Invariance

    Science.gov (United States)

    2010-01-01

    properties governing the mechanics of grasping and manipulation would also be preserved. For example, as we shall see later in this paper, if O is a...focus on the actual finger form. Dollar and Howe [6] survey 20 different designs of compliant and underactuated hands, and all employ cylindrical or...fundamental existence and uniqueness theorem for solutions of systems of differential equations [12]. 6 Alberto Rodriguez and Matthew T. Mason 3.2 General

  1. Human dorsomedial parieto-motor circuit specifies grasp during the planning of goal-directed hand actions.

    Science.gov (United States)

    Vesia, Michael; Barnett-Cowan, Michael; Elahi, Behzad; Jegatheeswaran, Gaayathiri; Isayama, Reina; Neva, Jason L; Davare, Marco; Staines, W Richard; Culham, Jody C; Chen, Robert

    2017-07-01

    According to one influential view, two specialized parieto-frontal circuits control prehension: a dorsomedial stream for hand transport during reaching and a dorsolateral stream for preshaping the fingers during grasping. However, recent evidence argues that an area within the dorsomedial stream-macaque area V6A and, its putative human homolog, superior parietal occipital cortex (SPOC) - encodes both hand transport and grip formation. We tested whether planning varied hand actions modulates functional connectivity between left SPOC and ipsilateral primary motor cortex (M1) using a dual-site, paired-pulse transcranial magnetic stimulation paradigm with two coils (dsTMS). Participants performed three different hand actions to a target object comprising a small cylinder atop a larger cylinder. These actions were: reaching-to-grasp the top (GT) using a precision grip, reaching-to-grasp the bottom (GB) using a whole-hand grip, or reaching-to-touch (Touch) the side of the target object without forming a grip. Motor-evoked potentials (MEPs) from TMS to M1, with or without preceding TMS to SPOC, were recorded from first dorsal interosseous (FDI) and abductor digiti minimi (ADM) hand muscles in two experiments that varied timing parameters (the stimulus onset asynchrony, SOA, between the 'GO' cue and stimulation and interpulse interval, IPI, between SPOC and M1 stimulation). We found that preparatory response amplitudes in the SPOC-M1 circuit of different hand muscles were selectively modulated early in the motor plan for different types of grasps. First, based on SPOC-M1 interactions, across two experiments, the role of the ADM was facilitated during a whole-hand grasp of a large object (GB) relative to other conditions under certain timing parameters (SOA = 150 msec; IPI = 6 msec). Second, the role of the FDI was facilitated during hand action planning compared to rest. These findings suggest that the human dorsomedial parieto-motor stream plays a causal role in

  2. 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)

  3. Bridging Humanism and Behaviorism.

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    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)

  4. Functional magnetic resonance imaging reveals the neural substrates of arm transport and grip formation in reach-to-grasp actions in humans.

    Science.gov (United States)

    Cavina-Pratesi, Cristiana; Monaco, Simona; Fattori, Patrizia; Galletti, Claudio; McAdam, Teresa D; Quinlan, Derek J; Goodale, Melvyn A; Culham, Jody C

    2010-08-01

    Picking up a cup requires transporting the arm to the cup (transport component) and preshaping the hand appropriately to grasp the handle (grip component). Here, we used functional magnetic resonance imaging to examine the human neural substrates of the transport component and its relationship with the grip component. Participants were shown three-dimensional objects placed either at a near location, adjacent to the hand, or at a far location, within reach but not adjacent to the hand. Participants performed three tasks at each location as follows: (1) touching the object with the knuckles of the right hand; (2) grasping the object with the right hand; or (3) passively viewing the object. The transport component was manipulated by positioning the object in the far versus the near location. The grip component was manipulated by asking participants to grasp the object versus touching it. For the first time, we have identified the neural substrates of the transport component, which include the superior parieto-occipital cortex and the rostral superior parietal lobule. Consistent with past studies, we found specialization for the grip component in bilateral anterior intraparietal sulcus and left ventral premotor cortex; now, however, we also find activity for the grasp even when no transport is involved. In addition to finding areas specialized for the transport and grip components in parietal cortex, we found an integration of the two components in dorsal premotor cortex and supplementary motor areas, two regions that may be important for the coordination of reach and grasp.

  5. Active Grasp Synthesis for Grasping Unknown Objects

    NARCIS (Netherlands)

    Çallı, 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

  6. Learning Grasp Affordance Densities

    DEFF Research Database (Denmark)

    Detry, Renaud; Kraft, Dirk; Kroemer, Oliver

    2011-01-01

    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...... 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...... 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...

  7. Automated tracking and grasping of a moving object with a robotic hand-eye system

    Energy Technology Data Exchange (ETDEWEB)

    Allen, P.K.; Timcenko, A.; Yoshimi, B.; Michelman, P. (Columbia Univ., NY (United States). Dept. of Computer Science)

    1993-04-01

    Most robotic grasping tasks assume a stationary or fixed object. In this paper, the authors explore the requirements for tracking and grasping a moving object. The focus of the work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object. There is an interest in exploring the interplay of hand--eye coordination for dynamic grasping takes such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system. Coordination between an organisms sensing modalities and motor control system is a hallmark of intelligent behavior, and they are pursuing the goal of building an integrated sensing and actuation system that can operate in dynamic as opposed to static environments. The system they have built addresses three distinct problems in robotic hand--eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system is able to operate at approximately human arm movement rates, and experimental results in which a moving model train is tracked is presented, stably grasped, and picked up by the system. The algorithms they have developed that relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks that require visual feedback for arm and hand control.

  8. 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...

  9. 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.

  10. Superstitious behavior in humans.

    Science.gov (United States)

    Ono, K

    1987-05-01

    Twenty undergraduate students were exposed to single response-independent schedules of reinforcer presentation, fixed-time or variable-time, each with values of 30 and 60 s. The reinforcer was a point on a counter accompanied by a red lamp and a brief buzzer. Three color signals were presented, without consistent relation to reinforcer or to the subjects' behavior. Three large levers were available, but the subjects were not asked to perform any particular behavior. Three of the 20 subjects developed persistent superstitious behavior. One engaged in a pattern of lever-pulling responses that consisted of long pulls after a few short pulls; the second touched many things in the experimental booth; the third showed biased responding called sensory superstition. However, most subjects did not show consistent superstitious behavior. Reinforcers can operate effectively on human behavior even in the absence of a response-reinforcer contingency and can, in some cases, shape stable superstitious patterns. However, superstitious behavior is not a consistent outcome of exposure of human subjects to response-independent reinforcer deliveries.

  11. Different Evolutionary Origins for the Reach and the Grasp: An Explanation for Dual Visuomotor Channels in Primate Parietofrontal Cortex

    Directory of Open Access Journals (Sweden)

    Jenni M Karl

    2013-12-01

    Full Text Available The Dual Visuomotor Channel Theory proposes that manual prehension consists of two temporally integrated movements, each subserved by distinct visuomotor pathways in occipitoparietofrontal cortex. The Reach is mediated by a dorsomedial pathway and transports the hand in relation to the target’s extrinsic properties (i.e., location and orientation. The Grasp is mediated by a dorsolateral pathway and opens, preshapes, and closes the hand in relation to the target’s intrinsic properties (i.e., size and shape. Here, neuropsychological, developmental, and comparative evidence is reviewed to show that the Reach and the Grasp have different evolutionary origins. First, the removal or degradation of vision causes prehension to decompose into its constituent Reach and Grasp components, which are then executed in sequence or isolation. Similar decomposition occurs in optic ataxic patients following cortical injury to the Reach and Grasp pathways and after corticospinal tract lesions in non-human primates. Second, early nonvisual PreReach and PreGrasp movements develop into mature Reach and Grasp movements but are only integrated under visual control after a prolonged developmental period. Third, comparative studies reveal many similarities between stepping movements and the Reach and between food handling movements and the Grasp, suggesting that the Reach and Grasp are derived from different evolutionary antecedents. The evidence is discussed in relation to the ideas that dual visuomotor channels in primate parietofrontal cortex emerged as a result of distinct evolutionary origins for the Reach and Grasp; that foveated vision in primates serves to integrate the Reach and Grasp into a single prehensile act; and, that flexible recombination of discrete Reach and Grasp movements under various forms of sensory and cognitive control can produce adaptive behavior.

  12. [Terrorism and human behavior].

    Science.gov (United States)

    Leistedt, S J

    2017-06-09

    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.

  13. Simulation results of the grasping analysis of an underactuated finger

    Directory of Open Access Journals (Sweden)

    Niola Vincenzo

    2016-01-01

    Full Text Available The results of a number of simulations concerning the grasping analysis is presented. The grasping device consist in an under-actuated finger driven by un-extendible tendon that is one of the fingers of a mechanical prosthesis that was principally conceived as human prosthesis. The results, however, are useful for any similar finger to be used in grasping devices for industrial and agricultural applications, Aanalysis maps of the grasping were obtained which show the “robustness” of the socket. The method seems to be a suitable tool for the optimum design of such under-actuated fingers for grasping devices.

  14. Grasp Densities for Grasp Refinement in Industrial Bin Picking

    DEFF Research Database (Denmark)

    Hupfauf, Benedikt; Hahn, Heiko; Bodenhagen, Leon

    in terms of object-relative gripper pose, can be learned from empirical experience, and allow the automatic choice of optimal grasps in a given scene context (object pose, workspace constraints, etc.). We will show grasp densities extracted from empirical data in a real industrial bin picking context...... generated in industrial bin-picking for grasp learning. This aim is achieved by using the novel concept of grasp densities (Detry et al., 2010). Grasp densities can describe the full variety of grasps that apply to specific objects using specific grippers. They represent the likelihood of grasp success...

  15. Mathematical models of human behavior

    DEFF Research Database (Denmark)

    Møllgaard, Anders Edsberg

    During the last 15 years there has been an explosion in human behavioral data caused by the emergence of cheap electronics and online platforms. This has spawned a whole new research field called computational social science, which has a quantitative approach to the study of human behavior. Most...... studies have considered data sets with just one behavioral variable such as email communication. The Social Fabric interdisciplinary research project is an attempt to collect a more complete data set on human behavior by providing 1000 smartphones with pre-installed data collection software to students...... 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...

  16. Mathematical models of human behavior

    DEFF Research Database (Denmark)

    Møllgaard, Anders Edsberg

    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......, thereby implying that interactions between spreading processes are driving forces of attention dynamics. Overall, the thesis contributes to a quantitative understanding of a wide range of different human behaviors by applying mathematical modeling to behavioral data. There can be no doubt......During the last 15 years there has been an explosion in human behavioral data caused by the emergence of cheap electronics and online platforms. This has spawned a whole new research field called computational social science, which has a quantitative approach to the study of human behavior. Most...

  17. Grasping-related functional MRI brain responses in the macaque monkey

    Science.gov (United States)

    Nelissen, Koen; Vanduffel, Wim

    2011-01-01

    Research in recent decades has suggested the existence of a dedicated brain network devoted to the organization and execution of grasping, one of the most important and skilled movements of primates. Grasping an object requires the transformation of intrinsic object properties such as size, orientation and shape into an appropriate motor scheme shaping the hand. While electrophysiological recordings in the monkey model have proven invaluable for gaining insights into the neuronal substrate underlying this complex behavior, knowledge concerning the existence and organization of a similar system in the human brain is derived mainly from imaging studies. Here we present for the first time functional magnetic resonance imaging (fMRI) of brain activity while macaque monkeys performed reaching and grasping movements in a 3 Tesla MR scanner. Grasping-in-the-dark (compared to reaching) yielded significant activations in anterior intraparietal area (AIP) and ventral premotor area F5, in addition to area PFG in the rostral inferior parietal lobule, somatosensory areas (SI, SII, area 5) and the hand field of F1. Whole-brain macaque fMRI motor studies will be instrumental in establishing possible homologies concerning grasping organization in the human and monkey brains, bridging the gap between human imaging and monkey electrophysiology. PMID:21632943

  18. Grasp Densities for Grasp Refinement in Industrial Bin Picking

    DEFF Research Database (Denmark)

    Hupfauf, Benedikt; Hahn, Heiko; Bodenhagen, Leon

    Automatic picking of randomly distributed objects from a bin has been denoted the "Holy Grail" in the world of robot automation. A particular property of the bin-picking scenario (in contrast to most other industrial robot applications) is that grasp errors are allowed to occur: Usually bin...... generated in industrial bin-picking for grasp learning. This aim is achieved by using the novel concept of grasp densities (Detry et al., 2010). Grasp densities can describe the full variety of grasps that apply to specific objects using specific grippers. They represent the likelihood of grasp success...... in terms of object-relative gripper pose, can be learned from empirical experience, and allow the automatic choice of optimal grasps in a given scene context (object pose, workspace constraints, etc.). We will show grasp densities extracted from empirical data in a real industrial bin picking context...

  19. An impedance grasping strategy

    NARCIS (Netherlands)

    Muñoz Arias, Mauricio; Scherpen, Jacqueline M.A.; Macchelli, Alessandro

    2014-01-01

    This work is devoted to an impedance grasping strategy for a class of standard mechanical systems in the port- Hamiltonian framework. The presented control strategy re- quires a set of coordinate transformations, since the impedance control in the port-Hamiltonian framework with structure preservati

  20. Stability Analysis of Grasps with a Robotic Multifingered Hand

    Institute of Scientific and Technical Information of China (English)

    WAN An-hua

    2005-01-01

    Stability is a significant property for a robot hand grasp to perform complex tasks similar to human hands. The common method to investigate the stability of robotic multi-fingered grasp system is Lyapunov direct method, but usually it is rather difficult to construct a proper Lyapunov function. Avoiding the hard work of constructing a Lyapunov function, we propose the sufficient conditions for stability of the robotic grasp system.

  1. Grasping preparation enhances orientation change detection.

    Directory of Open Access Journals (Sweden)

    Tjerk P Gutteling

    Full Text Available Preparing a goal directed movement often requires detailed analysis of our environment. When picking up an object, its orientation, size and relative distance are relevant parameters when preparing a successful grasp. It would therefore be beneficial if the motor system is able to influence early perception such that information processing needs for action control are met at the earliest possible stage. However, only a few studies reported (indirect evidence for action-induced visual perception improvements. We therefore aimed to provide direct evidence for a feature-specific perceptual modulation during the planning phase of a grasping action. Human subjects were instructed to either grasp or point to a bar while simultaneously performing an orientation discrimination task. The bar could slightly change its orientation during grasping preparation. By analyzing discrimination response probabilities, we found increased perceptual sensitivity to orientation changes when subjects were instructed to grasp the bar, rather than point to it. As a control experiment, the same experiment was repeated using bar luminance changes, a feature that is not relevant for either grasping or pointing. Here, no differences in visual sensitivity between grasping and pointing were found. The present results constitute first direct evidence for increased perceptual sensitivity to a visual feature that is relevant for a certain skeletomotor act during the movement preparation phase. We speculate that such action-induced perception improvements are controlled by neuronal feedback mechanisms from cortical motor planning areas to early visual cortex, similar to what was recently established for spatial perception improvements shortly before eye movements.

  2. Irrational Human Behaviors

    Directory of Open Access Journals (Sweden)

    Orhan Şener

    2015-10-01

    Full Text Available Neo Classical economists used to posit that, since consumers are rational, they make decisions to maximize their pleasure (utility. Opposing to Neo Classical understanding, Behavioral Economists argue that, consumers are infect not rational, but prone to all sort of biases and habits that pull them being rational. For instance, there are too many irrational choices made by the Turkish consumers like; expensive wedding parties given by low income families; although riding bicycle is healthy and cheap, but people buy expensive cars; it is cheaper staying at a hotel or a timeshare, however people buy expensive summer houses, where they stayed only few weeks a year. These type of irrational behaviors adversely affect the decisions on savings, investments and economic growth. On the consumers irrationality, Tversky and Daniel Kahneman, winner of the 2002 Nobel Prize in Economics, wrote Prospect Theory. They developed a cognitive psychological model to explain divergences from neoclassical economics. They claimed that people take decisions under psychological, social, emotional and economic factors that affect market prices and resource allocation. In order to explain the irrational behaviors of Turkish consumers, I utilized some concepts such as conspicuous consumption (or keeping up with Johns, Veblen Effect, Bandwagon Effect, bounded rationality, 20 to 80 Law and ethical considerations developed by Behavioral Economists and Heterodox Economics. Thus, I came to conclusion that why the free market economic understanding fails in Turkey by giving some examples and economic reasons stated in the last section of this paper.

  3. Neurophysiology of Grasping Actions: Evidence from ERPs

    Science.gov (United States)

    Koester, Dirk; Schack, Thomas; Westerholz, Jan

    2016-01-01

    We use our hands very frequently to interact with our environment. Neuropsychology together with lesion models and intracranial recordings and imaging work yielded important insights into the functional neuroanatomical correlates of grasping, one important function of our hands, pointing toward a functional parietofrontal brain network. Event-related potentials (ERPs) register directly electrical brain activity and are endowed with high temporal resolution but have long been assumed to be susceptible to movement artifacts. Recent work has shown that reliable ERPs can be obtained during movement execution. Here, we review the available ERP work on (uni) manual grasping actions. We discuss various ERP components and how they may be related to functional components of grasping according to traditional distinctions of manual actions such as planning and control phases. The ERP results are largely in line with the assumption of a parietofrontal network. But other questions remain, in particular regarding the temporal succession of frontal and parietal ERP effects. With the low number of ERP studies on grasping, not all ERP effects appear to be coherent with one another. Understanding the control of our hands may help to develop further neurocognitive theories of grasping and to make progress in prosthetics, rehabilitation or development of technical systems for support of human actions. PMID:28066310

  4. An Underactuated Multi-finger Grasping Device

    Directory of Open Access Journals (Sweden)

    Cesare Rossi

    2014-02-01

    Full Text Available In this paper, a mechanical model for an underactuated multi-finger grasping device is presented. The device has single-tendon, three-phalanx fingers, all moved by only one actuator. By means of the model, both the kinematic and dynamical behaviour of the finger itself can be studied. The finger is part of a more complex mechanical system that consists of a four-finger grasping device for robots or a five-finger human hand prosthesis. Some results of both the kinematic and dynamical behaviour are also presented.

  5. 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

  6. Functional Magnetic Resonance Imaging Adaptation Reveals the Cortical Networks for Processing Grasp-Relevant Object Properties

    NARCIS (Netherlands)

    Monaco, S.; Chen, Y.; Medendorp, W.P.; Crawford, J.D.; Fiehler, K.; Henriques, D.Y.P.

    2014-01-01

    Grasping behaviors require the selection of grasp-relevant object dimensions, independent of overall object size. Previous neuroimaging studies found that the intraparietal cortex processes object size, but it is unknown whether the graspable dimension (i.e., grasp axis between selected points on th

  7. Measure, Then Show: Grasping Human Evolution Through an Inquiry-Based, Data-driven Hominin Skulls Lab.

    Science.gov (United States)

    Bayer, Chris N; Luberda, Michael

    2016-01-01

    Incomprehension and denial of the theory of evolution among high school students has been observed to also occur when teachers are not equipped to deliver a compelling case also for human evolution based on fossil evidence. This paper assesses the outcomes of a novel inquiry-based paleoanthropology lab teaching human evolution to high-school students. The inquiry-based Be a Paleoanthropologist for a Day lab placed a dozen hominin skulls into the hands of high-school students. Upon measuring three variables of human evolution, students explain what they have observed and discuss findings. In the 2013/14 school year, 11 biology classes in 7 schools in the Greater New Orleans area participated in this lab. The interviewed teacher cohort unanimously agreed that the lab featuring hominin skull replicas and stimulating student inquiry was a pedagogically excellent method of delivering the subject of human evolution. First, the lab's learning path of transforming facts to data, information to knowledge, and knowledge to acceptance empowered students to themselves execute part of the science that underpins our understanding of deep time hominin evolution. Second, although challenging, the hands-on format of the lab was accessible to high-school students, most of whom were readily able to engage the lab's scientific process. Third, the lab's exciting and compelling pedagogy unlocked higher order thinking skills, effectively activating the cognitive, psychomotor and affected learning domains as defined in Bloom's taxonomy. Lastly, the lab afforded students a formative experience with a high degree of retention and epistemic depth. Further study is warranted to gauge the degree of these effects.

  8. Golgi GRASPs: moonlighting membrane tethers

    Directory of Open Access Journals (Sweden)

    Jarvela T

    2012-05-01

    Full Text Available Timothy Jarvela, Adam D LinstedtDepartment of Biological Sciences, Carnegie Mellon University, Pittsburgh, PA, USAAbstract: The identification of mammalian Golgi reassembly stacking proteins (GRASPs 15 years ago was followed by experiments implicating them in diverse functions, including two differing structural roles in Golgi biogenesis and at least two distinct roles in the secretion of proteins. GRASP55 and GRASP65 are localized to cis and medial/trans Golgi cisternae, respectively. They are both required for stacking of Golgi membranes in a Golgi reassembly assay. Depletion of either GRASP from cultured cells prevents the linking of Golgi membranes into their normal ribbon-like network. While GRASPs are not required for transport of secretory cargo per se, they are required for ER-to-Golgi transport of certain specific cargo, such as those containing a C-terminal valine motif. Surprisingly, GRASPs also promote secretion of cargo by the so-called unconventional secretory pathway, which bypasses the Golgi apparatus where the GRASPs reside. Furthermore, regulation of GRASP activity is now recognized for its connections to cell cycle control, development, and disease. Underlying these diverse activities is the structurally conserved N-terminal GRASP domain whose crystal structure was recently determined. It consists of a tandem array of atypical PSD95–DlgA–Zo–1 (PDZ domains, which are well-known protein–protein interaction motifs. The GRASP PDZ domains are used to localize the proteins to the Golgi as well as GRASP-mediated membrane tethering and cargo interactions. These activities are regulated, in part, by phosphorylation of the large unstructured C-terminal domain.Keywords: GRASP, review, membrane, tether, PDZ domain, secretory chaperone, unconventional secretion

  9. 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.

  10. 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....

  11. 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....

  12. Diversity in human behavioral ecology.

    Science.gov (United States)

    Hames, Raymond

    2014-12-01

    As befitting an evolutionary approach to the study of human behavior, the papers in this special issue of Human Nature cover a diversity of topics in modern and traditional societies. They include the goals of hunting in foraging societies, social bias, cooperative breeding, the impact of war on women, leadership, and social mobility. In combination these contributions demonstrate the utility of selectionist's thinking on a wide variety of topics. While many of the contributions employ standard evolutionary biological approaches such as kin selection, cooperative breeding and the Trivers-Willard model, others examine important human issues such as the problems of trust, the cost of war to women, the characteristics of leaders, and what might be called honest or rule-bound fights. One striking feature of many of the contributions is a novel reexamination of traditional research questions from an evolutionary perspective.

  13. 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.)

  14. Too much anticipation? Large anticipatory adjustments of grasping movements to minimal object manipulations.

    Science.gov (United States)

    Herbort, Oliver

    2015-08-01

    When humans grasp objects, the grasps foreshadow the intended object manipulation. It has been suggested that grasps are selected that lead to medial arm postures, which facilitate movement speed and precision, during critical phases of the object manipulation. In Experiment 1, it has been tested whether grasp selections lead to medial postures during rotations of a dial. Participants twisted their arms considerably before grasping the dial, even when the upcoming dial rotation was minimal (5°). Participants neither assumed a medial posture at any point during a short rotation, nor did they assume any of the postures involved in short rotations in the opposite direction. Thus, grasp selections did not necessarily lead to specific postures at any point of the object manipulation. Experiment 2 examined the effect of various grasps on the speed of dial rotations. A medial initial grasp resulted in the fastest dial rotations for most rotation angles. Spontaneously selected grasps were more excursed than necessary to maximize dial rotation speed. This apparent overshot might be explained by participants' sensitive to the variability of their grasps and is in line with the assumption that grasps facilitate control over the grasped object.

  15. On our best behavior: optimality models in human behavioral ecology.

    Science.gov (United States)

    Driscoll, Catherine

    2009-06-01

    This paper discusses problems associated with the use of optimality models in human behavioral ecology. Optimality models are used in both human and non-human animal behavioral ecology to test hypotheses about the conditions generating and maintaining behavioral strategies in populations via natural selection. The way optimality models are currently used in behavioral ecology faces significant problems, which are exacerbated by employing the so-called 'phenotypic gambit': that is, the bet that the psychological and inheritance mechanisms responsible for behavioral strategies will be straightforward. I argue that each of several different possible ways we might interpret how optimality models are being used for humans face similar and additional problems. I suggest some ways in which human behavioral ecologists might adjust how they employ optimality models; in particular, I urge the abandonment of the phenotypic gambit in the human case.

  16. To get the grasp: seven-month-olds encode and selectively reproduce goal-directed grasping.

    Science.gov (United States)

    Thoermer, Claudia; Woodward, Amanda; Sodian, Beate; Perst, Hannah; Kristen, Susanne

    2013-10-01

    Infants need to analyze human behavior in terms of goal-directed actions in order to form expectations about agents' rationality. There is converging evidence for goal encoding during the first year of life from looking time as well as social learning paradigms using imitation procedures. However, conceptual interpretations of these abilities are challenged by low-level motor resonance accounts that propose task-specific lower level sensorimotor associations underlying looking time tasks rather than abstract conceptual knowledge. To test the differential predictions derived from the two accounts, we investigated within-child consistency of performance on different, but conceptually related, tasks requiring goal encoding. This study presented seven-month-old infants with a looking time task and an imitation task, both testing their ability to encode an action goal based on a reaching action, as well as a working memory task to control for the influence of general cognitive capacity. Results showed inter task convergence to be independent of working memory: infants who spent more time looking at goal change events in the looking time task were more likely to selectively reproduce the goal in the imitation task when the model had performed an intentional grasping action rather than a back-of-hand object contact. These findings support the view that low-level motor resonance mechanisms are not sufficient to explain the capacities of action understanding in infants.

  17. From grasp to language: embodied concepts and the challenge of abstraction.

    Science.gov (United States)

    Arbib, Michael A

    2008-01-01

    The discovery of mirror neurons in the macaque monkey and the discovery of a homologous "mirror system for grasping" in Broca's area in the human brain has revived the gestural origins theory of the evolution of the human capability for language, enriching it with the suggestion that mirror neurons provide the neurological core for this evolution. However, this notion of "mirror neuron support for the transition from grasp to language" has been worked out in very different ways in the Mirror System Hypothesis model [Arbib, M.A., 2005a. From monkey-like action recognition to human language: an evolutionary framework for neurolinguistics (with commentaries and author's response). Behavioral and Brain Sciences 28, 105-167; Rizzolatti, G., Arbib, M.A., 1998. Language within our grasp. Trends in Neuroscience 21(5), 188-194] and the Embodied Concept model [Gallese, V., Lakoff, G., 2005. The brain's concepts: the role of the sensory-motor system in reason and language. Cognitive Neuropsychology 22, 455-479]. The present paper provides a critique of the latter to enrich analysis of the former, developing the role of schema theory [Arbib, M.A., 1981. Perceptual structures and distributed motor control. In: Brooks, V.B. (Ed.), Handbook of Physiology--The Nervous System II. Motor Control. American Physiological Society, pp. 1449-1480].

  18. Human Rights and Behavior Modification

    Science.gov (United States)

    Roos, Philip

    1974-01-01

    Criticisms of behavior modification, which charge that it violates ethical and legal principles, are discussed and reasons are presented to explain behavior modification's susceptibility to attack. (GW)

  19. A soft-contact and wrench based approach to study grasp planning and execution.

    Science.gov (United States)

    Singh, Tarkeshwar; Ambike, Satyajit

    2015-11-01

    Grasping research in robotics has made remarkable progress in the last three decades and sophisticated computational tools are now available for planning robotic grasping in complex environments. However, studying the neural control of prehension in humans is more complex than studying robotic grasping. The elaborate musculoskeletal geometries and complex neural inputs to the hand facilitate a symphonic interplay of power and precision that allows humans to grasp fragile objects in a stable way without either crushing or dropping them. Most prehension studies have focused on a planar simplification of prehension since planar analyses render the complex problem of prehension tractable with few variables. The caveat is that planar simplification allows researchers to ask only a limited set of questions. In fact, one of the problems with extending prehension studies to three dimensions is the lack of analytical tools for quantifying features of spatial prehension. The current paper provides a theoretical adaptation and a step-by-step implementation of a widely used soft-contact wrench model for spatial human prehension. We propose two indices, grasp caliber and grasp intensity, to quantitatively relate digit placement and digit forces to grasp stability. Grasp caliber is the smallest singular value of the grasp matrix and it indicates the proximity of the current grasp configuration to instability. Grasp intensity is the magnitude of the excessive wrench applied by the digits to counter perturbations. Apart from quantifying stability of spatial grasps, these indices can also be applied to investigate sensory-motor coupling and the role of perception in grasp planning.

  20. Human behavior representation of military teamwork

    OpenAIRE

    Martin, Michael W.

    2006-01-01

    This work presents a conceptual structure for the behaviors of artificial intelligence agents, with emphasis on creating teamwork through individual behaviors. The goal is to set up a framework which enables teams of simulation agents to behave more realistically. Better team behavior can lend a higher fidelity of human behavior representation in a simulation, as well as provide opportunities to experiment with the factors that create teamwork. The framework divides agent behaviors into three...

  1. Clinical science and human behavior.

    Science.gov (United States)

    Plaud, J J

    2001-09-01

    The debate between mentalism/cognitivism and behaviorism is analyzed, and it is concluded that behaviorism is the philosophy more closely associated with psychology as a behavioral science, the cognitive approach being more closely aligned with biological science. Specific objections to mentalistic interpretations of behavioral phenomena are detailed, and examples from clinical psychology are used to show the importance of behavioral approaches in applied domains. It is argued that the relation between behavior theory and clinical psychology is critical to the continued advancement of applied psychology. Behavior analysis is offered as a direct, applied extension of behavior theory as well as a highly practical and effective approach for understanding, explaining, and modifying the factors that contribute to and maintain maladaptive behaviors.

  2. Mimesis: Linking Postmodern Theory to Human Behavior

    Science.gov (United States)

    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…

  3. Ecological Environment in Terms of Human Behavior

    Institute of Scientific and Technical Information of China (English)

    Xiaogang; CHEN; Dehu; ZHOU; Hui; LIN

    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.

  4. Human Behavior from a Chronobiological Perspective.

    Science.gov (United States)

    Hoskins, Carol Noll

    1980-01-01

    The rhythmic patterning of man's biochemical, physiological, and psychological behavior and the temporal relationships among various functions are the province of chronobiology. Citing animal and human studies, the author documents the progress of this new science and poses complex questions that it may answer about human behavior. (Editor/SJL)

  5. 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)

  6. 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)

  7. Grasping Pattern Recognition and Grasping Force Estimation For Prosthetic Hands

    Directory of Open Access Journals (Sweden)

    Zhang Bing-Ke

    2016-01-01

    Full Text Available Human’s movement can be decoded by surface electromyography (EMG, and the prosthetic hand can be controlled freely through EMG signal. This paper proposes a grasping pattern and force synchronized decoding method for prosthetic hands. Considering pattern recognition and force estimation simultaneously, this paper analyzes whether different muscle contraction levels affect pattern recognition and whether different grasping modes have impact on force estimation, then proposes two schemes to complete EMG simultaneously decoding. Experiments compare the accuracy of the two methods. The results show that there is no much difference between two methods in force estimation, the former’s accuracy of pattern recognition is a little higher than the latter.

  8. 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.

  9. 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...

  10. Contribution of the posterior parietal cortex in reaching, grasping, and using objects and tools

    Directory of Open Access Journals (Sweden)

    Guy eVingerhoets

    2014-03-01

    Full Text Available Neuropsychological and neuroimaging data suggest a differential contribution of posterior parietal regions during the different components of a transitive gesture. Reaching requires the integration of object location and body position coordinates and reaching tasks elicit bilateral activation in different foci along the intraparietal sulcus. Grasping requires a visuomotor match between the object’s shape and the hand’s posture. Lesion studies and neuroimaging confirm the importance of the anterior part of the intraparietal sulcus for human grasping. Reaching and grasping reveal bilateral activation that is generally more prominent on the side contralateral to the hand used or the hemifield stimulated. Purposeful behavior with objects and tools can be assessed in a variety of ways, including actual use, pantomimed use, and pure imagery of manipulation. All tasks have been shown to elicit robust activation over the left parietal cortex in neuroimaging, but lesion studies have not always confirmed these findings. Compared to pantomimed or imagined gestures, actual object and tool use typically produces activation over the left primary somatosensory region. Neuroimaging studies on pantomiming or imagery of tool use in healthy volunteers revealed neural responses in possibly separate foci in the left supramarginal gyrus. In sum, the parietal contribution of reaching and grasping of objects seems to depend on a bilateral network of intraparietal foci that appear organized along gradients of sensory and effector preferences. Dorsal and medial parietal cortex appears to contribute to the online monitoring/adjusting of the ongoing prehensile action, whereas the functional use of objects and tools seems to involve the inferior lateral parietal cortex. This functional input reveals a clear left lateralized activation pattern that may be tuned to the integration of acquired knowledge in the planning and guidance of the transitive movement.

  11. Contribution of the posterior parietal cortex in reaching, grasping, and using objects and tools.

    Science.gov (United States)

    Vingerhoets, Guy

    2014-01-01

    Neuropsychological and neuroimaging data suggest a differential contribution of posterior parietal regions during the different components of a transitive gesture. Reaching requires the integration of object location and body position coordinates and reaching tasks elicit bilateral activation in different foci along the intraparietal sulcus. Grasping requires a visuomotor match between the object's shape and the hand's posture. Lesion studies and neuroimaging confirm the importance of the anterior part of the intraparietal sulcus for human grasping. Reaching and grasping reveal bilateral activation that is generally more prominent on the side contralateral to the hand used or the hemifield stimulated. Purposeful behavior with objects and tools can be assessed in a variety of ways, including actual use, pantomimed use, and pure imagery of manipulation. All tasks have been shown to elicit robust activation over the left parietal cortex in neuroimaging, but lesion studies have not always confirmed these findings. Compared to pantomimed or imagined gestures, actual object and tool use typically produces activation over the left primary somatosensory region. Neuroimaging studies on pantomiming or imagery of tool use in healthy volunteers revealed neural responses in possibly separate foci in the left supramarginal gyrus. In sum, the parietal contribution of reaching and grasping of objects seems to depend on a bilateral network of intraparietal foci that appear organized along gradients of sensory and effector preferences. Dorsal and medial parietal cortex appears to contribute to the online monitoring/adjusting of the ongoing prehensile action, whereas the functional use of objects and tools seems to involve the inferior lateral parietal cortex. This functional input reveals a clear left lateralized activation pattern that may be tuned to the integration of acquired knowledge in the planning and guidance of the transitive movement.

  12. Influence of human behavior on cholera dynamics

    OpenAIRE

    Wang, Xueying; Gao, Daozhou; Wang, Jin

    2015-01-01

    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 equa...

  13. Recognition of 48 Human Behaviors from Video

    NARCIS (Netherlands)

    Burghouts, G.J.; Bouma, H.; Hollander, R.J.M. den; Broek, S.P. van den; Schutte, K.

    2012-01-01

    We have developed a system that recognizes 48 human behaviors from video. The essential elements are (i) inference of the actors in the scene, (ii) assessment of event-related properties of actors and between actors, (iii) exploiting the event properties to recognize the behaviors. The performance o

  14. 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.

  15. 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...

  16. 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 fibr...

  17. 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.

  18. FORCE OPTIMIZATION OF GRASPING BY ROBOTIC HANDS

    Institute of Scientific and Technical Information of China (English)

    2003-01-01

    It is important for robotic hands to obtain optimal grasping performance in the meanwhile balancing external forces and maintaining grasp stability.The problem of force optimization of grasping is solved in the space of joint torques.A measure of grasping performance is presented to protect joint actuators from working in heavy payloads.The joint torques are calculated for the optimal performance under the frictional constraints and the physical limits of motor outputs.By formulating the grasping forces into the explicit function of joint torques, the frictional constraints imposed on the grasping forces are transformed into the constraints on joint torques.Without further simplification, the nonlinear frictional constraints can be simply handled in the process of optimization.Two numerical examples demonstrate the simplicity and effectiveness of the approach.

  19. Human chromosomes: Structure, behavior, and effects

    Energy Technology Data Exchange (ETDEWEB)

    Therman, E.; Susman, M.

    1993-12-31

    The book `Human Chromosomes: Structure, Behavior, and Effects` covers the most important topics regarding human chromosomes and current research in cytogenetics. Attention is given both to structure and function of autosomes and sex chromosomes, as well as definitions and causes of chromosomal aberrations. This often involves discussion about various aspects of the cell cycle (both mitosis and meiosis). Methods and techniques involved in researching and mapping human chromosomes are also discussed.

  20. Fractal Analysis on Human Behaviors Dynamics

    CERN Document Server

    Fan, Chao; Zha, Yi-Long

    2010-01-01

    The study of human dynamics has attracted much interest from many fields recently. In this paper, the fractal characteristic of human behaviors is investigated from the perspective of time series constructed with the amount of library loans. The Hurst exponents and length of non-periodic cycles calculated through Rescaled Range Analysis indicate that the time series of human behaviors is fractal with long-range correlation. Then the time series are converted to complex networks by visibility graph algorithm. The topological properties of the networks, such as scale-free property, small-world effect and hierarchical structure imply that close relationships exist between the amounts of repetitious actions performed by people during certain periods of time, especially for some important days. Finally, the networks obtained are verified to be not fractal and self-similar using box-counting method. Our work implies the intrinsic regularity shown in human collective repetitious behaviors.

  1. 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.

  2. Behavioral Entropy in Human-Robot Interaction

    Science.gov (United States)

    2004-01-01

    Department 2 Erwin R. Boer Consulting Brigham Young University San Diego, CA, USA Provo, UT, USA ABSTRACT The ability to quickly and accurately measure...AND ADDRESS(ES) Brigham Young University,Computer Science Department,33361 Talmage Building,Provo,UT,84602 8. PERFORMING ORGANIZATION REPORT NUMBER...in- teraction. To paraphrase Wiener, people work to re- duce entropy so skilled behavior minimizes entropy. This manifests itself in human behavior

  3. Dynamics and Stability of Blind Grasping of a 3-Dimensional Object under Non-holonomic Constraints

    Institute of Scientific and Technical Information of China (English)

    Suguru Arimoto; Morio Yoshida; Ji-Hun Bae

    2006-01-01

    A mathematical model expressing the motion of a pair of multi-DOF robot fingers with hemi-spherical ends,grasping a 3-D rigid object with parallel flat surfaces, is derived, together with non-holonomic constraints. By referring to the fact that humans grasp an object in the form of precision prehension, dynamically and stably by opposable forces, between the thumb and another finger (index or middle finger), a simple control signal constructed from finger-thumb opposition is proposed, and shown to realize stable grasping in a dynamic sense without using object information or external sensing (this is called "blind grasp" in this paper). The stability of grasping with force/torque balance under non-holonomic constraints is analyzed on the basis of a new concept named "stability on a manifold". Preliminary simulation results are shown to verify the validity of the theoretical results.

  4. Neuronal Correlates of Functional Coupling between Reach- and Grasp-Related Components of Muscle Activity

    Science.gov (United States)

    Geed, Shashwati; McCurdy, Martha L.; van Kan, Peter L. E.

    2017-01-01

    Coordinated reach-to-grasp movements require precise spatiotemporal synchrony between proximal forelimb muscles (shoulder, elbow) that transport the hand toward a target during reach, and distal muscles (wrist, digit) that simultaneously preshape and orient the hand for grasp. The precise mechanisms through which the redundant neuromuscular circuitry coordinates reach with grasp, however, remain unclear. Recently, Geed and Van Kan (2016) demonstrated, using exploratory factor analysis (EFA), that limited numbers of global, template-like transport/preshape- and grasp-related muscle components underlie the complexity and variability of intramuscular electromyograms (EMGs) of up to 21 distal and proximal muscles recorded while monkeys performed reach-to-grasp tasks. Importantly, transport/preshape- and grasp-related muscle components showed invariant spatiotemporal coupling, which provides a potential mechanism for coordinating forelimb muscles during reach-to-grasp movements. In the present study, we tested whether ensemble discharges of forelimb neurons in the cerebellar nucleus interpositus (NI) and its target, the magnocellular red nucleus (RNm), a source of rubrospinal fibers, function as neuronal correlates of the transport/preshape- and grasp-related muscle components we identified. EFA applied to single-unit discharges of populations of NI and RNm neurons recorded while the same monkeys that were used previously performed the same reach-to-grasp tasks, revealed neuronal components in the ensemble discharges of both NI and RNm neuronal populations with characteristics broadly similar to muscle components. Subsets of NI and RNm neuronal components were strongly and significantly crosscorrelated with subsets of muscle components, suggesting that similar functional units of reach-to-grasp behavior are expressed by NI and RNm neuronal populations and forelimb muscles. Importantly, like transport/preshape- and grasp-related muscle components, their NI and RNm

  5. 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 stabl...

  6. Quality of Grasping and the Role of Haptics in a 3-D Immersive Virtual Reality Environment in Individuals With Stroke.

    Science.gov (United States)

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

    2015-11-01

    Reaching and grasping parameters with and without haptic feedback were characterized in people with chronic post-stroke behaviors. Twelve (67 ± 10 years) individuals with chronic stroke and arm/hand paresis (Fugl-Meyer Assessment-Arm: ≥ 46/66 pts) participated. Three dimensional (3-D) temporal and spatial kinematics of reaching and grasping movements to three objects (can: cylindrical grasp; screwdriver: power grasp; pen: precision grasp) in a physical environment (PE) with and without additional haptic feedback and a 3-D virtual environment (VE) with haptic feedback were recorded. Participants reached, grasped and transported physical and virtual objects using similar movement strategies in all conditions. Reaches made in VE were less smooth and slower compared to the PE. Arm and trunk kinematics were similar in both environments and glove conditions. For grasping, stroke subjects preserved aperture scaling to object size but used wider hand apertures with longer delays between times to maximal reaching velocity and maximal grasping aperture. Wearing the glove decreased reaching velocity. Our results in a small group of subjects suggest that providing haptic information in the VE did not affect the validity of reaching and grasping movement. Small disparities in movement parameters between environments may be due to differences in perception of object distance in VE. Reach-to-grasp kinematics to smaller objects may be improved by better 3-D rendering. Comparable kinematics between environments and conditions is encouraging for the incorporation of high quality VEs in rehabilitation programs aimed at improving upper limb recovery.

  7. Visual Descriptor Learning for Predicting Grasping Affordances

    DEFF Research Database (Denmark)

    Thomsen, Mikkel Tang

    2016-01-01

    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...... 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...... a hierarchical representation of visual surface descriptors in SE(3). The mechanism provides a generic way of creating a hierarchical representation of N layers using pairs of descriptors. The created hierarchies were evaluated on the task of grasping unknown objects and the resulting best success-rate was 65...

  8. Multi-digit force control during unconstrained grasping in response to object perturbations.

    Science.gov (United States)

    Naceri, Abdeldjallil; Moscatelli, Alessandro; Haschke, Robert; Ritter, Helge; Santello, Marco; Ernst, Marc O

    2017-02-22

    Because of the complex anatomy of the human hand, in the absence of external constraints a large number of postures and force combinations can be used to attain a stable grasp. Motor synergies provide a viable strategy to solve this problem of motor redundancy. In this study, we exploited the technical advantages of an innovative sensorized object to study unconstrained hand grasping within the theoretical framework of motor synergies. Participants were required to grasp, lift, and hold the sensorized object. During the holding phase, we repetitively applied external disturbance forces and torques and recorded the spatiotemporal distribution of grip forces produced by each digit. We found that the time to reach the maximum grip force during each perturbation was roughly equal across fingers, consistently with a synchronous, synergistic stiffening across digits. We further evaluated this hypothesis by comparing the force distribution of human grasping versus robotic grasping, where the control strategy was set by the experimenter. We controlled the global hand stiffness of the robotic hand and we found that this control algorithm produced a force pattern qualitatively similar to human grasping performance. Our results suggest that the nervous system uses a default whole-hand synergistic control to maintain a stable grasp regardless of the number of digits involved in the task, their position on the objects, and the type and frequency of external perturbations.

  9. Learning to grasp and extract affordances: the Integrated Learning of Grasps and Affordances (ILGA) model.

    Science.gov (United States)

    Bonaiuto, James; Arbib, Michael A

    2015-12-01

    The activity of certain parietal neurons has been interpreted as encoding affordances (directly perceivable opportunities) for grasping. Separate computational models have been developed for infant grasp learning and affordance learning, but no single model has yet combined these processes in a neurobiologically plausible way. We present the Integrated Learning of Grasps and Affordances (ILGA) model that simultaneously learns grasp affordances from visual object features and motor parameters for planning grasps using trial-and-error reinforcement learning. As in the Infant Learning to Grasp Model, we model a stage of infant development prior to the onset of sophisticated visual processing of hand-object relations, but we assume that certain premotor neurons activate neural populations in primary motor cortex that synergistically control different combinations of fingers. The ILGA model is able to extract affordance representations from visual object features, learn motor parameters for generating stable grasps, and generalize its learned representations to novel objects.

  10. Grasp Algorithms For Optotactile Robotic Sample Acquisition Project

    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...

  11. Scaling behavior of online human activity

    CERN Document Server

    Zhao, Zhi-Dan; Huang, Junming; Fu, Yan; Zhou, Tao; 10.1209/0295-5075/100/48004

    2013-01-01

    The rapid development of Internet technology enables human 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 dynamic behavior of human activity. In this letter, the scaling behavior and complexity of human activity in the e-commerce, such as music, book, and movie rating, are comprehensively investigated by using detrended fluctuation analysis technique and multiscale entropy method. Firstly, the interevent time series of rating behaviors of these three type medias show the similar scaling property 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 their activities (i.e., rating per unit time), we find that the scaling exponents of interevent time series in three groups are different. Hence, these results suggest the stronger long-rang...

  12. 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.

  13. Human Behavior Cognition Using Smartphone Sensors

    Directory of Open Access Journals (Sweden)

    Jyrki Kaistinen

    2013-01-01

    Full Text Available This research focuses on sensing context, modeling human behavior and developing a new architecture for a cognitive phone platform. We combine the latest positioning technologies and phone sensors to capture human movements in natural environments and use the movements to study human behavior. Contexts in this research are abstracted as a Context Pyramid which includes six levels: Raw Sensor Data, Physical Parameter, Features/Patterns, Simple Contextual Descriptors, Activity-Level Descriptors, and Rich Context. To achieve implementation of the Context Pyramid on a cognitive phone, three key technologies are utilized: ubiquitous positioning, motion recognition, and human behavior modeling. Preliminary tests indicate that we have successfully achieved the Activity-Level Descriptors level with our LoMoCo (Location-Motion-Context model. Location accuracy of the proposed solution is up to 1.9 meters in corridor environments and 3.5 meters in open spaces. Test results also indicate that the motion states are recognized with an accuracy rate up to 92.9% using a Least Square-Support Vector Machine (LS-SVM classifier.

  14. Behavior genetic modeling of human fertility

    DEFF Research Database (Denmark)

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

    2001-01-01

    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......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...

  15. Human-Machine Interface for the Control of Multi-Function Systems Based on Electrocutaneous Menu: Application to Multi-Grasp Prosthetic Hands.

    Directory of Open Access Journals (Sweden)

    Jose Gonzalez-Vargas

    Full Text Available Modern assistive devices are very sophisticated systems with multiple degrees of freedom. However, an effective and user-friendly control of these systems is still an open problem since conventional human-machine interfaces (HMI cannot easily accommodate the system's complexity. In HMIs, the user is responsible for generating unique patterns of command signals directly triggering the device functions. This approach can be difficult to implement when there are many functions (necessitating many command patterns and/or the user has a considerable impairment (limited number of available signal sources. In this study, we propose a novel concept for a general-purpose HMI where the controller and the user communicate bidirectionally to select the desired function. The system first presents possible choices to the user via electro-tactile stimulation; the user then acknowledges the desired choice by generating a single command signal. Therefore, the proposed approach simplifies the user communication interface (one signal to generate, decoding (one signal to recognize, and allows selecting from a number of options. To demonstrate the new concept the method was used in one particular application, namely, to implement the control of all the relevant functions in a state of the art commercial prosthetic hand without using any myoelectric channels. We performed experiments in healthy subjects and with one amputee to test the feasibility of the novel approach. The results showed that the performance of the novel HMI concept was comparable or, for some outcome measures, better than the classic myoelectric interfaces. The presented approach has a general applicability and the obtained results point out that it could be used to operate various assistive systems (e.g., prosthesis vs. wheelchair, or it could be integrated into other control schemes (e.g., myoelectric control, brain-machine interfaces in order to improve the usability of existing low

  16. Human-Machine Interface for the Control of Multi-Function Systems Based on Electrocutaneous Menu: Application to Multi-Grasp Prosthetic Hands.

    Science.gov (United States)

    Gonzalez-Vargas, Jose; Dosen, Strahinja; Amsuess, Sebastian; Yu, Wenwei; Farina, Dario

    2015-01-01

    Modern assistive devices are very sophisticated systems with multiple degrees of freedom. However, an effective and user-friendly control of these systems is still an open problem since conventional human-machine interfaces (HMI) cannot easily accommodate the system's complexity. In HMIs, the user is responsible for generating unique patterns of command signals directly triggering the device functions. This approach can be difficult to implement when there are many functions (necessitating many command patterns) and/or the user has a considerable impairment (limited number of available signal sources). In this study, we propose a novel concept for a general-purpose HMI where the controller and the user communicate bidirectionally to select the desired function. The system first presents possible choices to the user via electro-tactile stimulation; the user then acknowledges the desired choice by generating a single command signal. Therefore, the proposed approach simplifies the user communication interface (one signal to generate), decoding (one signal to recognize), and allows selecting from a number of options. To demonstrate the new concept the method was used in one particular application, namely, to implement the control of all the relevant functions in a state of the art commercial prosthetic hand without using any myoelectric channels. We performed experiments in healthy subjects and with one amputee to test the feasibility of the novel approach. The results showed that the performance of the novel HMI concept was comparable or, for some outcome measures, better than the classic myoelectric interfaces. The presented approach has a general applicability and the obtained results point out that it could be used to operate various assistive systems (e.g., prosthesis vs. wheelchair), or it could be integrated into other control schemes (e.g., myoelectric control, brain-machine interfaces) in order to improve the usability of existing low-bandwidth HMIs.

  17. GRASP with Path Relinking for the SumCut Problem

    Directory of Open Access Journals (Sweden)

    Jesús Sánchez-Oro

    2012-01-01

    Full Text Available This paper proposes a GRASP algorithm combined with Path Relinking to solve the SumCut minimization problem. In the SumCut problem one is given a graph with n nodes and must label the nodes in a way that each node receives a unique label from the set{1,2,…,n}, in order to minimize the sum cut of the generated solution. The SumCut problem is really important in archeology (in seriation tasks and in genetics, helping in the Human Genome Project. This problem is equivalent to the Profile problem, because a solution for SumCut is reversal solution for Profile problem. Experimental results show that the GRASP and Path Relinking methods presented outperform in terms of average percentage deviation the results from the State of the Art using shorter CPU time.

  18. Evaluation of Grasping Motion Using a Virtual Prosthetic Control System

    Science.gov (United States)

    Fukuda, Osamu; Bu, Nan; Ueno, Naohiro

    Electromyogram (EMG) signals can be measured from human muscles and can be used to anticipate movements. In fact, many researchers have tried to use these signals as an interface tool for a prosthetic hand. However, most of these studies focused on the discrimination performance of the EMG signals, and only discussed the control method for the prosthetic hand. Evaluation of the operating performance was seldom reported. This paper proposes a virtual prosthetic control system and presents the analyses of a grasp motion under two different EMG control methods: on/off control and proportional control. The proportional control is able to proportionally control the grasping velocity based on the amplitude of the EMG signal. The on/off control controls the hand at a uniform rate while the amplitude of the EMG signal is greater than a predefined threshold. We conducted experiments with five subjects, and confirmed the usefulness of the developed system.

  19. Human behavior in online social systems

    Science.gov (United States)

    Grabowski, A.

    2009-06-01

    We present and study data concerning human behavior in four online social systems: (i) an Internet community of friends of over 107 people, (ii) a music community website with over 106 users, (iii) a gamers’ community server with over 5 × 106 users and (iv) a booklovers’ website with over 2.5 × 105 users. The purpose of those systems is different; however, their properties are very similar. We have found that the distribution of human activity (e.g., the sum of books read or songs played) has the form of a power law. Moreover, the relationship between human activity and time has a power-law form, too. We present a simple interest-driven model of the evolution of such systems which explains the emergence of two scaling regimes.

  20. The relations between neuroscience and human behavioral science.

    OpenAIRE

    Strumwasser, F.

    1994-01-01

    Neuroscience seeks to understand how the human brain, perhaps the most complex electrochemical machine in the universe, works, in terms of molecules, membranes, cells and cell assemblies, development, plasticity, learning, memory, cognition, and behavior. The human behavioral sciences, in particular psychiatry and clinical psychology, deal with disorders of human behavior and mentation. The gap between neuroscience and the human behavioral sciences is still large. However, some major advances...

  1. A Neural Dynamic Architecture for Reaching and Grasping Integrates Perception and Movement Generation and Enables On-Line Updating

    Science.gov (United States)

    Knips, Guido; Zibner, Stephan K. U.; Reimann, Hendrik; Schöner, Gregor

    2017-01-01

    Reaching for objects and grasping them is a fundamental skill for any autonomous robot that interacts with its environment. Although this skill seems trivial to adults, who effortlessly pick up even objects they have never seen before, it is hard for other animals, for human infants, and for most autonomous robots. Any time during movement preparation and execution, human reaching movement are updated if the visual scene changes (with a delay of about 100 ms). The capability for online updating highlights how tightly perception, movement planning, and movement generation are integrated in humans. Here, we report on an effort to reproduce this tight integration in a neural dynamic process model of reaching and grasping that covers the complete path from visual perception to movement generation within a unified modeling framework, Dynamic Field Theory. All requisite processes are realized as time-continuous dynamical systems that model the evolution in time of neural population activation. Population level neural processes bring about the attentional selection of objects, the estimation of object shape and pose, and the mapping of pose parameters to suitable movement parameters. Once a target object has been selected, its pose parameters couple into the neural dynamics of movement generation so that changes of pose are propagated through the architecture to update the performed movement online. Implementing the neural architecture on an anthropomorphic robot arm equipped with a Kinect sensor, we evaluate the model by grasping wooden objects. Their size, shape, and pose are estimated from a neural model of scene perception that is based on feature fields. The sequential organization of a reach and grasp act emerges from a sequence of dynamic instabilities within a neural dynamics of behavioral organization, that effectively switches the neural controllers from one phase of the action to the next. Trajectory formation itself is driven by a dynamical systems version of

  2. A Neural Dynamic Architecture for Reaching and Grasping Integrates Perception and Movement Generation and Enables On-Line Updating.

    Science.gov (United States)

    Knips, Guido; Zibner, Stephan K U; Reimann, Hendrik; Schöner, Gregor

    2017-01-01

    Reaching for objects and grasping them is a fundamental skill for any autonomous robot that interacts with its environment. Although this skill seems trivial to adults, who effortlessly pick up even objects they have never seen before, it is hard for other animals, for human infants, and for most autonomous robots. Any time during movement preparation and execution, human reaching movement are updated if the visual scene changes (with a delay of about 100 ms). The capability for online updating highlights how tightly perception, movement planning, and movement generation are integrated in humans. Here, we report on an effort to reproduce this tight integration in a neural dynamic process model of reaching and grasping that covers the complete path from visual perception to movement generation within a unified modeling framework, Dynamic Field Theory. All requisite processes are realized as time-continuous dynamical systems that model the evolution in time of neural population activation. Population level neural processes bring about the attentional selection of objects, the estimation of object shape and pose, and the mapping of pose parameters to suitable movement parameters. Once a target object has been selected, its pose parameters couple into the neural dynamics of movement generation so that changes of pose are propagated through the architecture to update the performed movement online. Implementing the neural architecture on an anthropomorphic robot arm equipped with a Kinect sensor, we evaluate the model by grasping wooden objects. Their size, shape, and pose are estimated from a neural model of scene perception that is based on feature fields. The sequential organization of a reach and grasp act emerges from a sequence of dynamic instabilities within a neural dynamics of behavioral organization, that effectively switches the neural controllers from one phase of the action to the next. Trajectory formation itself is driven by a dynamical systems version of

  3. Visualization and Rule Validation in Human-Behavior Representation

    Science.gov (United States)

    Moya, Lisa Jean; McKenzie, Frederic D.; Nguyen, Quynh-Anh H.

    2008-01-01

    Human behavior representation (HBR) models simulate human behaviors and responses. The Joint Crowd Federate [TM] cognitive model developed by the Virginia Modeling, Analysis, and Simulation Center (VMASC) and licensed by WernerAnderson, Inc., models the cognitive behavior of crowds to provide credible crowd behavior in support of military…

  4. Sympathetic nervous system behavior in human obesity.

    Science.gov (United States)

    Davy, Kevin P; Orr, Jeb S

    2009-02-01

    The sympathetic nervous system (SNS) plays an essential role in the regulation of metabolic and cardiovascular homeostasis. Low SNS activity has been suggested to be a risk factor for weight gain and obesity development. In contrast, SNS activation is characteristic of a number of metabolic and cardiovascular diseases that occur more frequently in obese individuals. Until recently, the relation between obesity and SNS behavior has been controversial because previous approaches for assessing SNS activity in humans have produced inconsistent findings. Beginning in the early 1990s, many studies using state of the art neurochemical and neurophysiological techniques have provided important insight. The purpose of the present review is to provide an overview of our current understanding of the region specific alterations in SNS behavior in human obesity. We will discuss findings from our own laboratory which implicate visceral fat as an important depot linking obesity with skeletal muscle SNS activation. The influence of weight change on SNS behavior and the potential mechanisms and consequences of region specific SNS activation in obesity will also be considered.

  5. Mitigating Insider Threat Using Human Behavior Influence Models

    Science.gov (United States)

    2006-06-01

    Change in Score Versus Time for Both Employees (over 3 years).......................94 45. Distribution of Sensitivity Tests Performed ...Human Behavior Human Behavior is defined as a “collection of activities performed by human beings and influenced by culture, attitudes, emotions...values, ethics, authority, rapport, hypnosis , persuasion, and/or coercion.” [6] The theory behind human behavior is humans react to “definite objective

  6. 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.

  7. GRASPs in Golgi Structure and Function

    Directory of Open Access Journals (Sweden)

    Xiaoyan eZhang

    2016-01-01

    Full Text Available The Golgi apparatus is a central intracellular membrane organelle for trafficking and modification of proteins and lipids. Its basic structure is a stack of tightly aligned flat cisternae. In mammalian cells, dozens of stacks are concentrated in the pericentriolar region and laterally connected to form a ribbon. Despite extensive research in the last decades, how this unique structure is formed and why its formation is important for proper Golgi functioning remain largely unknown. The Golgi ReAssembly Stacking Proteins, GRASP65 and GRASP55, are so far the only proteins shown to function in Golgi stacking. They are peripheral membrane proteins on the cytoplasmic face of the Golgi cisternae that form trans-oligomers through their N-terminal GRASP domain, and thereby function as the glue to stick adjacent cisternae together into a stack and to link Golgi stacks into a ribbon. Depletion of GRASPs in cells disrupts the Golgi structure and results in accelerated protein trafficking and defective glycosylation. In this minireview we summarize our current knowledge on how GRASPs function in Golgi structure formation and discuss why Golgi structure formation is important for its function.

  8. Anomalous human behavior detection: an adaptive approach

    Science.gov (United States)

    van Leeuwen, Coen; Halma, Arvid; Schutte, Klamer

    2013-05-01

    Detection of anomalies (outliers or abnormal instances) is an important element in a range of applications such as fault, fraud, suspicious behavior detection and knowledge discovery. In this article we propose a new method for anomaly detection and performed tested its ability to detect anomalous behavior in videos from DARPA's Mind's Eye program, containing a variety of human activities. In this semi-unsupervised task a set of normal instances is provided for training, after which unknown abnormal behavior has to be detected in a test set. The features extracted from the video data have high dimensionality, are sparse and inhomogeneously distributed in the feature space making it a challenging task. Given these characteristics a distance-based method is preferred, but choosing a threshold to classify instances as (ab)normal is non-trivial. Our novel aproach, the Adaptive Outlier Distance (AOD) is able to detect outliers in these conditions based on local distance ratios. The underlying assumption is that the local maximum distance between labeled examples is a good indicator of the variation in that neighborhood, and therefore a local threshold will result in more robust outlier detection. We compare our method to existing state-of-art methods such as the Local Outlier Factor (LOF) and the Local Distance-based Outlier Factor (LDOF). The results of the experiments show that our novel approach improves the quality of the anomaly detection.

  9. 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.

  10. The magic grasp: motor expertise in deception.

    Science.gov (United States)

    Cavina-Pratesi, Cristiana; Kuhn, Gustav; Ietswaart, Magdalena; Milner, A David

    2011-02-09

    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.

  11. Development of autonomous grasping and navigating robot

    Science.gov (United States)

    Kudoh, Hiroyuki; Fujimoto, Keisuke; Nakayama, Yasuichi

    2015-01-01

    The ability to find and grasp target items in an unknown environment is important for working robots. We developed an autonomous navigating and grasping robot. The operations are locating a requested item, moving to where the item is placed, finding the item on a shelf or table, and picking the item up from the shelf or the table. To achieve these operations, we designed the robot with three functions: an autonomous navigating function that generates a map and a route in an unknown environment, an item position recognizing function, and a grasping function. We tested this robot in an unknown environment. It achieved a series of operations: moving to a destination, recognizing the positions of items on a shelf, picking up an item, placing it on a cart with its hand, and returning to the starting location. The results of this experiment show the applicability of reducing the workforce with robots.

  12. Co-registering kinematics and evoked related potentials during visually guided reach-to-grasp movements.

    Directory of Open Access Journals (Sweden)

    Teresa De Sanctis

    Full Text Available BACKGROUND: In non-human primates grasp-related sensorimotor transformations are accomplished in a circuit involving the anterior intraparietal sulcus (area AIP and both the ventral and the dorsal sectors of the premotor cortex (vPMC and dPMC, respectively. Although a human homologue of such a circuit has been identified, the time course of activation of these cortical areas and how such activity relates to specific kinematic events has yet to be investigated. METHODOLOGY/PRINCIPAL FINDINGS: We combined kinematic and event-related potential techniques to explicitly test how activity within human grasping-related brain areas is modulated in time. Subjects were requested to reach towards and grasp either a small stimulus using a precision grip (i.e., the opposition of index finger and thumb or a large stimulus using a whole hand grasp (i.e., the flexion of all digits around the stimulus. Results revealed a time course of activation starting at the level of parietal regions and continuing at the level of premotor regions. More specifically, we show that activity within these regions was tuned for specific grasps well before movement onset and this early tuning was carried over--as evidenced by kinematic analysis--during the preshaping period of the task. CONCLUSIONS/SIGNIFICANCE: Data are discussed in terms of recent findings showing a marked differentiation across different grasps during premovement phases which was carried over into subsequent movement phases. These findings offer a substantial contribution to the current debate about the nature of the sensorimotor transformations underlying grasping. And provide new insights into the detailed movement information contained in the human preparatory activity for specific hand movements.

  13. Reliability of the Ego-Grasping Scale.

    Science.gov (United States)

    Lester, David

    2012-04-01

    Research using Knoblauch and Falconer's Ego-Grasping Scale is reviewed. Using a sample of 695 undergraduate students, the scale had moderate reliability (Cronbach alpha, odd-even numbered items, and test-retest), but a principal-components analysis with a varimax rotation identified five components, indicating heterogeneity in the content of the items. Lower Ego-Grasping scores appear to be associated with better psychological health. The scale has been translated and used with Korean, Kuwaiti, and Turkish students, indicating that the scale can be useful in cross-cultural studies.

  14. Automated regional behavioral analysis for human brain images

    National Research Council Canada - National Science Library

    Lancaster, Jack L; Laird, Angela R; Eickhoff, Simon B; Martinez, Michael J; Fox, P Mickle; Fox, Peter T

    2012-01-01

    Behavioral categories of functional imaging experiments along with standardized brain coordinates of associated activations were used to develop a method to automate regional behavioral analysis of human brain images...

  15. Simulating human behavior for understanding and managing environmental resource use

    NARCIS (Netherlands)

    Jager, Wander; Mosler, Hans Joachim

    2007-01-01

    Computer simulation allows for the experimental study of dynamic interactions between human behavior and complex environmental systems. Behavioral determinants and processes as identified in social-scientific theory may be formalized in simulated agents to obtain a better understanding of

  16. Grasping Preparation Enhances Orientation Change Detection

    NARCIS (Netherlands)

    Gutteling, T.P.; Kenemans, J.L.; Neggers, S.F.W.

    2011-01-01

    Preparing a goal directed movement often requires detailed analysis of our environment. When picking up an object, its orientation, size and relative distance are relevant parameters when preparing a successful grasp. It would therefore be beneficial if the motor system is able to influence early pe

  17. Grasp Algorithms For Optotactile Robotic Sample Acquisition Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Robotic sample acquisition is essentially grasping. Multi-finger robot sample grasping devices are controlled to securely pick up samples. Equations have been...

  18. Functional magnetic resonance adaptation reveals the involvement of the dorsomedial stream in hand orientation for grasping.

    Science.gov (United States)

    Monaco, Simona; Cavina-Pratesi, Cristiana; Sedda, Anna; Fattori, Patrizia; Galletti, Claudio; Culham, Jody C

    2011-11-01

    Reach-to-grasp actions require coordination of different segments of the upper limbs. Previous studies have examined the neural substrates of arm transport and hand grip components of such actions; however, a third component has been largely neglected: the orientation of the wrist and hand appropriately for the object. Here we used functional magnetic resonance imaging adaptation (fMRA) to investigate human brain areas involved in processing hand orientation during grasping movements. Participants used the dominant right hand to grasp a rod with the four fingers opposing the thumb or to reach and touch the rod with the knuckles without visual feedback. In a control condition, participants passively viewed the rod. Trials in a slow event-related design consisted of two sequential stimuli in which the rod orientation changed (requiring a change in wrist posture while grasping but not reaching or looking) or remained the same. We found reduced activation, that is, adaptation, in superior parieto-occipital cortex (SPOC) when the object was repeatedly grasped with the same orientation. In contrast, there was no adaptation when reaching or looking at an object in the same orientation, suggesting that hand orientation, rather than object orientation, was the critical factor. These results agree with recent neurophysiological research showing that a parieto-occipital area of macaque (V6A) is modulated by hand orientation during reach-to-grasp movements. We suggest that the human dorsomedial stream, like that in the macaque, plays a key role in processing hand orientation in reach-to-grasp movements.

  19. Animal models for human behavioral deficiencies during development.

    Science.gov (United States)

    Elsner, J

    1992-01-01

    Often considered to be a subdiscipline of neurotoxicology, experimental behavioral teratology has difficulties to be acknowledged by its own right. Results obtained in the laboratory concerning purely behavioral effects induced by low level prenatal exposure to substances are often doubted to contain any relevance with respect to humans. This doubt is based on many debates going on in the numerous extrapolation steps between observed effects on animal behavior and human psychopathology. Taking the inverse path, extrapolation from a typical human behavioral syndrome (minimal brain dysfunction) to observations which can be made on laboratory animals, the following main debates are discussed: the psychology debate (behaviorism--perceptionism--cognitivism); the psychopathology debate (hyperactivity--attention deficit--tactile-kinesthetic perception deficiency--sensory integration deficits); the relevance debate (behavior is reprogrammable software--behavioral deficits may reflect undetectable hardware defects); the interpretation debate (behavioral teratogenicity is chemical imprinting--behavioral disturbances due to chemicals reflect neurotoxicity); the intelligence debate (IQ decrements--attention deficits); the developmental delay debate (the relevance of a delay in the behavioral development); the sensitivity debate (behavior is the most sensitive measure in toxicology--the brain redundancy and plasticity compensates subtle deficiencies); the statistics debate (gather as many behavioral variables as possible--stay simple and measure only one aspect of behavior); the regulation debate (behavioral teratology should be regulated in detail--tests should not be prescribed). It is attempted to find rational solutions for these debates which menace to jeopardize the very existence of behavioral teratology.

  20. Homography-based grasp tracking for planar objects

    NARCIS (Netherlands)

    Carloni, Raffaella; Recatala, Gabriel; Melchiorri, Claudio; Sanz, Pedro J.; Cervera, Enric

    The visual tracking of grasp points is an essential operation for the execution of an approaching movement of a robot arm to an object: the grasp points are used as features for the definition of the control law. This work describes a strategy for tracking grasps on planar objects based on the use

  1. 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...

  2. 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.

  3. Grasping social dynamics of participatory innovation

    DEFF Research Database (Denmark)

    Sproedt, Henrik; Boer, Laurens

    2011-01-01

    The key element in participatory innovation is to understand innovation as a social problem solving process between different stakeholders. The social dynamics amongst stakeholders are fundamental to the participatory process and outcome, and it’s therefore beneficial for facilitators...... and stakeholders themselves to understand their relations and what it means to participate. We argue that we can grasp these social dynamics of participatory innovation through play. From a management perspective we study how playing games helps us to understand these dynamics, while from an interaction design......-opetition where individual and group goals are conflicting. Drawing on observations and video data of the game being played by the participants of the conference, we study how different group compositions deal with novelty. From here we explain how the process of play can help to grasp the social dynamics...

  4. Grasping social dynamics of participatory innovation

    DEFF Research Database (Denmark)

    Sproedt, Henrik; Boer, Laurens

    2011-01-01

    and stakeholders themselves to understand their relations and what it means to participate. We argue that we can grasp these social dynamics of participatory innovation through play. From a management perspective we study how playing games helps us to understand these dynamics, while from an interaction design...... perspective we study how a game that addresses these dynamics can be designed. We describe a case of a game, designed for the Participatory Innovation Conference of 2011 in Sønderborg, Denmark. The game was particularly designed around the themes of conflict and interdependence, captured by the dilemma of co......-opetition where individual and group goals are conflicting. Drawing on observations and video data of the game being played by the participants of the conference, we study how different group compositions deal with novelty. From here we explain how the process of play can help to grasp the social dynamics...

  5. Anticipatory control of grasping: independence of sensorimotor memories for kinematics and kinetics.

    Science.gov (United States)

    Lukos, Jamie R; Ansuini, Caterina; Santello, Marco

    2008-11-26

    We have recently provided evidence for anticipatory grasp control mechanisms in the kinematic domain by showing that subjects modulate digit placement on an object based on its center of mass (CM) when it can be anticipated (Lukos et al., 2007). This behavior relied on sensorimotor memories about digit contact points and forces required for optimal manipulation. We found that accurate sensorimotor memories depended on the acquisition of implicit knowledge about object properties associated with repeated manipulations of the same object. Whereas implicit knowledge of object properties is essential for anticipatory grasp control, the extent to which subjects can use explicit knowledge to accurately scale digit forces in an anticipatory manner is controversial. Additionally, it is not known whether subjects are able to use explicit knowledge of object properties for anticipatory control of contact points. We addressed this question by asking subjects to grasp and lift an object while providing explicit knowledge of object CM location as visual or verbal cues. Contact point modulation and object roll, a measure of anticipatory force control, were assessed using blocked and random CM presentations. We found that explicit knowledge of object CM enabled subjects to modulate contact points. In contrast, subjects could not minimize object roll in the random condition to the same extent as in the blocked when provided with a verbal or visual cue. These findings point to a dissociation in the effect of explicit knowledge of object properties on grasp kinematics versus kinetics, thus suggesting independent anticipatory processes for grasping.

  6. Which Orbit for the GRASP Mission ?

    Science.gov (United States)

    Pollet, A.; Coulot, D.; Zoulida, M.; Deleflie, F.; Biancale, R.; Mandea, M.

    2014-12-01

    The Geodetic Reference Antenna in Space (GRASP) mission was first proposed in 2011 by JPL in response to the NASA NNH11ZDA012O call for Earth Venture-2 mission. Recently, considering the recommendation of the Prospective Scientific Seminar, CNES expresses its interest and the possibility to participate in a next new JPL proposal. GRASP is a spacecraft system designed to build an enduring and stable Terrestrial Reference Frame (TRF) for accurately measuring and understanding changes in sea level, ice sheets and other elements of the dynamic Earth system. These objectives set the 1 mm accuracy and 0.1 mm/year stability (GGOS, Meeting the Requirements of a Global Society on a Changing Planet in 2020, Plag and Pearlman, 2009) as the goals for the TRF; goals which are an order of magnitude more accurate than the current performance of the TRF. For that, GRASP will carry very precise sensor systems for all the key geodetic techniques used to define and monitor the TRF: a Global Navigation Satellite Systems (GNSS) receiver, a Satellite Laser Ranging (SLR) retroreflector, a Doppler Orbitography and Radio-positioning Integrated by Satellite (DORIS) receiver, and a novel Very Large Baseline Interferometry (VLBI) beacon. To reach mission goals, the first step is to determine the optimal orbit of this satellite. In this study, we present an original approach for determining such orbits, using evolutionary algorithms. The method allows us to optimize orbits according to specific criteria such as the visibility of the satellite from ground stations and satellites; especially the visibility of GRASP by at least two VLBI stations, with the longest possible baseline, and by GNSS satellites.

  7. NEUROMUSCULAR DETERMINANTS OF FORCE COORDINATION DURING MULTIDIGIT GRASPING

    Science.gov (United States)

    Johnston, J. A.; Winges, S. A.; Santello, M.

    2007-01-01

    The biomechanical structure of the hand and its underlying neurophysiology contribute to the coordination of the kinematics and kinetics necessary for multidigit grasping. We recently examined the neural organization of inputs to different extrinsic finger flexors during multi‐digit object hold and found moderate to strong motor unit short‐term synchrony. This suggests a common neural input to the motoneurons innervating these different hand muscles/muscle compartments, which may in turn influence the coordination of grip forces. To further characterize this common input to the hand muscles during multidigit grasping, we used the frequency‐based measure of coherence. Motor unit coherence provides information with regards to the oscillatory frequency of a common input, as well as the coupling of the discharges of a motor unit pair at both short and long latencies. Preliminary results indicate that a large proportion of trials are characterized by significant coherence in the 1–12 Hz frequency range, which is more pronounced in the within‐ than between‐muscle/muscle compartment analysis. This indicates a differential organization of common oscillatory inputs to pairs of motoneurons innervating the same vs. different muscles/ muscle compartments. The functional role of the 1–12 Hz oscillatory modulation of motor unit behavior is currently being investigated. PMID:17271343

  8. Garner-Interference in left-handed awkward grasping.

    Science.gov (United States)

    Eloka, Owino; Feuerhake, Felix; Janczyk, Markus; Franz, Volker H

    2015-07-01

    The Perception-Action Model (PAM) claims to provide a coherent interpretation of data from all areas of the visual neurosciences, most notably data from neuropsychological patients and from behavioral experiments in healthy people. Here, we tested two claims that are part of the core version of the PAM: (a) certain actions (natural, highly practiced, and right-handed) are controlled by the dorsal vision for action pathway, while other actions (awkward, unpracticed, or left-handed) are controlled by the ventral vision for perception pathway. (b) Only the dorsal pathway operates in an analytical fashion, being able to selectively focus on the task-relevant dimension of an object (Ganel and Goodale, Nature 426(6967):664-667, 2003). We show that one of these claims must be wrong: using the same test for analytical processing as Ganel and Goodale (2003), we found that even an action that should clearly be ventral (left-handed awkward grasping) shows analytical processing just as a dorsal task does (right-handed natural precision grasping). These results are at odds with the PAM and point to an inconsistency of the model.

  9. Preparing to grasp emotionally laden stimuli.

    Directory of Open Access Journals (Sweden)

    Laura Alice Santos de Oliveira

    Full Text Available BACKGROUND: Contemporary theories of motor control propose that motor planning involves the prediction of the consequences of actions. These predictions include the associated costs as well as the rewarding nature of movements' outcomes. Within the estimation of these costs and rewards would lie the valence, that is, the pleasantness or unpleasantness of a given stimulus with which one is about to interact. The aim of this study was to test if motor preparation encompasses valence. METHODOLOGY/PRINCIPAL FINDINGS: The readiness potential, an electrophysiological marker of motor preparation, was recorded before the grasping of pleasant, neutral and unpleasant stimuli. Items used were balanced in weight and placed inside transparent cylinders to prompt a similar grip among trials. Compared with neutral stimuli, the grasping of pleasant stimuli was preceded by a readiness potential of lower amplitude, whereas that of unpleasant stimuli was associated with a readiness potential of higher amplitude. CONCLUSIONS/SIGNIFICANCE: We show for the first time that the sensorimotor cortex activity preceding the grasping of a stimulus is affected by its valence. Smaller readiness potential amplitudes found for pleasant stimuli could imply in the recruitment of pre-set motor repertoires, whereas higher amplitudes found for unpleasant stimuli would emerge from a discrepancy between the required action and their aversiveness. Our results indicate that the prediction of action outcomes encompasses an estimate of the valence of a stimulus with which one is about to interact.

  10. Preparing to Grasp Emotionally Laden Stimuli

    Science.gov (United States)

    de Oliveira, Laura Alice Santos; Imbiriba, Luís Aureliano; Russo, Maitê Mello; Nogueira-Campos, Anaelli A.; Rodrigues, Erika de C.; Pereira, Mirtes G.; Volchan, Eliane; Vargas, Cláudia Domingues

    2012-01-01

    Background Contemporary theories of motor control propose that motor planning involves the prediction of the consequences of actions. These predictions include the associated costs as well as the rewarding nature of movements’ outcomes. Within the estimation of these costs and rewards would lie the valence, that is, the pleasantness or unpleasantness of a given stimulus with which one is about to interact. The aim of this study was to test if motor preparation encompasses valence. Methodology/Principal Findings The readiness potential, an electrophysiological marker of motor preparation, was recorded before the grasping of pleasant, neutral and unpleasant stimuli. Items used were balanced in weight and placed inside transparent cylinders to prompt a similar grip among trials. Compared with neutral stimuli, the grasping of pleasant stimuli was preceded by a readiness potential of lower amplitude, whereas that of unpleasant stimuli was associated with a readiness potential of higher amplitude. Conclusions/Significance We show for the first time that the sensorimotor cortex activity preceding the grasping of a stimulus is affected by its valence. Smaller readiness potential amplitudes found for pleasant stimuli could imply in the recruitment of pre-set motor repertoires, whereas higher amplitudes found for unpleasant stimuli would emerge from a discrepancy between the required action and their aversiveness. Our results indicate that the prediction of action outcomes encompasses an estimate of the valence of a stimulus with which one is about to interact. PMID:23024811

  11. 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.

  12. 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.

  13. 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.

  14. Nothing magical: pantomimed grasping is controlled by the ventral system.

    Science.gov (United States)

    Rinsma, Thijs; van der Kamp, John; Dicks, Matt; Cañal-Bruland, Rouwen

    2017-06-01

    In a recent amendment to the two-visual-system model, it has been proposed that actions must result in tactile contact with the goal object for the dorsal system to become engaged (Whitwell et al., Neuropsychologia 55:41-50, 2014). The present study tested this addition by assessing the use of allocentric information in normal and pantomime actions. To this end, magicians, and participants who were inexperienced in performing pantomime actions made normal and pantomime grasps toward objects embedded in the Müller-Lyer illusion. During pantomime grasping, a grasp was made next to an object that was in full view (i.e., a displaced pantomime grasping task). The results showed that pantomime grasps took longer, were slower, and had smaller hand apertures than normal grasping. Most importantly, hand apertures were affected by the illusion during pantomime grasping but not in normal grasping, indicating that displaced pantomime grasping is based on allocentric information. This was true for participants without experience in performing pantomime grasps as well as for magicians with experience in pantomiming. The finding that the illusory bias is limited to pantomime grasping and persists with experience supports the conjecture that the normal engagement of the dorsal system's contribution requires tactile contact with a goal object. If no tactile contact is made, then movement control shifts toward the ventral system.

  15. Grasping Strategy in Space Robot Capturing Floating Target

    Institute of Scientific and Technical Information of China (English)

    Wei Cheng; Liu Tianxi; Zhao Yang

    2010-01-01

    When the space robot captures a floating target,contact impact occurs inevitably and frequently between the manipulator hand and the target,which seriously impacts the position and attitude of the robot and grasping security."Dynamic grasping area"is introduced to describe the collision process of manipulator grasping target,and grasping area control equation is established.By analyzing the impact of grasping control parameters,base and target mass on the grasping process and combining the life experience,it is found that if the product of speed control parameter and dB adjustment parameter is close to but smaller than the minimum grasping speed,collision impact in the grasping process could be reduced greatly,and then an ideal grasping strategy is proposed.Simulation results indicate that during the same period,the strategy grasping is superior to the accelerating grasping,in that the amplitude of impact force is reduced to 20%,and the attitude control torque is reduced to 15%,and the impact on the robot is eliminated significantly.The results would have important academic value and engineering significance.

  16. Assessing Grasp Stability Based on Learning and Haptic Data

    DEFF Research Database (Denmark)

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

    2011-01-01

    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...... measurements from fingertips; and joint configuration of the hand. Sensory knowledge affects the success of the grasping process both in the planning stage (before a grasp is executed) and during the execution of the grasp (closed-loop online control). In this paper, we study both of these aspects. We propose...... 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...

  17. Dynamical characteristics of surface EMG signals of hand grasps via recurrence plot.

    Science.gov (United States)

    Ouyang, Gaoxiang; Zhu, Xiangyang; Ju, Zhaojie; Liu, Honghai

    2014-01-01

    Recognizing human hand grasp movements through surface electromyogram (sEMG) is a challenging task. In this paper, we investigated nonlinear measures based on recurrence plot, as a tool to evaluate the hidden dynamical characteristics of sEMG during four different hand movements. A series of experimental tests in this study show that the dynamical characteristics of sEMG data with recurrence quantification analysis (RQA) can distinguish different hand grasp movements. Meanwhile, adaptive neuro-fuzzy inference system (ANFIS) is applied to evaluate the performance of the aforementioned measures to identify the grasp movements. The experimental results show that the recognition rate (99.1%) based on the combination of linear and nonlinear measures is much higher than those with only linear measures (93.4%) or nonlinear measures (88.1%). These results suggest that the RQA measures might be a potential tool to reveal the sEMG hidden characteristics of hand grasp movements and an effective supplement for the traditional linear grasp recognition methods.

  18. Evaluation of a graphic interface to control a robotic grasping arm: a multicenter study.

    Science.gov (United States)

    Laffont, Isabelle; Biard, Nicolas; Chalubert, Gérard; Delahoche, Laurent; Marhic, Bruno; Boyer, François C; Leroux, Christophe

    2009-10-01

    Laffont I, Biard N, Chalubert G, Delahoche L, Marhic B, Boyer FC, Leroux C. Evaluation of a graphic interface to control a robotic grasping arm: a multicenter study. Grasping robots are still difficult to use for persons with disabilities because of inadequate human-machine interfaces (HMIs). Our purpose was to evaluate the efficacy of a graphic interface enhanced by a panoramic camera to detect out-of-view objects and control a commercialized robotic grasping arm. Multicenter, open-label trial. Four French departments of physical and rehabilitation medicine. Control subjects (N=24; mean age, 33y) and 20 severely impaired patients (mean age, 44y; 5 with muscular dystrophies, 13 with traumatic tetraplegia, and 2 others) completed the study. None of these patients was able to grasp a 50-cL bottle without the robot. Participants were asked to grasp 6 objects scattered around their wheelchair using the robotic arm. They were able to select the desired object through the graphic interface available on their computer screen. Global success rate, time needed to select the object on the screen of the computer, number of clicks on the HMI, and satisfaction among users. We found a significantly lower success rate in patients (81.1% vs 88.7%; chi(2)P=.017). The duration of the task was significantly higher in patients (71.6s vs 39.1s; Probotic arms for disabled people, with numerous potential applications in daily life.

  19. 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.

  20. 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,…

  1. Middle Egypt in prehistory: A search for the origins of modern human behavior and human dispersal

    OpenAIRE

    Olszewski, D.; McPherron, S.; Dibble, H.; Soressi, M.

    2001-01-01

    Focuses on the evolution of human behavior and dispersal in Egypt. Examination on the genetic relationship of groups of people living in the area; Importance of the study of stone artifacts the explain the origins of human behavior; Assumption on the routes taken by humans to disperse in the area.

  2. 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.

  3. 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.

  4. Thermal control of the GRASP detector section

    Science.gov (United States)

    Roig, P. B.

    1988-12-01

    The necessity of keeping GRASP telescope (Gamma Ray Astronomy with Spectroscopy and Positioning) detectors at working temperatures within an adequate range (85 + or - 15 K for the germanium and 283 + or - 20 K for CsI) is discussed. Thermal control based in cryogenic liquid tanks is not considered the most suitable solution because of mass and lifetime considerations. Instead of this conventional solution, a concept using a combination of passive and active cooling systems was chosen. It combines the features of a corrugated radiator panel, thermal shields, MLI blankets, and an extra cooling system based on the Stirling cycle engine.

  5. Kansei Behavior of Robots Following Instruction of Human

    Directory of Open Access Journals (Sweden)

    Satoru Shibata

    2015-10-01

    Full Text Available When coexisting with humans and support them, robots need to be instructed to move by humans without burden, and the motion should not to instigate anxiety but to be accepted to human psychology. To realize Kansei behavior of robots following instruction of human, the concept of “Kansei transfer function”, which can add softness and smoothness to robots, is explained, and the effectiveness of its applications to humanrobot interfaces is confirmed from psychological aspects.

  6. Modeling for the Dynamics of Human Innovative Behaviors

    CERN Document Server

    Lin, Ying-Ting; Wang, Bing-Hong

    2013-01-01

    How to promote the innovative activities is an important problem for modern society. In this paper, combining with the evolutionary games and information spreading, we propose a lattice model to investigate dynamics of human innovative behaviors based on benefit-driven assumption. Simulations show several properties in agreement with peoples' daily cognition on innovative behaviors, such as slow diffusion of innovative behaviors, gathering of innovative strategy on "innovative centers", and quasi-localized dynamics. Furthermore, our model also emerges rich non-Poisson properties in the temporal-spacial patterns of the innovative status, including the scaling law in the interval time of innovation releases and the bimodal distributions on the spreading range of innovations, which would be universal in human innovative behaviors. Our model provide a basic framework on the study of the issue relevant to the evolution of human innovative behaviors and the promotion measurement of innovative activities.

  7. Detection of Unusual Human Activities Based on Behavior Modeling

    OpenAIRE

    Hiraishi, Kunihiko; Kobayashi, Koichi

    2014-01-01

    A type of services that require human physical actions and intelligent decision making exists in various real fields, such as nursing in hospitals and caregiving in nursing homes. In this paper, we propose new formalism for modeling human behavior in such services. Behavior models are estimated from event-logs, and can be used for analysis of human activities. We show two analysis methods: one is to detect unusual human activities that appear in event-logs, and the other is to find staffs tha...

  8. 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

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

    Directory of Open Access Journals (Sweden)

    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.

  10. 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...

  11. Informal Institutions and the "Weaknesses" of Human Behavior

    Science.gov (United States)

    2005-01-01

    Volkswirtschaftslehre ’ i LDepartment of Economics Discussion Paper No. January 2005 34 Informal Institutions and the "Weaknesses" of Human Behavior Markus G6bel...Diskussionspapiere der Faichergruppe Volkswirtschaftslehre "* Grbel, Markus & Tobias Thomas, Informal Institutions and the "Weaknesses" of Human Behavior, No... Volkswirtschaftslehre "* Braiuninger, Michael, Social Capital and Regional Mobility, Nr. 4/2002. "* Schdfer, Wolf, EU-Erweiterung: Anmerkungen zum Balassa

  12. Simulating human behavior for understanding and managing environmental resource use

    NARCIS (Netherlands)

    Jager, Wander; Mosler, Hans Joachim

    2007-01-01

    Computer simulation allows for the experimental study of dynamic interactions between human behavior and complex environmental systems. Behavioral determinants and processes as identified in social-scientific theory may be formalized in simulated agents to obtain a better understanding of man-enviro

  13. 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…

  14. 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...

  15. Viscoelastic behavior of discrete human collagen fibrils

    DEFF Research Database (Denmark)

    2010-01-01

    on the strain. The slope of the viscous response showed a strain rate dependence corresponding to a power function of powers 0.242 and 0.168 for the two patellar tendon fibrils, respectively. In conclusion, the present work provides direct evidence of viscoelastic behavior at the single fibril level, which has...

  16. Anomalous human behavior detection: An Adaptive approach

    NARCIS (Netherlands)

    Leeuwen, C. van; Halma, A.; Schutte, K.

    2013-01-01

    Detection of anomalies (outliers or abnormal instances) is an important element in a range of applications such as fault, fraud, suspicious behavior detection and knowledge discovery. In this article we propose a new method for anomaly detection and performed tested its ability to detect anomalous

  17. Behavior genetic modeling of human fertility

    DEFF Research Database (Denmark)

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

    2001-01-01

    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...

  18. Anomalous human behavior detection: An Adaptive approach

    NARCIS (Netherlands)

    Leeuwen, C. van; Halma, A.; Schutte, K.

    2013-01-01

    Detection of anomalies (outliers or abnormal instances) is an important element in a range of applications such as fault, fraud, suspicious behavior detection and knowledge discovery. In this article we propose a new method for anomaly detection and performed tested its ability to detect anomalous b

  19. Grasping devices and methods in automated production processes

    DEFF Research Database (Denmark)

    Fantoni, Gualtiero; Santochi, Marco; Dini, Gino

    2014-01-01

    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...... and continues explaining different releasing strategies and principles. Then the paper classifies the numerous sensors used to monitor the effectiveness of grasping (part presence, exchanged force, stick-slip transitions, etc.). Later the grasping and releasing problems in different fields (from mechanical...

  20. 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.

  1. A rehabilitation device to improve the hand grasp function of stroke patients using a patient-driven approach.

    Science.gov (United States)

    Park, Wanjoo; Jeong, Wookjin; Kwon, Gyu-Hyun; Kim, Yun-Hee; Kim, Laehyun

    2013-06-01

    This paper proposes a robotic hand rehabilitation device for grasp training. The device is designed for stroke patients to train and recover their hand grasp function in order to undertake activities of daily living (ADL). The device consists of a control unit, two small actuators, an infrared (IR) sensor, and pressure sensors in the grasp handle. The advantages of this device are that it is small in size, inexpensive, and available for use at home without specialist's supervision. In addition, a novel patient-driven strategy based on the patient's movement intention detected by the pressure sensors without bio-signals is introduced. Once the system detects a patient's movement intention, it triggers the robotic device to move the patient's hand to form the normal grasping behavior. This strategy may encourage stroke patients to participate in rehabilitation training to recover their hand grasp function and it may also enhance neural plasticity. A user study was conducted in order to investigate the usability, acceptability, satisfaction, and suggestions for improvement of the proposed device. The results of this survey included positive reviews from therapists and a stroke patient. In particular, therapists expected that the proposed patient-driven mode can motivate patients for their rehabilitation training and it can be effective to prevent a compensational strategy in active movements. It is expected that the proposed device will assist stroke patients in restoring their grasp function efficiently.

  2. Oxytocin receptor genetic variation promotes human trust behavior

    Directory of Open Access Journals (Sweden)

    Frank eKrueger

    2012-02-01

    Full Text Available Given that human trust behavior is heritable and intranasal administration of oxytocin enhances trust, the oxytocin receptor (OXTR gene is an excellent candidate to investigate genetic contributions to individual variations in trust behavior. Although a single-nucleotide polymorphism involving an adenine (A/ guanine (G transition (rs53576 has been associated with socio-emotional phenotypes, its link to trust behavior is unclear. We combined genotyping of healthy male students with the administration of a trust game experiment. Our results show that a naturally occurring genetic variation (rs53576 in the OXTR gene is reliably associated with trust behavior rather than a general increase in trustworthy or risk behaviors. Individuals homozygous for the G allele (GG showed higher trust behavior than individuals with A allele carriers (AA/AG. Although the molecular functionality of this polymorphism is still unknown, future research should clarify how the OXTR gene interacts with other genes and the environment in promoting socio-emotional behaviors.

  3. An optimal feedback control framework for grasping objects with position uncertainty.

    Science.gov (United States)

    Christopoulos, Vassilios N; Schrater, Paul R

    2011-10-01

    As we move, the relative location between our hands and objects changes in uncertain ways due to noisy motor commands and imprecise and ambiguous sensory information. The impressive capabilities humans display for interacting and manipulating objects with position uncertainty suggest that our brain maintains representations of location uncertainty and builds compensation for uncertainty into its motor control strategies. Our previous work demonstrated that specific control strategies are used to compensate for location uncertainty. However, it is an open question whether compensation for position uncertainty in grasping is consistent with the stochastic optimal feedback control, mainly due to the difficulty of modeling natural tasks within this framework. In this study, we develop a stochastic optimal feedback control model to evaluate the optimality of human grasping strategies. We investigate the properties of the model through a series of simulation experiments and show that it explains key aspects of previously observed compensation strategies. It also provides a basis for individual differences in terms of differential control costs-the controller compensates only to the extent that performance benefits in terms of making stable grasps outweigh the additional control costs of compensation. These results suggest that stochastic optimal feedback control can be used to understand uncertainty compensation in complex natural tasks like grasping.

  4. 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.

  5. 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.

  6. Grasping uncertainty: effects of sensorimotor memories on high-level planning of dexterous manipulation.

    Science.gov (United States)

    Lukos, Jamie R; Choi, Jason Y; Santello, Marco

    2013-06-01

    For successful object manipulation, the central nervous system must appropriately coordinate digit placement and force distribution. It is known that digit force planning is significantly influenced by previous manipulations even when object properties cannot be predicted on a trial-to-trial basis. We sought to determine whether this effect extends beyond force control to the coordination of digit placement and force. Subjects grasped and lifted an object whose center of mass (CM) was changed unpredictably across trials. Grasp planning was quantified by measuring the torque generated on the object at lift onset. We found that both digit placement and force were systematically affected by the CM experienced on the previous trial. Additionally, the negative covariation between digit forces and positions typically found for predictable CM presentations was also found for unpredictable CM trials. A follow-up experiment revealed that these effects were not dependent on visual feedback of object roll during object lift on the previous trial. We conclude that somatosensory feedback from previous grasp experience alone can affect high-level grasp planning by constraining the relation between digit force and position even when the task behavioral consequences cannot be reliably predicted. As learning of manipulations often involves interactions with objects in novel environments, the present findings are an important step to understanding the control strategies associated with the integration of sensorimotor memories and motor planning.

  7. The development of human behavior analysis techniques

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Jung Woon; Lee, Yong Hee; Park, Geun Ok; Cheon, Se Woo; Suh, Sang Moon; Oh, In Suk; Lee, Hyun Chul; Park, Jae Chang

    1997-07-01

    In this project, which is to study on man-machine interaction in Korean nuclear power plants, we developed SACOM (Simulation Analyzer with a Cognitive Operator Model), a tool for the assessment of task performance in the control rooms using software simulation, and also develop human error analysis and application techniques. SACOM was developed to assess operator`s physical workload, workload in information navigation at VDU workstations, and cognitive workload in procedural tasks. We developed trip analysis system including a procedure based on man-machine interaction analysis system including a procedure based on man-machine interaction analysis and a classification system. We analyzed a total of 277 trips occurred from 1978 to 1994 to produce trip summary information, and for 79 cases induced by human errors time-lined man-machine interactions. The INSTEC, a database system of our analysis results, was developed. The MARSTEC, a multimedia authoring and representation system for trip information, was also developed, and techniques for human error detection in human factors experiments were established. (author). 121 refs., 38 tabs., 52 figs.

  8. Human-Computer Interactions and Decision Behavior

    Science.gov (United States)

    1984-01-01

    software interfaces. The major components of the reseach program included the Diaiogue Management System. (DMS) operating environment, the role of...specification; and new methods for modeling, designing, and developing human-computer interfaces based on syntactic and semantic specification. The DMS...achieving communication is language. Accordingly, the transaction model employs a linguistic model consisting of parts that relate computer responses

  9. 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.

  10. [Advances in the experimental analysis of behavior: issues of choice behavior, comparative cognition, and human language].

    Science.gov (United States)

    Sakagami, T; Yamamoto, J; Jitsumori, M

    1994-12-01

    As the opportunity to contact with related areas has increased, the study of of the experimental analysis of behavior has experienced revolutionary changes. Some of the most active and important areas-studies of choice, comparative cognition, and human language--are reviewed to acquaint readers. Studies of CHOICE have linked to the molar theories of behavioral economics and behavioral ecology, which promoted research of choice by animals under uncertainty conditions. Further approach has been made to integrate the molar and molecular analyses on the basis of the ideas of behavior dynamics. COMPARATIVE COGNITION is a part of a larger field including cognitive science, behavioral neuroscience, and biological science. Recent developments, aided with a comparative perspective, made significant contributions to our understanding of the phylogeny and ontogeny of cognition. Advances in analysis of human behavior provided tools to study behavioral aspects of semantics, syntax, and pragmatics of HUMAN LANGUAGE. Using the paradigm of stimulus equivalence, the emergence of stimulus relations, stimulus-stimulus networks, hierarchical structure of verbal behavior, and other language-related behaviors have been investigated.

  11. Human Wagering Behavior Depends on Opponents' Faces

    Science.gov (United States)

    Schlicht, Erik J.; Shimojo, Shinsuke; Camerer, Colin F.; Battaglia, Peter; Nakayama, Ken

    2010-01-01

    Research in competitive games has exclusively focused on how opponent models are developed through previous outcomes and how peoples' decisions relate to normative predictions. Little is known about how rapid impressions of opponents operate and influence behavior in competitive economic situations, although such subjective impressions have been shown to influence cooperative decision-making. This study investigates whether an opponent's face influences players' wagering decisions in a zero-sum game with hidden information. Participants made risky choices in a simplified poker task while being presented opponents whose faces differentially correlated with subjective impressions of trust. Surprisingly, we find that threatening face information has little influence on wagering behavior, but faces relaying positive emotional characteristics impact peoples' decisions. Thus, people took significantly longer and made more mistakes against emotionally positive opponents. Differences in reaction times and percent correct were greatest around the optimal decision boundary, indicating that face information is predominantly used when making decisions during medium-value gambles. Mistakes against emotionally positive opponents resulted from increased folding rates, suggesting that participants may have believed that these opponents were betting with hands of greater value than other opponents. According to these results, the best “poker face” for bluffing may not be a neutral face, but rather a face that contains emotional correlates of trustworthiness. Moreover, it suggests that rapid impressions of an opponent play an important role in competitive games, especially when people have little or no experience with an opponent. PMID:20657772

  12. The Role of Object Contact in Pointing and Grasping

    NARCIS (Netherlands)

    M. Biegstraten-Meeuws

    2005-01-01

    textabstractWe grasp and lift objects many times a day. Most of us perform such a task without any difficulty. However even just grasping the packet of chocolate flakes at the breakfast table is in fact a complex task. Our brain has to – among others - coordinate and select multiple muscles, select

  13. Assessing Grasp Stability Based on Learning and Haptic Data

    DEFF Research Database (Denmark)

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

    2011-01-01

    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...

  14. GRASP65 controls the cis Golgi integrity in vivo

    NARCIS (Netherlands)

    Veenendaal, T.; Jarvela, T.; Grieve, A.G.; van Es, J.H.; Linstedt, A.D.; Rabouille, C.

    2014-01-01

    GRASP65 and GRASP55 are peripheral Golgi proteins localized to cis and medial/trans cisternae, respectively. They are implicated in diverse aspects of protein transport and structure related to the Golgi complex, including the stacking of the Golgi stack and/or the linking of mammalian Golgi stacks

  15. The Role of Object Contact in Pointing and Grasping

    NARCIS (Netherlands)

    M. Biegstraten-Meeuws

    2005-01-01

    textabstractWe grasp and lift objects many times a day. Most of us perform such a task without any difficulty. However even just grasping the packet of chocolate flakes at the breakfast table is in fact a complex task. Our brain has to – among others - coordinate and select multiple muscles, select

  16. 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

  17. Modeling Human Behavior to Anticipate Insider Attacks

    Energy Technology Data Exchange (ETDEWEB)

    Greitzer, Frank L.; Hohimer, Ryan E.

    2011-06-09

    The insider threat ranks among the most pressing cybersecurity challenges that threaten government and industry information infrastructures. To date, no systematic methods have been developed that provide a complete and effective approach to prevent data leakage, espionage and sabotage. Current practice is forensic in nature, relegating to the analyst the bulk of the responsibility to monitor, analyze, and correlate an overwhelming amount of data. We describe a predictive modeling framework that integrates a diverse set of data sources from the cyber domain as well as inferred psychological/motivational factors that may underlie malicious insider exploits. This comprehensive threat assessment approach provides automated support for the detection of high-risk behavioral “triggers” to help focus the analyst’s attention and inform the analysis. Designed to be domain independent, the system may be applied to many different threat and warning analysis/sensemaking problems.

  18. Modeling Human Behavior to Anticipate Insider Attacks

    Directory of Open Access Journals (Sweden)

    Ryan E Hohimer

    2011-01-01

    Full Text Available The insider threat ranks among the most pressing cyber-security challenges that threaten government and industry information infrastructures. To date, no systematic methods have been developed that provide a complete and effective approach to prevent data leakage, espionage, and sabotage. Current practice is forensic in nature, relegating to the analyst the bulk of the responsibility to monitor, analyze, and correlate an overwhelming amount of data. We describe a predictive modeling framework that integrates a diverse set of data sources from the cyber domain, as well as inferred psychological/motivational factors that may underlie malicious insider exploits. This comprehensive threat assessment approach provides automated support for the detection of high-risk behavioral "triggers" to help focus the analyst's attention and inform the analysis. Designed to be domain-independent, the system may be applied to many different threat and warning analysis/sense-making problems.

  19. Automated regional behavioral analysis for human brain images.

    Science.gov (United States)

    Lancaster, Jack L; Laird, Angela R; Eickhoff, Simon B; Martinez, Michael J; Fox, P Mickle; Fox, Peter T

    2012-01-01

    Behavioral categories of functional imaging experiments along with standardized brain coordinates of associated activations were used to develop a method to automate regional behavioral analysis of human brain images. Behavioral and coordinate data were taken from the BrainMap database (http://www.brainmap.org/), which documents over 20 years of published functional brain imaging studies. A brain region of interest (ROI) for behavioral analysis can be defined in functional images, anatomical images or brain atlases, if images are spatially normalized to MNI or Talairach standards. Results of behavioral analysis are presented for each of BrainMap's 51 behavioral sub-domains spanning five behavioral domains (Action, Cognition, Emotion, Interoception, and Perception). For each behavioral sub-domain the fraction of coordinates falling within the ROI was computed and compared with the fraction expected if coordinates for the behavior were not clustered, i.e., uniformly distributed. When the difference between these fractions is large behavioral association is indicated. A z-score ≥ 3.0 was used to designate statistically significant behavioral association. The left-right symmetry of ~100K activation foci was evaluated by hemisphere, lobe, and by behavioral sub-domain. Results highlighted the classic left-side dominance for language while asymmetry for most sub-domains (~75%) was not statistically significant. Use scenarios were presented for anatomical ROIs from the Harvard-Oxford cortical (HOC) brain atlas, functional ROIs from statistical parametric maps in a TMS-PET study, a task-based fMRI study, and ROIs from the ten "major representative" functional networks in a previously published resting state fMRI study. Statistically significant behavioral findings for these use scenarios were consistent with published behaviors for associated anatomical and functional regions.

  20. Microsoft Kinect-Based Artificial Perception System for Control of Functional Electrical Stimulation Assisted Grasping

    Directory of Open Access Journals (Sweden)

    Matija Štrbac

    2014-01-01

    Full Text Available 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.

  1. A computational model for aperture control in reach-to-grasp movement based on predictive variability

    Directory of Open Access Journals (Sweden)

    Naohiro eTakemura

    2015-12-01

    Full Text Available In human reach-to-grasp movement, visual occlusion of a target object leads to a larger peak grip aperture compared to conditions where online vision is available. However, no previous computational and neural network models for reach-to-grasp movement explain the mechanism of this effect. We simulated the effect of online vision on the reach-to-grasp movement by proposing a computational control model based on the hypothesis that the grip aperture is controlled to compensate for both motor variability and sensory uncertainty. In this model, the aperture is formed to achieve a target aperture size that is sufficiently large to accommodate the actual target; it also includes a margin to ensure proper grasping despite sensory and motor variability. To this end, the model considers: i the variability of the grip aperture, which is predicted by the Kalman filter, and ii the uncertainty of the object size, which is affected by visual noise. Using this model, we simulated experiments in which the effect of the duration of visual occlusion was investigated. The simulation replicated the experimental result wherein the peak grip aperture increased when the target object was occluded, especially in the early phase of the movement. Both predicted motor variability and sensory uncertainty play important roles in the online visuomotor process responsible for grip aperture control.

  2. 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.

  3. 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.

  4. Automatic Grasp Generation and Improvement for Industrial Bin-Picking

    DEFF Research Database (Denmark)

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

    2014-01-01

    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...... 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...... work allows to minimize cycle time as well as setup cost, which are essential factors in automatic bin-picking. It therefore leads to a wider applicability of bin-picking in industry....

  5. 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...... output plays a special role because participants carry their expectations from human verbal interaction into the interactions with robots.......-O-bot, a large service robot, in a medical measurement scenario, we compare the timing of the robot's behaviors in three between-subject conditions. The results show that the relative timing of robot behaviors has significant effects on the number of problems participants encounter, and that the robot's verbal...

  6. L\\'evy flights in human behavior and cognition

    CERN Document Server

    Baronchelli, Andrea

    2013-01-01

    L\\'evy flights represent the best strategy to randomly search for a target in an unknown environment, and have been widely observed in many animal species. Here, we inspect and discuss recent results concerning human behavior and cognition. Different studies have shown that human mobility can be described in terms of L\\'evy flights, while fresh evidence indicates that the same pattern accounts for human mental searches in online gambling sites. Thus, L\\'evy flights emerge as a unifying concept with broad cross-disciplinary implications. We argue that the ubiquity of such a pattern, both in behavior and cognition, suggests that the brain regions responsible for this behavior are likely to be evolutionarily old (i.e. no frontal cortex is involved), and that fMRI techniques might help to confirm this hypothesis.

  7. 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 intend

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

    Directory of Open Access Journals (Sweden)

    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.

  9. State dissociation, human behavior, and consciousness.

    Science.gov (United States)

    Mahowald, Mark W; Cramer Bornemann, Michel A; Schenck, Carlos H

    2011-01-01

    Sleep is clearly not only a whole-brain or global phenomenon, but can also be a local phenomenon. This accounts for the fact that the primary states of being (wakefulness, NREM sleep, and REM sleep) are not necessarily mutually exclusive, and components of these states may appear in various combinations, with fascinating clinical consequences. Examples include: sleep inertia, narcolepsy, sleep paralysis, lucid dreaming, REM sleep behavior disorder, sleepwalking, sleep terrors, out-of-body experiences, and reports of alien abduction. The incomplete declaration of state likewise has implications for consciousness - which also has fluid boundaries. Fluctuations in the degree of consciousness are likely explained by abnormalities of a "spatial and temporal binding rhythm" which normally results in a unified conscious experience. Dysfunctional binding may play a role in anesthetic states, autism, schizophrenia, and neurodegenerative disorders. Further study of the broad spectrum of dissociated states of sleep and wakefulness that are closely linked with states of consciousness and unconsciousness by basic neuroscientists, clinicians, and members of the legal profession will provide scientific, clinical and therapeutic insights, with forensic implications.

  10. Structure and mechanical behavior of human hair.

    Science.gov (United States)

    Yu, Yang; Yang, Wen; Wang, Bin; Meyers, Marc André

    2017-04-01

    The understanding of the mechanical behavior of hair under various conditions broadens our knowledge in biological materials science and contributes to the cosmetic industry. The hierarchical organization of hair is studied from the intermediate filament to the structural levels. The effects of strain rate, relative humidity, and temperature are evaluated. Hair exhibits a high tensile strength, 150-270MPa, which is significantly dependent on strain rate and humidity. The strain-rate sensitivity, approximately 0.06-0.1, is comparable to that of other keratinous materials and common synthetic polymers. The structures of the internal cortex and surface cuticle are affected by the large tensile extension. One distinguishing feature, the unwinding of the α-helix and the possible transformation to β-sheet structure of keratin under tension, which affects the ductility of hair, is analytically evaluated and incorporated into a constitutive equation. A good agreement with the experimental results is obtained. This model elucidates the tensile response of the α-keratin fibers. The contributions of elastic and plastic strains on reloading are evaluated and correlated to structural changes. Copyright © 2016 Elsevier B.V. All rights reserved.

  11. Social performance cues induce behavioral flexibility in humans

    Directory of Open Access Journals (Sweden)

    Ulf eToelch

    2011-07-01

    Full Text Available Behavioral flexibility allows individuals to react to environmental changes, but changing established behavior carries costs, with unknown benefits. Individuals may thus modify their behavioral flexibility according to the prevailing circumstances. Social information provided by the performance level of others provides one possible cue to assess the potential benefits of changing behavior, since out-performance in similar circumstances indicates that novel behaviors (innovations are potentially useful. We demonstrate that social performance cues, in the form of previous players’ scores in a problem-solving computer game, influence behavioral flexibility. Participants viewed only performance indicators, not the innovative behavior of others. While performance cues (high, low, or no scores had little effect on innovation discovery rates, participants that viewed high scores increased their utilization of innovations, allowing them to exploit the virtual environment more effectively than players viewing low or no scores. Perceived conspecific performance can thus shape human decisions to adopt novel traits, even when the traits employed cannot be copied. This simple mechanism, social performance feedback, could be a driver of both the facultative adoption of innovations and cumulative cultural evolution, processes critical to human success.

  12. Collective unconscious: how gut microbes shape human behavior.

    Science.gov (United States)

    Dinan, Timothy G; Stilling, Roman M; Stanton, Catherine; Cryan, John F

    2015-04-01

    The human gut harbors a dynamic and complex microbial ecosystem, consisting of approximately 1 kg of bacteria in the average adult, approximately the weight of the human brain. The evolutionary formation of a complex gut microbiota in mammals has played an important role in enabling brain development and perhaps sophisticated social interaction. Genes within the human gut microbiota, termed the microbiome, significantly outnumber human genes in the body, and are capable of producing a myriad of neuroactive compounds. Gut microbes are part of the unconscious system regulating behavior. Recent investigations indicate that these microbes majorly impact on cognitive function and fundamental behavior patterns, such as social interaction and stress management. In the absence of microbes, underlying neurochemistry is profoundly altered. Studies of gut microbes may play an important role in advancing understanding of disorders of cognitive functioning and social interaction, such as autism.

  13. HUMAN RESOURCE MANAGEMENT IN TERMS OF BEHAVIORAL ECONOMICS

    Directory of Open Access Journals (Sweden)

    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.

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

    Directory of Open Access Journals (Sweden)

    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.

  15. Visual illusions, delayed grasping, and memory: no shift from dorsal to ventral control.

    Science.gov (United States)

    Franz, V H; Hesse, C; Kollath, S

    2009-05-01

    We tested whether a delay between stimulus presentation and grasping leads to a shift from dorsal to ventral control of the movement, as suggested by the perception-action theory of Milner and Goodale (Milner, A.D., & Goodale, M.A. (1995). The visual brain in action. Oxford: Oxford University Press.). In this theory the dorsal cortical stream has a short memory, such that after a few seconds the dorsal information is decayed and the action is guided by the ventral stream. Accordingly, grasping should become responsive to certain visual illusions after a delay (because only the ventral stream is assumed to be deceived by these illusions). We used the Müller-Lyer illusion, the typical illusion in this area of research, and replicated the increase of the motor illusion after a delay. However, we found that this increase is not due to memory demands but to the availability of visual feedback during movement execution which leads to online corrections of the movement. Because such online corrections are to be expected if the movement is guided by one single representation of object size, we conclude that there is no evidence for a shift from dorsal to ventral control in delayed grasping of the Müller-Lyer illusion. We also performed the first empirical test of a critique Goodale (Goodale, M.A. (2006, October 27). Visual duplicity: Action without perception in the human visual system. The XIV. Kanizsa lecture, Triest, Italy.) raised against studies finding illusion effects in grasping: Goodale argued that these studies used methods that lead to unnatural grasping which is guided by the ventral stream. Therefore, these studies might never have measured the dorsal stream, but always the ventral stream. We found clear evidence against this conjecture.

  16. Needle Grasp and Entry Port Selection for Automatic Execution of Suturing Tasks in Robotic Minimally Invasive Surgery

    Science.gov (United States)

    Liu, Taoming; Çavuşoğlu, M. Cenk

    2016-01-01

    challenges due to uncertainties in needle localization and grasping. This paper proposes two new performance metrics on selecting port locations from the perspective of autonomously performing surgical suturing, without direct involvement of the human user. The paper also presents preliminary experiments which demonstrate the effectiveness of the proposed methods. PMID:27158248

  17. Novelty, Stress, and Biological Roots in Human Market Behavior

    Directory of Open Access Journals (Sweden)

    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.

  18. Novelty, stress, and biological roots in human market behavior.

    Science.gov (United States)

    Sarapultsev, Alexey; Sarapultsev, Petr

    2014-03-01

    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.

  19. Tapping, grasping and aiming in ideomotor apraxia.

    Science.gov (United States)

    Ietswaart, Magdalena; Carey, David P; Della Sala, Sergio

    2006-01-01

    Very few studies have investigated sensorimotor control in apraxia using tasks that differ in movement complexity. Nevertheless, there is some evidence to suggest that spontaneous behaviour, although relatively preserved, can be rather clumsy or awkward, and that patients with ideomotor apraxia may have subtle kinematic abnormalities in movements made in the laboratory. It remains unclear whether patients with ideomotor apraxia perform normally on movements such as visually guided aiming, that may not depend on higher-order, more cognitive, processes and that are relatively unguided by overlearned contexts. In this study, three different sensorimotor tasks were given to the same sample of patients with quantified apraxic disturbance. Finger tapping, goal-directed grasping and aiming with and without visual feedback were examined in these patients. A clear dissociation was found between grossly impaired gesture imitation and intact motor programming of goal-directed movements with visual feedback. Apraxic patients were, however, impaired on aiming movements without visual feedback, suggesting that apraxia is associated with an increased reliance on integration of online visual information with feedforward/feedback somatosensory and motor signals. Furthermore, patients were impaired on single finger tapping which was a surprisingly good predictor of apraxia severity.

  20. The use of underactuation in prosthetic grasping

    Directory of Open Access Journals (Sweden)

    P. J. Kyberd

    2011-02-01

    Full Text Available Underactuation as a method of driving prosthetic hands has a long history. The pragmatic requirements of such a device to be light enough to be worn and used regularly have meant that any multi degree of freedom prosthetic hand must have fewer actuators than the usable degrees of freedom. Aesthetics ensures that while the hand needs five fingers, five actuators have considerable mass, and only in recent years has it even been possible to construct a practical anthropomorphic hand with five motors. Thus there is an important trade off as to which fingers are driven, and which joints on which fingers are actuated, and how the forces are distributed to create a functional device. This paper outlines some of the historical solutions created for this problem and includes those designs of recent years that are now beginning to be used in the commercial environment.

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

  1. The interaction between ICT and human activity-travel behavior

    NARCIS (Netherlands)

    Kwan, M.P.; Dijst, M.J.; Schwanen, T.

    2007-01-01

    The interaction between information and communication technologies (ICT) and human activity-travel behavior has been an important theme in transportation research in recent years. Researchers have recognized that an increase in the use of ICT may lead to changes in the location, timing and duration

  2. Measuring Human Movement Patterns and Behaviors in Public Spaces

    DEFF Research Database (Denmark)

    Nielsen, Søren Zebitz; Gade, Rikke; Moeslund, Thomas B.;

    In order to assess human movement patterns and behaviors in public spaces we present a method using thermal cameras and Computer Vision (CV) technology, combined with the analytical virtues of Geographical Information Systems (GIS), to track people in urban streets and plazas. The method enables...

  3. Industrial Buying Behavior Related to Human Resource Consulting Services

    DEFF Research Database (Denmark)

    Grünbaum, Niels Nolsøe; Hollensen, Svend; Kahle, Lynn

    2013-01-01

    The purpose of this article is to extend the understanding of the industrial buying process in connection with purchasing professional business (B2B) services, specifically human resource (HR) consulting services. Early B2B buying-behavior literature strongly emphasizes the rational aspects...

  4. Industrial Buying Behavior Related to Human Resource Consulting Services

    DEFF Research Database (Denmark)

    Grünbaum, Niels Nolsøe; Hollensen, Svend; Kahle, Lynn

    2013-01-01

    The purpose of this article is to extend the understanding of the industrial buying process in connection with purchasing professional business (B2B) services, specifically human resource (HR) consulting services. Early B2B buying-behavior literature strongly emphasizes the rational aspects...

  5. Counseling Children and Adolescents: Rational Emotive Behavior Therapy and Humanism.

    Science.gov (United States)

    Vernon, Ann

    1996-01-01

    Describes specific parallels between rational emotive behavior therapy and humanism. Places specific emphasis on the application of these principles with children and adolescents. Concepts are illustrated with case studies and a description of the similarities between rational emotive and humanistic, or affective, education. Highlights emotional…

  6. The interaction between ICT and human activity-travel behavior

    NARCIS (Netherlands)

    Kwan, M.P.; Dijst, M.J.; Schwanen, T.

    2007-01-01

    The interaction between information and communication technologies (ICT) and human activity-travel behavior has been an important theme in transportation research in recent years. Researchers have recognized that an increase in the use of ICT may lead to changes in the location, timing and duration

  7. Interactive human behavior analysis in open or public spaces

    NARCIS (Netherlands)

    Hung, H.; Odobez, J.M.; Gavrila, D.M.

    2011-01-01

    In the past years, efforts in surveillance and open space analysis have focused on traditional computer vision problems like scene modeling or object detection and tracking. Research on human behavior recognition have tended to work on predefined simple activities such as running, jumping or left lu

  8. Cognitive Empathy and Emotional Empathy in Human Behavior and Evolution

    Science.gov (United States)

    Smith, Adam

    2006-01-01

    This article presents 7 simple models of the relationship between cognitive empathy (mental perspective taking) and emotional empathy (the vicarious sharing of emotion). I consider behavioral outcomes of the models, arguing that, during human evolution, natural selection may have acted on variation in the relationship between cognitive empathy and…

  9. Common Fallacies About Heredity, Environment, and Human Behavior.

    Science.gov (United States)

    Anastasi, Anne

    Much of our thinking about contemporary social problems reflects tacit presuppositions regarding the operation of heredity and environment in human behavior. These beliefs have important implications for practical decisions. Advances in genetics, psychology, anthropology, and other disciplines have contributed much to a clarification of the…

  10. Counseling Children and Adolescents: Rational Emotive Behavior Therapy and Humanism.

    Science.gov (United States)

    Vernon, Ann

    1996-01-01

    Describes specific parallels between rational emotive behavior therapy and humanism. Places specific emphasis on the application of these principles with children and adolescents. Concepts are illustrated with case studies and a description of the similarities between rational emotive and humanistic, or affective, education. Highlights emotional…

  11. Cognitive Empathy and Emotional Empathy in Human Behavior and Evolution

    Science.gov (United States)

    Smith, Adam

    2006-01-01

    This article presents 7 simple models of the relationship between cognitive empathy (mental perspective taking) and emotional empathy (the vicarious sharing of emotion). I consider behavioral outcomes of the models, arguing that, during human evolution, natural selection may have acted on variation in the relationship between cognitive empathy and…

  12. Human Behavior Recognition Using Foot Pressure Sensing Shoes

    Science.gov (United States)

    Sugimoto, Chika; Ozaki, Kenji; Ezoe, Ryosuke; Hosaka, Hiroshi; Yamato, Hiroyuki

    To recognize human behavior in unlimited environments, sensing shoes for measuring foot pressure distribution were developed. Seven pressure sensors were installed on an insole, and a measurement module was embedded in the shoe. An analysis for discriminating the user's movements from the foot pressure distribution was examined, considering the movements, walking, running, standing, sitting, going upstairs and downstairs, and cycling. These seven actions were discriminated using feature quantities such as the average, standard deviation, maximum, and difference deviation extracted from the data of three sensors by discriminant analysis. The evaluation results showed highly accurate behavior recognition based on foot pressure at some points. In addition, by canonical discriminant analysis, six discriminant functions which classify the seven actions with an accuracy of 100% were derived by using feature quantities extracted from five sensors. The results confirmed that discriminant analysis can be used for automatically recognizing human behaviors based on foot pressure data.

  13. 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...

  14. Visual perception and grasping for the extravehicular activity robot

    Science.gov (United States)

    Starks, Scott A.

    1989-01-01

    The development of an approach to the visual perception of object surface information using laser range data in support of robotic grasping is discussed. This is a very important problem area in that a robot such as the EVAR must be able to formulate a grasping strategy on the basis of its knowledge of the surface structure of the object. A description of the problem domain is given as well as a formulation of an algorithm which derives an object surface description adequate to support robotic grasping. The algorithm is based upon concepts of differential geometry namely, Gaussian and mean curvature.

  15. Effects of EVA spacesuit glove on grasping and pinching tasks

    Science.gov (United States)

    Appendino, Silvia; Battezzato, Alessandro; Chen Chen, Fai; Favetto, Alain; Mousavi, Mehdi; Pescarmona, Francesco

    2014-03-01

    The human hand has a wide range of degrees of freedom, allowing a great variety of movements, and is also one of the most sensitive parts of the human body. Due to these characteristics, it is the most important tool for astronauts to perform extravehicular activities (EVA). However, astronauts must wear mandatory EVA equipment to be protected from the harsh conditions in space and this strongly reduces hand performance, in particular as regards dexterity, tactile perception, mobility and fatigue. Several studies have been conducted to determine the influence of the EVA glove on manual capabilities, both in the past and more recently. This study presents experimental data regarding the performance decline occurring in terms of force and fatigue in the execution of grasping and pinching tasks when wearing an EVA glove, in pressurized and unpressurized conditions, compared with barehanded potential. Results show that wearing the unpressurized EVA glove hinders grip and lateral pinch performances, dropping exerted forces to about 50-70%, while it barely affects two- and three-finger pinch performances. On the other hand, wearing the pressurized glove worsens performances in all cases, reducing forces to about 10-30% of barehanded potential. The results are presented and compared with the previous literature.

  16. Detecting Underlying Stance Adopted When Human Construe Behavior of Entities

    Science.gov (United States)

    Terada, Kazunori; Ono, Kouhei; Ito, Akira

    Whether or not humans can construe the behaviors of entities depends on their psychological stance. The philosopher Dennett proposed human cognitive strategies (three stances) in which humans construe the behavior of other animated objects, including other humans, artifacts, and physical phenomena:‘intentional’, ‘design’ and ‘physical’ stances. Detecting the psychological stance taken toward entities is difficult, because such mental state attribution is a subjective cognitive process and hard to measure. In the present study, we proposed a novel method for detecting underlying stance adopted when human construe behavior of entities. In our method the subject was asked to select the most suitable action sequence shown in three movies each of which representing Dennett’s three stances. To valid our method we have conducted an experiment in which the subjects were presented thirty short videos and asked to compare them to the three movies. The result indicated that the subjects did not focused on prior knowledge about the entity but could focused on motion characteristics per se, owing to simple and typical motion of an abstract shaped object.

  17. Human Papillomavirus Vaccination at a Time of Changing Sexual Behavior.

    Science.gov (United States)

    Baussano, Iacopo; Lazzarato, Fulvio; Brisson, Marc; Franceschi, Silvia

    2016-01-01

    Human papillomavirus (HPV) prevalence varies widely worldwide. We used a transmission model to show links between age-specific sexual patterns and HPV vaccination effectiveness. We considered rural India and the United States as examples of 2 heterosexual populations with traditional age-specific sexual behavior and gender-similar age-specific sexual behavior, respectively. We simulated these populations by using age-specific rates of sexual activity and age differences between sexual partners and found that transitions from traditional to gender-similar sexual behavior in women sexual behavior and that increased risk for HPV infection attributable to transition is preventable by early vaccination. Our study highlights the importance of using time-limited opportunities to introduce HPV vaccination in traditional populations before changes in age-specific sexual patterns occur.

  18. Grasping Unknown Objects in an Early Cognitive Vision System

    DEFF Research Database (Denmark)

    Popovic, Mila

    2011-01-01

    objects can also be used in the search-and-rescue scenarios, planetary exploration, or for the handling of the nuclear material. When a robotic system is perceived as a developing cognitive agent, attaining physical control over objects is a precondition for starting a bootstrapping process in which...... 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...

  19. 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.

  20. The contributions of vision and haptics to reaching and grasping.

    Science.gov (United States)

    Stone, Kayla D; Gonzalez, Claudia L R

    2015-01-01

    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.

  1. Conformal grasping using feedback controlled bubble actuator array

    Science.gov (United States)

    Carrigan, Wei; Stein, Richard; Mittal, Manoj; Wijesundara, Muthu B. J.

    2014-06-01

    This paper presents an implementation of a bubble actuator array (BAA) based active robotic skin, a modular system, onto existing low cost robotic end-effectors or prosthetic hands for conformal grasping of objects. The active skin is comprised of pneumatically controlled polyurethane rubber bubbles with overlaid sensors for feedback control. Sensor feedback allows the BAA based robotic skin to conformally grasp an object with an explicit uniform force distribution. The bubble actuator array reported here is capable of applying up to 4N of force at each point of contact and tested for conformally grasping objects with a radius of curvature up to 57.15mm. Once integrated onto a two-finger gripper with one degree of freedom (DOF), the active skin was shown to reduce point of contact forces of up to 50% for grasped objects.

  2. 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.

  3. Human behavioral assessments in current research of Parkinson's disease.

    Science.gov (United States)

    Asakawa, Tetsuya; Fang, Huan; Sugiyama, Kenji; Nozaki, Takao; Kobayashi, Susumu; Hong, Zhen; Suzuki, Katsuaki; Mori, Norio; Yang, Yilin; Hua, Fei; Ding, Guanghong; Wen, Guoqiang; Namba, Hiroki; Xia, Ying

    2016-09-01

    Parkinson's disease (PD) is traditionally classified as a movement disorder because patients mainly complain about motor symptoms. Recently, non-motor symptoms of PD have been recognized by clinicians and scientists as early signs of PD, and they are detrimental factors in the quality of life in advanced PD patients. It is crucial to comprehensively understand the essence of behavioral assessments, from the simplest measurement of certain symptoms to complex neuropsychological tasks. We have recently reviewed behavioral assessments in PD research with animal models (Asakawa et al., 2016). As a companion volume, this article will systematically review the behavioral assessments of motor and non-motor PD symptoms of human patients in current research. The major aims of this article are: (1) promoting a comparative understanding of various behavioral assessments in terms of the principle and measuring indexes; (2) addressing the major strengths and weaknesses of these behavioral assessments for a better selection of tasks/tests in order to avoid biased conclusions due to inappropriate assessments; and (3) presenting new concepts regarding the development of wearable devices and mobile internet in future assessments. In conclusion we emphasize the importance of improving the assessments for non-motor symptoms because of their complex and unique mechanisms in human PD brains.

  4. Modelling primate control of grasping for robotics applications

    CSIR Research Space (South Africa)

    Kleinhans, A

    2014-09-01

    Full Text Available -1 European Conference on Computer Vision (ECCV) Workshops, Zurich, Switzerland, 7 September 2014 Modelling primate control of grasping for robotics applications Ashley Kleinhans1, Serge Thill2, Benjamin Rosman1, Renaud Detry3 & Bryan Tripp4 1 CSIR..., South Africa 2 University of Skovde, Sweden3 University of Liege, Belgium 4 University of Waterloo, Canada Abstract The neural circuits that control grasping and perform related visual processing have been studied extensively in Macaque monkeys...

  5. Multiple parietal-frontal pathways mediate grasping in macaque monkeys

    Science.gov (United States)

    Gharbawie, Omar A.; Stepniewska, Iwona; Qi, Huixin; Kaas, Jon H.

    2011-01-01

    The nodes of a parietal-frontal pathway that mediates grasping in primates are in anterior intraparietal area (AIP) and ventral premotor cortex (PMv). Nevertheless, multiple somatosensory and motor representations of the hand, respectively in parietal and frontal cortex, suggest that additional pathways remain unrealized. We explored this possibility in macaque monkeys by injecting retrograde tracers into grasp zones identified in M1, PMv, and area 2 with long train electrical stimulation. The M1 grasp zone was densely connected with other frontal cortex motor regions. The remainder of the connections originated from somatosensory areas 3a and S2/PV, and from the medial bank and fundus of the intraparietal sulcus (IPS). The PMv grasp zone was also densely connected with frontal cortex motor regions, albeit to a lesser extent than the M1 grasp zone. The remainder of the connections originated from areas S2/PV and aspects of the inferior parietal lobe such as PF, PFG, AIP, and the tip of the IPS. The area 2 grasp zone was densely connected with the hand representations of somatosensory areas 3b, 1, and S2/PV. The remainder of the connections was with areas 3a and 5 and the medial bank and fundus of the IPS. Connections with frontal cortex were relatively weak and concentrated in caudal M1. Thus, the three grasp zones may be nodes of parallel parietal-frontal pathways. Differential points of origin and termination of each pathway suggest varying functional specializations. Direct and indirect connections between those parietal-frontal pathways likely coordinate their respective functions into an accurate grasp. PMID:21832196

  6. 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.

  7. 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)

  8. 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)

  9. Building an internal model of a myoelectric prosthesis via closed-loop control for consistent and routine grasping.

    Science.gov (United States)

    Dosen, Strahinja; Markovic, Marko; Wille, Nicola; Henkel, Markus; Koppe, Mario; Ninu, Andrei; Frömmel, Cornelius; Farina, Dario

    2015-06-01

    Prosthesis users usually agree that myoelectric prostheses should be equipped with somatosensory feedback. However, the exact role of feedback and potential benefits are still elusive. The current study investigates the nature of human control processes within a specific context of routine grasping. Although the latter includes a fast feedforward control of the grasping force, the assumption was that the feedback would still be useful; it would communicate the outcome of the grasping trial, which the subjects could use to learn an internal model of feedforward control. Nine able-bodied subjects produced repeatedly a desired level of grasping force using different control configurations: feedback versus no-feedback, virtual versus real prosthetic hand, and joystick versus myocontrol. The outcome measures were the median and dispersion of the relative force errors. The results demonstrated that the feedback was successful in limiting the variability of the routine grasping due to uncertainties in the system and/or the command interface. The internal models of feedforward control could be employed by the subjects to control the prosthesis without the loss of performance even after the force feedback was removed. The models were, however, unstable over time, especially with myocontrol. Overall, the study demonstrates that the prosthesis system can be learned by the subjects using feedback. The feedback is also essential to maintain the model, and it could be delivered intermittently. This approach has practical advantages, but the level to which this mechanism can be truly exploited in practice depends directly on the consistency of the prosthesis control interface.

  10. Chaos in human behavior: the case of work motivation.

    Science.gov (United States)

    Navarro, José; Arrieta, Carlos

    2010-05-01

    This study considers the complex dynamics of work motivation. Forty-eight employees completed a work-motivation diary several times per day over a period of four weeks. The obtained time series were analysed using different methodologies derived from chaos theory (i.e. recurrence plots, Lyapunov exponents, correlation dimension and surrogate data). Results showed chaotic dynamics in 75% of cases. The findings confirm the universality of chaotic behavior within human behavior, challenge some of the underlying assumptions on which work motivation theories are based, and suggest that chaos theory may offer useful and relevant information on how this process is managed within organizations.

  11. 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.

  12. Behavioral responses associated with a human-mediated predator shelter.

    Directory of Open Access Journals (Sweden)

    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.

  13. GRGS simulations for a GRASP-like satellite

    Science.gov (United States)

    Coulot, David; Pollet, Arnaud; Biancale, Richard; Zoulida, Myriam; Loyer, Sylvain; Perosanz, Félix; Marty, Jean-Charles; Lemoine, Jean-Michel; Soudarin, Laurent; Capderou, Michel; Nahmani, Samuel; Deleflie, Florent; Mandea, Mioara

    2016-04-01

    GRASP (Geodetic Reference Antenna in SPace) is a spacecraft system designed to provide the needed data for an enduring and stable TRF (Terrestrial Reference Frame) for accurately measuring and understanding changes in global and regional sea levels, ice sheets and other elements of the dynamic Earth system. To reach the goals for the TRF realization of 1 mm accuracy and 0.1 mm/yr stability (GGOS, Meeting the Requirements of a Global Society on a Changing Planet in 2020, Plag and Pearlman, eds., 2009), GRASP would carry very precise sensor systems for all the key geodetic techniques used to define and monitor the TRF (DORIS, GNSS, SLR, and VLBI). In this study, we present the results obtained regarding the simulations carried out by the French GRGS (Groupe de Recherche de Géodésie Spatiale) for a GRASP-like satellite. First, we searched for the optimal orbit for such a geodetic mission with Genetic Algorithms (stochastic optimization). Then, with the best found orbit, we simulated the measurements of the four geodetic techniques (DORIS and SLR measurements to GRASP, VLBI PPP or interferometric measurements to GRASP, and GNSS measurements received from ground stations and from GRASP) over three years, and we evaluated the expected accuracy and stability of the TRF obtained with the processing of these measurements. Finally, we also investigated the expected impact of the on-board instrument calibration on the quality of the TRF.

  14. Representation of grasp postures and anticipatory motor planning in children.

    Science.gov (United States)

    Stöckel, Tino; Hughes, Charmayne M L; Schack, Thomas

    2012-11-01

    In this study, we investigated anticipatory motor planning and the development of cognitive representation of grasp postures in children aged 7, 8, and 9 years. Overall, 9-year-old children were more likely to plan their movements to end in comfortable postures, and have distinct representational structures of certain grasp postures, compared to the 7- and 8-year old children. Additionally, the sensitivity toward comfortable end-states (end-state comfort) was related to the mental representation of certain grasp postures. Children with grasp comfort related and functionally well-structured representations were more likely to have satisfied end-state comfort in both the simple and the advanced planning condition. In contrast, end-state comfort satisfaction for the advanced planning condition was much lower for children whose cognitive representations were not structured by grasp comfort. The results of the present study support the notion that cognitive action representation plays an important role in the planning and control of grasp postures.

  15. Keeping Safe: Intra-individual Consistency in Obstacle Avoidance Behaviour Across Grasping and Locomotion Tasks.

    Science.gov (United States)

    Kangur, Karina; Billino, Jutta; Hesse, Constanze

    2017-01-01

    Successful obstacle avoidance requires a close coordination of the visual and the motor systems. Visual information is essential for adjusting movements in order to avoid unwanted collisions. Yet, established obstacle avoidance paradigms have typically either focused on gaze strategies or on motor adjustments. Here we were interested in whether humans show similar visuomotor sensitivity to obstacles when gaze and motor behaviour are measured across different obstacle avoidance tasks. To this end, we measured participants' hand movement paths when grasping targets in the presence of obstacles as well as their gaze behaviour when walking through a cluttered hallway. We found that participants who showed more pronounced motor adjustments during grasping also spent more time looking at obstacles during locomotion. Furthermore, movement durations correlated positively in both tasks. Results suggest considerable intra-individual consistency in the strength of the avoidance response across different visuomotor measures potentially indicating an individual's tendency to perform safe actions.

  16. Characterization of a multifunctional inositol phosphate kinase from rice and barley belonging to the ATP-grasp superfamily

    DEFF Research Database (Denmark)

    Josefsen, L.; Bohn, L.; Sørensen, M.B.;

    2007-01-01

    OsIpk and HvIk, inositol phosphate kinases, were cloned from rice (Oryza sativa L. var. indica, IR64) and barley (Hordeum vulgare) respectively.. IP Sequence alignment showed that they belong to the ATP-grasp family, which includes inositol 1,3,4-trisphosphate 5/6-kinase from humans and Arabidops...

  17. 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.

  18. Sensitivity analysis techniques for models of human behavior.

    Energy Technology Data Exchange (ETDEWEB)

    Bier, Asmeret Brooke

    2010-09-01

    Human and social modeling has emerged as an important research area at Sandia National Laboratories due to its potential to improve national defense-related decision-making in the presence of uncertainty. To learn about which sensitivity analysis techniques are most suitable for models of human behavior, different promising methods were applied to an example model, tested, and compared. The example model simulates cognitive, behavioral, and social processes and interactions, and involves substantial nonlinearity, uncertainty, and variability. Results showed that some sensitivity analysis methods create similar results, and can thus be considered redundant. However, other methods, such as global methods that consider interactions between inputs, can generate insight not gained from traditional methods.

  19. Understanding the Heavy Tailed Dynamics in Human Behavior

    CERN Document Server

    Ross, Gordon J

    2015-01-01

    The recent availability of electronic datasets 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 inter-event 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 a statistical artifact 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 ...

  20. Arginine vasopressin and oxytocin modulate human social behavior.

    Science.gov (United States)

    Ebstein, Richard P; Israel, Salomon; Lerer, Elad; Uzefovsky, Florina; Shalev, Idan; Gritsenko, Inga; Riebold, Mathias; Salomon, Shahaf; Yirmiya, Nurit

    2009-06-01

    Increasing evidence suggests that two nonapeptides, arginine vasopressin and oxytocin, shape human social behavior in both nonclinical and clinical subjects. Evidence is discussed that in autism spectrum disorders genetic polymorphisms in the vasopressin-oxytocin pathway, notably the arginine vasopressin receptor 1a (AVPR1a), the oxytocin receptor (OXTR), neurophysin I and II, and CD38 (recently shown to be critical for social behavior by mediating oxytocin secretion) contribute to deficits in socialization skills in this group of patients. We also present first evidence that CD38 expression in lymphoblastoid cells derived from subjects diagnosed with autism is correlated with social skill phenotype inventoried by the Vineland Adaptive Behavioral Scales. Additionally, we discuss molecular genetic evidence that in nonclinical subjects both AVPR1a and OXTR genes contribute to prosocial or altruistic behavior inventoried by two experimental paradigms, the dictator game and social values orientation. The role of the AVPR1a is also analyzed in prepulse inhibition. Prepulse inhibition of the startle response to auditory stimuli is a largely autonomic response that resonates with social cognition in both animal models and humans. First results are presented showing that intranasal administration of arginine vasopressin increases salivary cortisol levels in the Trier Social Stress test. To summarize, accumulating studies employing a broad array of cutting-edge tools in psychology, neuroeconomics, molecular genetics, pharmacology, electrophysiology, and brain imaging are beginning to elaborate the intriguing role of oxytocin and arginine vasopressin in human social behavior. We expect that future studies will continue this advance and deepen our understanding of these complex events.

  1. Learning dynamics explains human behavior in Prisoner's Dilemma on networks

    CERN Document Server

    Cimini, Giulio

    2014-01-01

    Cooperative behavior lies at the very basis of human societies, yet its evolutionary origin remains a key unsolved puzzle. Whereas reciprocity or conditional cooperation is one of the most prominent mechanisms proposed to explain the emergence of cooperation in social dilemmas, recent experimental findings on networked Prisoner's Dilemma games suggest that conditional cooperation also depends on the previous action of the player---namely on the `mood' in which the player currently is. Roughly, a majority of people behaves as conditional cooperators if they cooperated in the past, while they ignore the context and free-ride with high probability if they did not. However, the ultimate origin of this behavior represents a conundrum itself. Here we aim specifically at providing an evolutionary explanation of moody conditional cooperation. To this end, we perform an extensive analysis of different evolutionary dynamics for players' behavioral traits---ranging from standard processes used in game theory based on pa...

  2. Reassembling the Social Environment: A Network Approack to Human Behavior

    OpenAIRE

    Dhrubodhi Mukherjee

    2007-01-01

    This paper critically examines the influence of the structural elements of human behavior that are often neglected in social work literature (Robbins et al., 1998). It incorporates a new multi-theoretical framework that critically examines the significance of a network approach in analyzing social, ideological, and economic structures and their influence on individual actors. This paper discusses two interrelated theories: social network theory and social capital theory, and critiques their r...

  3. Health, Human Capital, and Behavior Change: Essays in Development Microeconomics

    OpenAIRE

    Kirk, Angeli Elise

    2016-01-01

    This dissertation combines three empirical studies of household behaviors as they relate to investment in health and human capital in developing countries. The first explores how changes in children's nutrition in Uganda correspond to composition of a household's income. The second studies measurement activities in a cookstove intervention in Darfur, Sudan, with insights into what may be missed in traditional evaluation approaches as well as how technology adoption may benefit from an uninten...

  4. Some theoretical aspects of human categorization behavior: similarity and generalization

    OpenAIRE

    Jäkel, Frank

    2007-01-01

    Explanations of human categorization behavior often invoke similarity. Stimuli that are similar to each other are grouped together whereas stimuli that are very different are kept separate. Despite serious problems in defining similarity, both conceptually and experimentally, this is the prevailing view of categorization in prototype models (Posner & Keele, 1968; Reed, 1972) and exemplar models (Medin & Schaffer, 1978; Nosofsky, 1986). This is also the prevailing approach in machine learning ...

  5. 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.

  6. Human handling promotes compliant behavior in adult laboratory rabbits.

    Science.gov (United States)

    Swennes, Alton G; Alworth, Leanne C; Harvey, Stephen B; Jones, Carolyn A; King, Christopher S; Crowell-Davis, Sharon L

    2011-01-01

    Routine laboratory procedures can be stressful for laboratory animals. We wanted to determine whether human handling of adult rabbits could induce a degree of habituation, reducing stress and facilitating research-related manipulation. To this end, adult New Zealand white rabbits were handled either frequently or minimally. After being handled over 3 wk, these rabbits were evaluated by novel personnel and compared with minimally handled controls. Evaluators subjectively scored the rabbits for their relative compliance or resistance to being scruffed and removed from their cages, being transported to a treatment room, and their behavior at all stages of the exercise. Upon evaluation, handled rabbits scored significantly more compliant than nontreated controls. During evaluation, behaviors that the rabbits displayed when they were approached in their cages and while being handled outside their cages were recorded and compared between study groups. Handled rabbits displayed behavior consistent with a reduction in human-directed fear. This study illustrates the potential for handling to improve compliance in laboratory procedures and reduce fear-related behavior in laboratory rabbits. Such handling could be used to improve rabbit welfare through the reduction of stress and exposure to novel stimuli.

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

    Directory of Open Access Journals (Sweden)

    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

  8. 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.

  9. 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.

  10. Pantomime-Grasping: Advance Knowledge of Haptic Feedback Availability Supports an Absolute Visuo-Haptic Calibration

    Science.gov (United States)

    Davarpanah Jazi, Shirin; Heath, Matthew

    2016-01-01

    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 simulated grasping. PMID:27199718

  11. Pantomime-Grasping: Advance Knowledge of Haptic Feedback Availability Supports an Absolute Visuo-Haptic Calibration.

    Science.gov (United States)

    Davarpanah Jazi, Shirin; Heath, Matthew

    2016-01-01

    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 simulated grasping.

  12. Discriminating Drivers through Human Factor and Behavioral Difference

    Directory of Open Access Journals (Sweden)

    Ju Seok Oh

    2011-05-01

    Full Text Available Since Greenwood and Woods' (1919 study in tendency of accident, many researchers have insisted that various human factors (sensation seeking, anger, anxiety are highly correlated with reckless driving and traffic accidents. Oh and Lee (2011 designed the Driving Behavior Determinants Questionnaire, a psychological tool to predict danger level of drivers and discriminate them into three groups (normal, unintentionally reckless, and intentionally reckless by their characteristics, attitude, and expected reckless behavior level. This tool's overall accuracy of discrimination was 70%. This study aimed to prove that the discrimination reflects the behavioral difference of drivers. Twenty-four young drivers were requested to react to the visual stimuli (tests for subjective speed sense, simple visual reaction time, and left turning at own risk. The results showed no differences in subjective speed sense among the driver groups, which means drivers' excessive speeding behaviors occur due to intention based on personality and attitude, not because of sensory disorders. In addition, there were no differences in simple reaction time among driver groups. However, the results of the ‘Left turning at drivers’ own risk task” revealed significant group differences. All reckless drivers showed a greater degree of dangerous left turning behaviors than the normal group did.

  13. Human motion behavior while interacting with an industrial robot.

    Science.gov (United States)

    Bortot, Dino; Ding, Hao; Antonopolous, Alexandros; Bengler, Klaus

    2012-01-01

    Human workers and industrial robots both have specific strengths within industrial production. Advantageously they complement each other perfectly, which leads to the development of human-robot interaction (HRI) applications. Bringing humans and robots together in the same workspace may lead to potential collisions. The avoidance of such is a central safety requirement. It can be realized with sundry sensor systems, all of them decelerating the robot when the distance to the human decreases alarmingly and applying the emergency stop, when the distance becomes too small. As a consequence, the efficiency of the overall systems suffers, because the robot has high idle times. Optimized path planning algorithms have to be developed to avoid that. The following study investigates human motion behavior in the proximity of an industrial robot. Three different kinds of encounters between the two entities under three robot speed levels are prompted. A motion tracking system is used to capture the motions. Results show, that humans keep an average distance of about 0,5m to the robot, when the encounter occurs. Approximation of the workbenches is influenced by the robot in ten of 15 cases. Furthermore, an increase of participants' walking velocity with higher robot velocities is observed.

  14. Following Human Footsteps: Proposal of a Decision Theory Based on Human Behavior

    Science.gov (United States)

    Mahmud, Faisal

    2011-01-01

    Human behavior is a complex nature which depends on circumstances and decisions varying from time to time as well as place to place. The way a decision is made either directly or indirectly related to the availability of the options. These options though appear at random nature, have a solid directional way for decision making. In this paper, a decision theory is proposed which is based on human behavior. The theory is structured with model sets that will show the all possible combinations for making a decision, A virtual and simulated environment is considered to show the results of the proposed decision theory

  15. 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.

  16. 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.

  17. A constrained optimization framework for compliant underactuated grasping

    Directory of Open Access Journals (Sweden)

    M. Ciocarlie

    2011-02-01

    Full Text Available This study focuses on the design and analysis of underactuated robotic hands that use tendons and compliant joints to enable passive mechanical adaptation during grasping tasks. We use a quasistatic equilibrium formulation to predict the stability of a given grasp. This method is then used as the inner loop of an optimization algorithm that can find a set of actuation mechanism parameters that optimize the stability measure for an entire set of grasps. We discuss two possible approaches to design optimization using this framework, one using exhaustive search over the parameter space, and the other using a simplified gripper construction to cast the problem to a form that is directly solvable using well-established optimization methods. Computations are performed in 3-D, allow arbitrary geometry of the grasped objects and take into account frictional constraints.

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

  18. Toward a functional account of the human mirror system. Comment on "Grasping synergies: A motor-control approach to the mirror neuron mechanism" by A. D'Ausilio et al.

    Science.gov (United States)

    Enticott, Peter G.

    2015-03-01

    It has been more than 20 years since the first reports of macaque "mirror neurons" appeared in the literature [1], and a large number of studies have since established an analogous system in the human brain [2]. Despite a raft of studies using various methodological approaches, we appear to be moving further away from any form of consensus, particularly concerning what this mirror system actually "mirrors" (e.g., low-level motor representation, goal or intention coding), and the functional significance (if any) of this mechanism [3]. The conceptual issues discussed by D'Ausilio et al. [4] are indeed critical to the advancement of this field; interestingly, they suggest that examining kinematic vs. goal coding aspects of the mirror system might be redundant, and propose instead a new approach that examines the recruitment of motor synergies within the context of the mirror system.

  19. Intranasal administration of oxytocin increases human aggressive behavior.

    Science.gov (United States)

    Ne'eman, R; Perach-Barzilay, N; Fischer-Shofty, M; Atias, A; Shamay-Tsoory, S G

    2016-04-01

    Considering its role in prosocial behaviors, oxytocin (OT) has been suggested to diminish levels of aggression. Nevertheless, recent findings indicate that oxytocin may have a broader influence on increasing the salience of social stimuli and may therefore, under certain circumstances, increase antisocial behaviors such as aggression. This controversy led to the following speculations: If indeed oxytocin promotes primarily prosocial behavior, administration of OT is expected to diminish levels of aggression. However, if oxytocin mainly acts to increase the salience of social stimuli, it is expected to elevate levels of aggression following provocation. In order to test this assumption we used the Social Orientation Paradigm (SOP), a monetary game played against a fictitious partner that allows measuring three types of responses in the context of provocation: an aggressive response - reducing a point from the fictitious partner, an individualistic response - adding a point to oneself, and a collaborative response - adding half a point to the partner and half a point to oneself. In the current double-blind, placebo-controlled, within-subject study design, 45 participants completed the SOP task following the administration of oxytocin or placebo. The results indicated that among subjects naïve to the procedure oxytocin increased aggressive responses in comparison with placebo. These results support the saliency hypothesis of oxytocin and suggest that oxytocin plays a complex role in the modulation of human behavior.

  20. Rheology of human blood plasma: Viscoelastic versus Newtonian behavior

    CERN Document Server

    Brust, M; Pan, L; Garcia, M; Arratia, P E; Wagner, C; 10.1103/PhysRevLett.110.078305

    2013-01-01

    We investigate the rheological characteristics of human blood plasma in shear and elongational flows. While we can confirm a Newtonian behavior in shear flow within experimental resolution, we find a viscoelastic behavior of blood plasma in the pure extensional flow of a capillary break-up rheometer. The influence of the viscoelasticity of blood plasma on capillary blood flow is tested in a microfluidic device with a contraction-expansion geometry. Differential pressure measurements revealed that the plasma has a pronounced flow resistance compared to that of pure water. Supplementary measurements indicate that the viscoelasticity of the plasma might even lead to viscoelastic instabilities under certain conditions. Our findings show that the viscoelastic properties of plasma should not be ignored in future studies on blood flow.

  1. Endocrinology of human female sexuality, mating, and reproductive behavior.

    Science.gov (United States)

    Motta-Mena, Natalie V; Puts, David A

    2016-11-17

    Hormones orchestrate and coordinate human female sexual development, sexuality, and reproduction in relation to three types of phenotypic changes: life history transitions such as puberty and childbirth, responses to contextual factors such as caloric intake and stress, and cyclical patterns such as the ovulatory cycle. Here, we review the endocrinology underlying women's reproductive phenotypes, including sexual orientation and gender identity, mate preferences, competition for mates, sex drive, and maternal behavior. We highlight distinctive aspects of women's sexuality such as the possession of sexual ornaments, relatively cryptic fertile windows, extended sexual behavior across the ovulatory cycle, and a period of midlife reproductive senescence-and we focus on how hormonal mechanisms were shaped by selection to produce adaptive outcomes. We conclude with suggestions for future research to elucidate how hormonal mechanisms subserve women's reproductive phenotypes.

  2. Human behavior research and the design of sustainable transport systems

    Science.gov (United States)

    Schauer, James J.

    2011-09-01

    Transport currently represents approximately 19% of the global energy demand and accounts for about 23% of the global carbon dioxide emissions (IEA 2009). As the demand for mobility is expected to continue to increase in the coming decades, the stabilization of atmospheric carbon dioxide levels will require the evolution of transport, along with power generation, building design and manufacturing. The continued development of these sectors will need to include changes in energy sources, energy delivery, materials, infrastructure and human behavior. Pathways to reducing carbon from the transport sector have unique challenges and opportunities that are inherent to the human choices and behavioral patterns that mold the transportation systems and the associated energy needs. Technology, government investment, and regulatory policies have a significant impact on the formulation of transportation infrastructure; however, the role of human behavior and public acceptance on the efficiency and effectiveness of transport systems should not be underestimated. Although developed, rapidly developing, and underdeveloped nations face different challenges in the establishment of transport infrastructure that can meet transport needs while achieving sustainable carbon dioxide emissions, the constraints that establish the domain of possibilities are closely related for all nations. These constraints include capital investment, fuel supplies, power systems, and human behavior. Throughout the world, there are considerable efforts directed at advancing and optimizing the financing of sustainable infrastructures, the production of low carbon fuels, and the production of advanced power systems, but the foundational work on methods to understand human preferences and behavior within the context of transport and the valuation of reductions in carbon dioxide emissions is greatly lagging behind. These methods and the associated understanding of human behavior and the willingness to pay for

  3. 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.

  4. Understanding the behavior of floodplains as human-water systems

    Science.gov (United States)

    Di Baldassarre, G.; Brandimarte, L.

    2012-12-01

    Floodplains are among the most valuable ecosystems for supporting biodiversity and providing services to the environment. Moreover, they are home of approximately one-sixth of the world population as they offer favorable conditions for economic development. As a result, flood disasters currently affect more than 100 million people a year. Sadly, flood losses and fatalities are expected to increase further in many countries because of population growth as well as changes in land use and climate. Given the relevance of floodplain systems, a number of social scientists have examined how the frequency and severity of flooding often determine whether human development in floodplains is desirable or not. Meanwhile, many earth scientists have investigated the impact of human activities (e.g. land-use changes, urbanization, river training) on the frequency and magnitude of floods. In fact, as human activities change the frequency of flooding, the frequency of flooding affects human developments in floodplain areas. Yet, these dynamic interactions between floods and societies and the associated feedback mechanisms remain largely unexplored and poorly understood. As a result, we typically consider humans as external forcing (or boundary condition) without representing the feedback loops and our prediction of future trajectories are therefore extremely limited. This presentation shows a first attempt to understand the behavior of floodplains as coupled human-water systems. In particular, we analyzed a number of long time series of hydrological and population data in the Po River Basin (Italy) to explore the feedback mechanisms, reciprocal effects, surprises, and threshold mechanisms, taking place in floodplain systems. The outcomes of the study enable a better understanding of how the occurrences of floods shape human developments while, at the same time, human activities shape the magnitude and frequency of floods. The presentation also discusses the opportunities offered by

  5. 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

    2014-06-01

    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

  6. The role of vision in perching and grasping for MAVs

    Science.gov (United States)

    Thomas, Justin; Loianno, Giuseppe; Daniilidis, Kostas; Kumar, Vijay

    2016-05-01

    In this work, we provide an overview of vision-based control for perching and grasping for Micro Aerial Vehicles. We investigate perching on at, inclined, or vertical surfaces as well as visual servoing techniques for quadrotors to enable autonomous perching by hanging from cylindrical structures using only a monocular camera and an appropriate gripper. The challenges of visual servoing are discussed, and we focus on the problems of relative pose estimation, control, and trajectory planning for maneuvering a robot with respect to an object of interest. Finally, we discuss future challenges to achieve fully autonomous perching and grasping in more realistic scenarios.

  7. 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.

  8. Flexible Human Behavior Analysis Framework for Video Surveillance Applications

    Directory of Open Access Journals (Sweden)

    Weilun Lao

    2010-01-01

    Full Text Available We study a flexible framework for semantic analysis of human motion from surveillance video. Successful trajectory estimation and human-body modeling facilitate the semantic analysis of human activities in video sequences. Although human motion is widely investigated, we have extended such research in three aspects. By adding a second camera, not only more reliable behavior analysis is possible, but it also enables to map the ongoing scene events onto a 3D setting to facilitate further semantic analysis. The second contribution is the introduction of a 3D reconstruction scheme for scene understanding. Thirdly, we perform a fast scheme to detect different body parts and generate a fitting skeleton model, without using the explicit assumption of upright body posture. The extension of multiple-view fusion improves the event-based semantic analysis by 15%–30%. Our proposed framework proves its effectiveness as it achieves a near real-time performance (13–15 frames/second and 6–8 frames/second for monocular and two-view video sequences.

  9. The Scent of Blood: A Driver of Human Behavior?

    Science.gov (United States)

    Moran, James K; Dietrich, Daniel R; Elbert, Thomas; Pause, Bettina M; Kübler, Lisa; Weierstall, Roland

    2015-01-01

    The scent of blood is potentially one of the most fundamental and survival-relevant olfactory cues in humans. This experiment tests the first human parameters of perceptual threshold and emotional ratings in men and women of an artificially simulated smell of fresh blood in contact with the skin. We hypothesize that this scent of blood, with its association with injury, danger, death, and nutrition will be a critical cue activating fundamental motivational systems relating to either predatory approach behavior or prey-like withdrawal behavior, or both. The results show that perceptual thresholds are unimodally distributed for both sexes, with women being more sensitive. Furthermore, both women and men's emotional responses to simulated blood scent divide strongly into positive and negative valence ratings, with negative ratings in women having a strong arousal component. For women, this split is related to the phase of their menstrual cycle and oral contraception (OC). Future research will investigate whether this split in both genders is context-dependent or trait-like.

  10. Understanding and Predicting Human Behavior for Social Communities

    Science.gov (United States)

    Simoes, Jose; Magedanz, Thomas

    Over the last years, with the rapid advance in technology, it is becoming increasingly feasible for people to take advantage of the devices and services in the surrounding environment to remain "connected" and continuously enjoy the activity they are engaged in, be it sports, entertainment, or work. Such a ubiquitous computing environment will allow everyone permanent access to the Internet anytime, anywhere and anyhow [1]. Nevertheless, despite the evolution of services, social aspects remain in the roots of every human behavior and activities. Great examples of such phenomena are online social networks, which engage users in a way never seen before in the online world. At the same time, being aware and communicating context is a key part of human interaction and is a particularly powerful concept when applied to a community of users where services can be made more personalized and useful. Altogether, harvesting context to reason and learn about user behavior will further enhance the future multimedia vision where services can be composed and customized according to user context. Moreover, it will help us to understand users in a better way.

  11. Thermomechanical behavior of human carotid arteries in the passive state.

    Science.gov (United States)

    Guinea, G V; Atienza, J M; Elices, M; Aragoncillo, P; Hayashi, K

    2005-06-01

    Localized heating or cooling is expanding the clinical procedures used to treat cardiovascular diseases. Advantageous implementation and development of these methods are linked indissolubly to a deeper understanding of the arterial response to combined mechanical and thermal loads. Despite this, the basic thermomechanical behavior of human blood vessels still remains largely unknown, primarily due to the lack of appropriate experimental data. In this work, the influence of temperature on the passive behavior of human carotid arteries was studied in vitro by means of inflation tests. Eleven carotid segments were tested in the range 0-200 mmHg at four different temperatures of 17, 27, 37, and 42 degrees C. The results show that the combined change of temperature and stress has a dramatic effect on the dilatation coefficient of the arterial wall, which is shifted from negative to positive depending on the stress state, whereas the structural stiffness of the arterial wall does not change appreciably in the range of temperatures tested.

  12. Social Media Research, Human Behavior, and Sustainable Society

    Directory of Open Access Journals (Sweden)

    Quan Li

    2017-03-01

    Full Text Available A bibliometric analysis was conducted to review social media research from different perspectives during the period of 2008–2014 based on the Science Citation Index and Social Science Citation Index database. Using a collection of 10,042 articles related to social media, the bibliometric analysis revealed some interesting patterns and trend of the scientific outputs, major journals, subject categories, spatial distribution, international collaboration, and temporal evolution in keywords usage in social media studies. The research on social media has been characterized by rapid growth and dynamic collaboration, with a rising number of publications and citation. Communication, Sociology, Public, Environment & Occupational Health, Business, and Multidisciplinary Psychology were the five most common categories. Computers in Human Behavior was the journal with the most social media publications, and Computers & Education ranked first according to the average citations. The two most productive countries were the U.S. and UK, delivering about half of the publications. The proportion of China’s internationally collaborative publications was the highest. The University of Wisconsin, the University of Michigan, and Harvard University were three most productive institutions. Several keywords, such as “Facebook”, “Twitter”, “communication”, “Social Networking Sites”, “China”, “climate change”, “big data” and “social support” increasingly gained the popularity during the study period, indicating the research trends on human behavior and sustainability.

  13. EXTRACTING HUMAN BEHAVIORAL PATTERNS BY MINING GEO-SOCIAL NETWORKS

    Directory of Open Access Journals (Sweden)

    M. Forghani

    2014-10-01

    Full Text Available Accessibility of positioning technologies such as GPS offer the opportunity to store one’s travel experience and publish it on the web. Using this feature in web-based social networks and considering location information shared by users as a bridge connecting the users’ network to location information layer leads to the formation of Geo-Social Networks. The availability of large amounts of geographical and social data on these networks provides rich sources of information that can be utilized for studying human behavior through data analysis in a spatial-temporal-social context. This paper attempts to investigate the behavior of around 1150 users of Foursquare network by making use of their check-ins. The authors analyzed the metadata associated with the whereabouts of the users, with an emphasis on the type of places, to uncover patterns across different temporal and geographical scales for venue category usage. The authors found five groups of meaningful patterns that can explore region characteristics and recognize a number of major crowd behaviors that recur over time and space.

  14. 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.

  15. The influence of material cues on early grasping force

    NARCIS (Netherlands)

    Bergmann Tiest, W.M.; Kappers, A.M.L.

    2014-01-01

    The object of this study was to see whether differences in texture influence grip force in the very early phase of grasping an object. Subjects were asked to pick up objects with different textures either blindfolded or sighted, while grip force was measured. Maximum force was found to be adjusted t

  16. 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...

  17. Cortical dynamics of sensorimotor integration during grasp planning

    NARCIS (Netherlands)

    Verhagen, L.; Dijkerman, H.C.; Medendorp, W.P.; Toni, I.

    2012-01-01

    Our sensorimotor interactions with objects are guided by their current spatial and perceptual features, as well as by learned object knowledge. Afresh red tomato is grasped differently than a soft overripe tomato, even when those objects possess the same spatial metrics of size and shape. Objects' s

  18. Improvement and Neuroplasticity after Combined Rehabilitation to Forced Grasping

    Science.gov (United States)

    Ogata, Atsuko; Kawahira, Kazumi; Shimodozono, Megumi

    2017-01-01

    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. PMID:28265475

  19. Priming of Reach and Grasp Actions by Handled Objects

    Science.gov (United States)

    Masson, Michael E. J.; Bub, Daniel N.; Breuer, Andreas T.

    2011-01-01

    Pictures of handled objects such as a beer mug or frying pan are shown to prime speeded reach and grasp actions that are compatible with the object. To determine whether the evocation of motor affordances implied by this result is driven merely by the physical orientation of the object's handle as opposed to higher-level properties of the object,…

  20. Unmanned Systems: A Lab-Based Robotic Arm for Grasping

    Science.gov (United States)

    2015-06-01

    A LAB-BASED ROBOTIC ARM FOR GRASPING by Arturo Jacinto II June 2015 Thesis Advisor: Richard M. Harkins Second Reader: Peter Crooker......learning opportunities for various student experiments including the initial selection, startup and development of the Robotic arm and glove controller

  1. Development of prosthesis grasp control systems on a robotic testbed

    NARCIS (Netherlands)

    Peerdeman, Bart; 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 p

  2. Gaze, goals and growing up: Effects on imitative grasping.

    Science.gov (United States)

    Brubacher, Sonja P; Roberts, Kim P; Obhi, Sukhvinder S

    2013-09-01

    Developmental differences in the use of social-attention cues to imitation were examined among children aged 3 and 6 years old (n = 58) and adults (n = 29). In each of 20 trials, participants watched a model grasp two objects simultaneously and move them together. On every trial, the model directed her gaze towards only one of the objects. Some object pairs were related and had a clear functional relationship (e.g., flower, vase), while others were functionally unrelated (e.g., cardboard square, ladybug). Owing to attentional effects of eye gaze, it was expected that all participants would more faithfully imitate the grasp on the gazed-at object than the object not gazed-at. Children were expected to imitate less faithfully on trials with functionally related objects than those without, due to goal-hierarchy effects. Results support effects of eye gaze on imitation of grasping. Children's grasping accuracy on functionally related and functionally unrelated trials was similar, but they were more likely to only use one hand on trials where the object pairs were functionally related than unrelated. Implications for theories of imitation are discussed. © 2013 The British Psychological Society.

  3. 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…

  4. Grasping what is graspable: evidence from visual form agnosia.

    Science.gov (United States)

    McIntosh, Robert D; Dijkerman, H Chris; Mon-Williams, Mark; Milner, A David

    2004-01-01

    Patient DF has profound visual form agnosia. Despite this, she has no problem adjusting her finger-thumb grip aperture to the width of objects when reaching to grasp them. In a previous study, however, she was found to have great difficulty in scaling her grip aperture when attempting to grasp a transparent disc through two holes cut into it. This problem was attributed to a putative difference between the visual processing of size and distance in the brain, whereby DF retained the capacity for processing object size but not the separation between distinct elements such as holes. In the present study we have tested this idea more directly, and found no evidence to support such a distinction. Nonetheless, we replicated our earlier finding that DF is unable to produce normal prehension movements when attempting to grasp transparent stimuli by placing her digits into holes. We suggest that, whilst some simple objects offer themselves directly to the dorsal stream for grasping, an intact ventral stream is required to respond appropriately to more complex stimuli.

  5. 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

  6. 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.

  7. Human behavior in Prisoner's Dilemma experiments suppresses network reciprocity

    CERN Document Server

    Gracia-Lazaro, Carlos; Sanchez, Angel; Moreno, Yamir

    2012-01-01

    During the last few years, much research has been devoted to strategic interactions on complex networks. In this context, the Prisoner's Dilemma has become a paradigmatic model, and it has been established that imitative evolutionary dynamics lead to very different outcomes depending on the details of the network. We here report that when one takes into account the real behavior of people observed in the experiments, both at the mean-field level and on utterly different networks the observed level of cooperation is the same. We thus show that when human subjects interact in an heterogeneous mix including cooperators, defectors and moody conditional cooperators, the structure of the population does not promote or inhibit cooperation with respect to a well mixed population.

  8. Human behavior in Prisoner's Dilemma experiments suppresses network reciprocity.

    Science.gov (United States)

    Gracia-Lázaro, Carlos; Cuesta, José A; Sánchez, Angel; Moreno, Yamir

    2012-01-01

    During the last few years, much research has been devoted to strategic interactions on complex networks. In this context, the Prisoner's Dilemma has become a paradigmatic model, and it has been established that imitative evolutionary dynamics lead to very different outcomes depending on the details of the network. We here report that when one takes into account the real behavior of people observed in the experiments, both at the mean-field level and on utterly different networks, the observed level of cooperation is the same. We thus show that when human subjects interact in a heterogeneous mix including cooperators, defectors and moody conditional cooperators, the structure of the population does not promote or inhibit cooperation with respect to a well mixed population.

  9. Human Behavior Classification Using Multi-Class Relevance Vector Machine

    Directory of Open Access Journals (Sweden)

    Yogameena, B.

    2010-01-01

    Full Text Available Problem statement: In computer vision and robotics, one of the typical tasks is to identify specific objects in an image and to determine each object’s position and orientation relative to coordinate system. This study presented a Multi-class Relevance Vector machine (RVM classification algorithm which classifies different human poses from a single stationary camera for video surveillance applications. Approach: First the foreground blobs and their edges are obtained. Then the relevance vector machine classification scheme classified the normal and abnormal behavior. Results: The performance proposed by our method was compared with Support Vector Machine (SVM and multi-class support vector machine. Experimental results showed the effectiveness of the method. Conclusion: It is evident that RVM has good accuracy and lesser computational than SVM.

  10. Which activation function of cooperation describes human behavior?

    CERN Document Server

    Jarynowski, Andrzej

    2016-01-01

    Properties of cooperation's probability function in Prisoner`s Dilemma have impact on evolution of game. Basic model defines that probability of cooperation depends linearly, both on the player's altruism and the co-player's reputation. I propose modification of activation function to smooth one (hyperbolic tangent with scaling parameter a, which corresponds to its shape) and observe three phases for different range of a. (1) For small a, strategies seem to randomly change in time and situation of mixed choices (one cooperates and second defects) dominate. (2) For medium a, players choose only one strategy for given period of time (the common state can switch to opposite one with some probability). (3) For large a, mixed strategy (once defect, once cooperate) is coexisting with common strategies and no change is allowed. I believe that proposed function characterizes better socio-economical phenomena and especially phase 1 and 2 contain most of human behavior.

  11. Modeling human behavior in economics and social science.

    Science.gov (United States)

    Dolfin, M; Leonida, L; Outada, N

    2017-06-29

    The complex interactions between human behaviors and social economic sciences is critically analyzed in this paper in view of possible applications of mathematical modeling as an attainable interdisciplinary approach to understand and simulate the aforementioned dynamics. The quest is developed along three steps: Firstly an overall analysis of social and economic sciences indicates the main requirements that a contribution of mathematical modeling should bring to these sciences; subsequently the focus moves to an overview of mathematical tools and to the selection of those which appear, according to the authors bias, appropriate to the modeling; finally, a survey of applications is presented looking ahead to research perspectives. Copyright © 2017 Elsevier B.V. All rights reserved.

  12. Human turnover dynamics during sleep: Statistical behavior and its modeling

    Science.gov (United States)

    Yoneyama, Mitsuru; Okuma, Yasuyuki; Utsumi, Hiroya; Terashi, Hiroo; Mitoma, Hiroshi

    2014-03-01

    Turnover is a typical intermittent body movement while asleep. Exploring its behavior may provide insights into the mechanisms and management of sleep. However, little is understood about the dynamic nature of turnover in healthy humans and how it can be modified in disease. Here we present a detailed analysis of turnover signals that are collected by accelerometry from healthy elderly subjects and age-matched patients with neurodegenerative disorders such as Parkinson's disease. In healthy subjects, the time intervals between consecutive turnover events exhibit a well-separated bimodal distribution with one mode at ⩽10 s and the other at ⩾100 s, whereas such bimodality tends to disappear in neurodegenerative patients. The discovery of bimodality and fine temporal structures (⩽10 s) is a contribution that is not revealed by conventional sleep recordings with less time resolution (≈30 s). Moreover, we estimate the scaling exponent of the interval fluctuations, which also shows a clear difference between healthy subjects and patients. We incorporate these experimental results into a computational model of human decision making. A decision is to be made at each simulation step between two choices: to keep on sleeping or to make a turnover, the selection of which is determined dynamically by comparing a pair of random numbers assigned to each choice. This decision is weighted by a single parameter that reflects the depth of sleep. The resulting simulated behavior accurately replicates many aspects of observed turnover patterns, including the appearance or disappearance of bimodality and leads to several predictions, suggesting that the depth parameter may be useful as a quantitative measure for differentiating between normal and pathological sleep. These findings have significant clinical implications and may pave the way for the development of practical sleep assessment technologies.

  13. Human turnover dynamics during sleep: statistical behavior and its modeling.

    Science.gov (United States)

    Yoneyama, Mitsuru; Okuma, Yasuyuki; Utsumi, Hiroya; Terashi, Hiroo; Mitoma, Hiroshi

    2014-03-01

    Turnover is a typical intermittent body movement while asleep. Exploring its behavior may provide insights into the mechanisms and management of sleep. However, little is understood about the dynamic nature of turnover in healthy humans and how it can be modified in disease. Here we present a detailed analysis of turnover signals that are collected by accelerometry from healthy elderly subjects and age-matched patients with neurodegenerative disorders such as Parkinson's disease. In healthy subjects, the time intervals between consecutive turnover events exhibit a well-separated bimodal distribution with one mode at ⩽10 s and the other at ⩾100 s, whereas such bimodality tends to disappear in neurodegenerative patients. The discovery of bimodality and fine temporal structures (⩽10 s) is a contribution that is not revealed by conventional sleep recordings with less time resolution (≈30 s). Moreover, we estimate the scaling exponent of the interval fluctuations, which also shows a clear difference between healthy subjects and patients. We incorporate these experimental results into a computational model of human decision making. A decision is to be made at each simulation step between two choices: to keep on sleeping or to make a turnover, the selection of which is determined dynamically by comparing a pair of random numbers assigned to each choice. This decision is weighted by a single parameter that reflects the depth of sleep. The resulting simulated behavior accurately replicates many aspects of observed turnover patterns, including the appearance or disappearance of bimodality and leads to several predictions, suggesting that the depth parameter may be useful as a quantitative measure for differentiating between normal and pathological sleep. These findings have significant clinical implications and may pave the way for the development of practical sleep assessment technologies.

  14. Genomic imprinting and human psychology: cognition, behavior and pathology.

    Science.gov (United States)

    Goos, Lisa M; Ragsdale, Gillian

    2008-01-01

    Imprinted genes expressed in the brain are numerous and it has become clear that they play an important role in nervous system development and function. The significant influence of genomic imprinting during development sets the stage for structural and physiological variations affecting psychological function and behaviour, as well as other physiological systems mediating health and well-being. However, our understanding of the role of imprinted genes in behaviour lags far behind our understanding of their roles in perinatal growth and development. Knowledge of genomic imprinting remains limited among behavioral scientists and clinicians and research regarding the influence of imprinted genes on normal cognitive processes and the most common forms of neuropathology has been limited to date. In this chapter, we will explore how knowledge of genomic imprinting can be used to inform our study of normal human cognitive and behavioral processes as well as their disruption. Behavioural analyses of rare imprinted disorders, such as Prader-Willi and Angelman syndromes, provide insight regarding the phenotypic impact of imprinted genes in the brain, and can be used to guide the study of normal behaviour as well as more common but etiologically complex disorders such as ADHD and autism. Furthermore, hypotheses regarding the evolutionary development of imprinted genes can be used to derive predictions about their role in normal behavioural variation, such as that observed in food-related and social interactions.

  15. AUTHENTICITY OF HUMAN BEHAVIOR IN FREUD AND HEIDEGGER

    Directory of Open Access Journals (Sweden)

    IONUŢ ŞTEFAN

    2016-11-01

    Full Text Available The research theme is the question of the authenticity of human behavior examined from two perspectives: the psychoanalytical one, developed by Sigmund Freud, and the one of philosophy of being embodied by Martin Heidegger. As concerns the Freudian psychoanalysis, I am primarily interested in the conflict among: self, ego, and superego. Because of the requisitions of the supergo, the subject mostly behaves according to the censorships imposed by this psychic instance. The self, dominated by sexuality and aggressiveness, exhibits the pulsional tendency to manifest itself in the conscious behavior of the individual. As regards the Heideggerian endeavor, I am interested in distinguishing between the authentic and non-authentic existences. In Heidegger’s vision, the nonauthentic existence manifests when we are living together with the others in society. This is the horizon of the impersonal “as it is done”, the Heideggerian das Man, which may be understood by the three dimensions: curiosity, ambiguity, and chatter. The authentic existence manifests when the individuals live on their own, in privacy, and acknowledge the fact that their existence develops over a strictly determined time period, the imminent confrontation with their own death coming closer and closer.

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

    OpenAIRE

    塚本, 祐介; Tsukamoto, Yusuke

    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...

  17. Social performance cues induce behavioral flexibility in humans

    NARCIS (Netherlands)

    Toelch, U.; Bruce, M.J.; Meeus, M.T.H.; Reader, S.M.

    2011-01-01

    Behavioral flexibility allows individuals to react to environmental changes, but changing established behavior carries costs, with unknown benefits. Individuals may thus modify their behavioral flexibility according to the prevailing circumstances. Social information provided by the performance leve

  18. GRASPING THE NATURE OF POTENTIALLY HAZARDOUS ASTEROIDS

    Energy Technology Data Exchange (ETDEWEB)

    Perna, D.; Barucci, M. A.; Fornasier, S.; Deshapriya, J. D. P. [LESIA—Observatoire de Paris, PSL Research University, CNRS, Sorbonne Universités, UPMC Univ. Paris 06, Univ. Paris Diderot, Sorbonne Paris Cité, 5 place Jules Janssen, F-92195 Meudon (France); Dotto, E.; Ieva, S.; Epifani, E. Mazzotta [INAF—Osservatorio Astronomico di Roma, Via Frascati 33, I-00040 Monte Porzio Catone (Roma) (Italy); Bernardi, F. [SpaceDyS, via Mario Giuntini 63, I-56023 Cascina (Pisa) (Italy); Luise, F. De [INAF—Osservatorio Astronomico di Teramo, via Mentore Maggini snd, I-64100 Teramo (Italy); Perozzi, E. [Deimos Space, Strada Buchesti 75-77, Bucharest (Romania); Rossi, A. [IFAC—CNR, via Madonna del Piano 10, I-50019 Sesto Fiorentino (Firenze) (Italy); Micheli, M., E-mail: davide.perna@obspm.fr [ESA—NEOCC, ESRIN, via Galileo Galilei 64, I-00044 Frascati (Rome) (Italy)

    2016-01-15

    Through their delivery of water and organics, near-Earth objects (NEOs) played an important role in the emergence of life on our planet.  However, they also pose a hazard to the Earth, as asteroid impacts could significantly affect our civilization. Potentially hazardous asteroids (PHAs) are those that, in principle, could possibly impact the Earth within the next century, producing major damage. About 1600 PHAs are currently known, from an estimated population of 4700 ± 1450. However, a comprehensive characterization of the PHA physical properties is still missing. Here we present spectroscopic observations of 14 PHAs, which we have used to derive their taxonomy, meteorite analogs, and mineralogy. Combining our results with the literature, we investigated how PHAs are distributed as a function of their dynamical and physical properties. In general, the “carbonaceous” PHAs seem to be particularly threatening, because of their high porosity (limiting the effectiveness of the main deflection techniques that could be used in space) and low inclination and minimum orbit intersection distance (MOID) with the Earth (favoring more frequent close approaches). V-type PHAs also present low MOID values, which can produce frequent close approaches (as confirmed by the recent discovery of a limited space weathering on their surfaces). We also identified those specific objects that deserve particular attention because of their extreme rotational properties, internal strength, or possible cometary nature. For PHAs and NEOs in general, we identified a possible anti-correlation between the elongation and the rotational period, in the range of P{sub rot} ≈ 5–80 hr. This would be compatible with the behavior of gravity-dominated aggregates in rotational equilibrium. For periods ≳80–90 hr, such a trend stops, possibly under the influence of the YORP effect and collisions. However, the statistics is very low, and further observational and theoretical work is required

  19. Integration of human behavior expectations in training: human behavior simulator; Integracion de las expectativas de comportamiento humano en la formacion: simulacion de comportamiento humano

    Energy Technology Data Exchange (ETDEWEB)

    Obeso Torices, E.

    2012-07-01

    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.

  20. From human behavior to the spread of mobile phone viruses

    Science.gov (United States)

    Wang, Pu

    Percolation theory was initiated some 50 years ago as a mathematical framework for the study of random physical processes such as the flow of a fluid through a disordered porous medium. It has been proved to be a remarkably rich theory, with applications from thermodynamic phase transitions to complex networks. In this dissertation percolation theory is used to study the diffusion process of mobile phone viruses. Some methodologies widely used in statistical physics are also applied to uncover the underlying statistical laws of human behavior and simulate the spread of mobile phone viruses in a large population. I find that while Bluetooth viruses can reach all susceptible handsets with time, they spread slowly due to human mobility, offering ample opportunities to deploy antiviral software. In contrast, viruses utilizing multimedia messaging services (MMS) could infect all users in hours, but currently a phase transition on the underlying call graph limits them to only a small fraction of the susceptible users. These results explain the lack of a major mobile virus breakout so far and predict that once a mobile operating system's market share reaches the phase transition point, viruses will pose a serious threat to mobile communications. These studies show how the large datasets and tools of statistical physics can be used to study some specific and important problems, such as the spread of mobile phone viruses.

  1. Group choice: the ideal free distribution of human social behavior.

    Science.gov (United States)

    Kraft, J R; Baum, W M

    2001-07-01

    Group choice refers to the distribution of group members between two choice alternatives over time. The ideal free distribution (IFD), an optimal foraging model from behavioral ecology, predicts that the ratio of foragers at two resource sites should equal the ratio of obtained resources, a prediction that is formally analogous to the matching law of individual choice, except that group choice is a social phenomenon. Two experiments investigated the usefulness of IFD analyses of human group choice and individual-based explanations that might account for the group-level events. Instead of nonhuman animals foraging at two sites for resources, a group of humans chose blue and red cards to receive points that could earn cash prizes. The groups chose blue and red cards in ratios in positive relation to the ratios of points associated with the cards. When group choice ratios and point ratios were plotted on logarithmic coordinates and fitted with regression lines, the slopes (i.e., sensitivity measures) approached 1.0 but tended to fall short of it (i.e., undermatching), with little bias and little unaccounted for variance. These experiments demonstrate that an IFD analysis of group choice is possible and useful, and suggest that group choice may be explained by the individual members' tendency to optimize reinforcement.

  2. Intrinsic hand muscle function, part 1: creating a functional grasp.

    Science.gov (United States)

    Arnet, Ursina; Muzykewicz, David A; Fridén, Jan; Lieber, Richard L

    2013-11-01

    Regaining hand function has been identified as the highest priority for persons with tetraplegia. In many patients, finger flexion can be restored with a tendon transfer of extensor carpi radialis longus to flexor digitorum profundus (FDP). In the absence of intrinsic function, this results in a roll-up finger movement, which tends to push large objects out of grasp. To enable patients to grasp objects of varying sizes, a functional grasp is required that has a larger excursion of fingertip-to-palm distance than can be supplied without intrinsic function. The aim of this study was to quantify the role of intrinsic muscle force in creating a functional grasp. Finger kinematics during grasp were measured on 5 cadaveric hands. To simulate finger flexion, the FDP was activated by a motor and intrinsic muscles were loaded at various levels (0, 125, 250, 375, or 500 g). Finger movement was characterized by the order of metacarpophalangeal, proximal interphalangeal, and distal interphalangeal joint flexion and by the maximal fingertip-to-palm distance during finger closure. Without any intrinsic muscle contribution (0-g load), FDP activation resulted in flexion of all 3 joints, whereby flexion began at the proximal interphalangeal joint, followed by the distal interphalangeal joint, and then the metacarpophalangeal joint. With increasing intrinsic muscle load, finger flexion was initiated at the metacarpophalangeal joint, followed by the proximal interphalangeal and distal interphalangeal joints. This altered joint flexion order resulted in a larger maximal fingertip-to-palm distance during finger flexion. The difference between the 2 extreme conditions (0 g vs 500 g of intrinsic muscle load) was 19 mm. These findings demonstrate that simultaneous activation of the FDP and the intrinsic muscles results in an apparently more functional hand closing compared with FDP activation alone because of altered kinematics and larger fingertip-to-palm distances. These findings

  3. Predictive models of procedural human supervisory control behavior

    Science.gov (United States)

    Boussemart, Yves

    Human supervisory control systems are characterized by the computer-mediated nature of the interactions between one or more operators and a given task. Nuclear power plants, air traffic management and unmanned vehicles operations are examples of such systems. In this context, the role of the operators is typically highly proceduralized due to the time and mission-critical nature of the tasks. Therefore, the ability to continuously monitor operator behavior so as to detect and predict anomalous situations is a critical safeguard for proper system operation. In particular, such models can help support the decision J]l8king process of a supervisor of a team of operators by providing alerts when likely anomalous behaviors are detected By exploiting the operator behavioral patterns which are typically reinforced through standard operating procedures, this thesis proposes a methodology that uses statistical learning techniques in order to detect and predict anomalous operator conditions. More specifically, the proposed methodology relies on hidden Markov models (HMMs) and hidden semi-Markov models (HSMMs) to generate predictive models of unmanned vehicle systems operators. Through the exploration of the resulting HMMs in two distinct single operator scenarios, the methodology presented in this thesis is validated and shown to provide models capable of reliably predicting operator behavior. In addition, the use of HSMMs on the same data scenarios provides the temporal component of the predictions missing from the HMMs. The final step of this work is to examine how the proposed methodology scales to more complex scenarios involving teams of operators. Adopting a holistic team modeling approach, both HMMs and HSMMs are learned based on two team-based data sets. The results show that the HSMMs can provide valuable timing information in the single operator case, whereas HMMs tend to be more robust to increased team complexity. In addition, this thesis discusses the

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

    Science.gov (United States)

    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.

  5. Grasping actions and social interaction: neural bases and anatomical circuitry in the monkey

    Science.gov (United States)

    Rozzi, Stefano; Coudé, Gino

    2015-01-01

    The study of the neural mechanisms underlying grasping actions showed that cognitive functions are deeply embedded in motor organization. In the first part of this review, we describe the anatomical structure of the motor cortex in the monkey and the cortical and sub-cortical connections of the different motor areas. In the second part, we review the neurophysiological literature showing that motor neurons are not only involved in movement execution, but also in the transformation of object physical features into motor programs appropriate to grasp them (through visuo-motor transformations). We also discuss evidence indicating that motor neurons can encode the goal of motor acts and the intention behind action execution. Then, we describe one of the mechanisms—the mirror mechanism—considered to be at the basis of action understanding and intention reading, and describe the anatomo-functional pathways through which information about the social context can reach the areas containing mirror neurons. Finally, we briefly show that a clear similarity exists between monkey and human in the organization of the motor and mirror systems. Based on monkey and human literature, we conclude that the mirror mechanism relies on a more extended network than previously thought, and possibly subserves basic social functions. We propose that this mechanism is also involved in preparing appropriate complementary response to observed actions, allowing two individuals to become attuned and cooperate in joint actions. PMID:26236258

  6. 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.

  7. Grasping actions and social interaction: neural bases and anatomical circuitry in the monkey.

    Directory of Open Access Journals (Sweden)

    Stefano eRozzi

    2015-07-01

    Full Text Available The study of the neural mechanisms underlying grasping actions showed that cognitive functions are deeply embedded in motor organization. In the first part of this review, we describe the anatomical structure of the motor cortex in the monkey and the cortical and sub-cortical connections of the different motor areas. In the second part, we review the neurophysiological literature showing that motor neurons are not only involved in movement execution, but also in the transformation of object physical features into motor programs appropriate to grasp them (through visuo-motor transformations. We also discuss evidence indicating that motor neurons can encode the goal of motor acts and the intention behind action execution. Then, we describe one of the mechanisms – the mirror mechanism – considered to be at the basis of action understanding and intention reading, and describe the anatomo-functional pathways through which information about the social context can reach the areas containing mirror neurons. Finally, we briefly show that a clear similarity exists between monkey and human in the organization of the motor and mirror systems. Based on monkey and human literature, we conclude that the mirror mechanism relies on a more extended network than previously thought, and possibly subserves basic social functions. We propose that this mechanism is also involved in preparing appropriate complementary response to observed actions, allowing two individuals to become attuned and cooperate in joint actions.

  8. A contact stress model for multifingered grasps of rough objects

    Science.gov (United States)

    Sinha, Pramath Raj; Abel, Jacob M.

    1990-01-01

    The model developed utilizes a contact-stress analysis of an arbitrarily shaped object in a multifingered grasp. The fingers and the object are all treated as elastic bodies, and the region of contact is modeled as a deformable surface patch. The relationship between the friction and normal forces is nonlocal and nonlinear in nature and departs from the Coulomb approximation. The nature of the constraints arising out of conditions for compatibility and static equilibrium motivated the formulation of the model as a nonlinear constrained minimization problem. The model is able to predict the magnitude of the inwardly directed normal forces and both the magnitude and direction of the tangential (friction) forces at each finger-object interface for grasped objects in static equilibrium.

  9. Grasping in One-Handed Catching in Relation to Performance.

    Directory of Open Access Journals (Sweden)

    Benedetta Cesqui

    Full Text Available Catching a flying ball involves bringing the hand to the aimed interception point at the right time, adjusting the hand posture to receive the incoming ball and to absorb the ball momentum, and closing the hand to ensure a stable grip. A small error in any of these actions can lead to a failure in catching the ball. Here we sought to gather new insights on what aspects of the catching movements affect the interceptive performance most. In particular, we wondered whether the errors occurred in bringing the hand to the interception point or in closing the fingers on the ball, and whether these two phases of interception differed between individuals. To this end, we characterized grasping and wrist movement kinematics of eleven participants attempting to catch a ball projected in space with different ball arrival heights and flight durations. The spatial position of the ball and of several markers placed on the participant's arm were recorded by a motion capture system, the hand joint angles were recorded with an instrumented glove, and several movement features were extracted. All participants were able to intercept the ball trajectory (i.e. to touch the ball in over 90% of cases, but they differed in the ability to grasp the ball (success rate varied between 2% and 85%. Similar temporal features were observed across individuals when they caught the ball. In particular, all participants adapted their wrist movements under varying temporal and arrival height constraints, they aligned the time of peak hand closing velocity to the time of hand-ball contact, and they maintained the same hand closing duration in the different experimental conditions. These movement features characterized successful trials, and hence allowed to evaluate the possible sources of errors underlying unsuccessful trials. Thus, inter-individual and inter-trial variability in the modulation of each kinematic feature were related to catching performance. We observed that

  10. Modeling the shape hierarchy for visually guided grasping

    CSIR Research Space (South Africa)

    Rezai, O

    2014-10-01

    Full Text Available of object features Frontiers in Computational Neuroscience www.frontiersin.org October 2014 | Volume 8 | Article 132 | 1 COMPUTATIONAL NEUROSCIENCE Rezai et al. Shape hierarchy for visually guided grasping (Borra et al., 2008). AIP also contains other... of depth and its first and second spatial derivatives. CIP has been proposed to encode these variables (Orban et al., 2006), and they have been the basis for several experimental studies of CIP responses (Sakata et al., Frontiers in Computational...

  11. The Synthesis of Force Closure Grasps in the Plane.

    Science.gov (United States)

    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

  12. Aspects of elephant behavior, ecology, and interactions with humans

    Science.gov (United States)

    O'Connell, Caitlin Elizabeth

    This dissertation is comprised of two chapters relating to the acoustic behavior of elephants, their surrounding ecology and interactions with humans. The first chapter investigates the seismic aspects of Asian elephant (Elephus maximus) acoustic communication. The second chapter is comprised of a synthesis of two separate studies conducted on the African elephant (Loxodonta africana) in Namibia, both in Etosha National Park and the Caprivi region. The two studies were combined and published in Biological Conservation as one large study on aspects of the economic and social impacts of elephant/human conflict and experiments conducted to reduce conflict. In chapter one, seismic and acoustic data were recorded simultaneously from Asian elephants during periods of vocalizations and locomotion. Acoustic and seismic signals from rumbles were highly correlated at near and far distances and were in phase near the elephant and were out of phase at an increased distance from the elephant. Data analyses indicated that elephant generated signals associated with rumbles and "foot stomps" propagated at different velocities in the two media, the acoustic signals traveling at 309 m/s and the seismic signals at 248--264 m/s. Both types of signals had predominant frequencies in the range of 20 Hz. Seismic signal amplitudes considerably above background noise were recorded at 40 m from the generating elephants for both the rumble and the stomp. Seismic propagation models suggest that seismic waveforms from vocalizations are potentially detectable by instruments at distances of up to 16 km, and up to 32 km for locomotion generated signals. Thus, if detectable by elephants, these seismic signals could be useful for long distance communication. In chapter two, the economic impact of elephants, Loxodonta africana , and predators, particularly lions, Panthera leo, on rural agriculturists in the Kwando region of the East Caprivi, Namibia was assessed from the years 1991 to 1995. Elephants

  13. Simulating irrational human behavior to prevent resource depletion.

    Directory of Open Access Journals (Sweden)

    Anna Sircova

    Full Text Available In a situation with a limited common resource, cooperation between individuals sharing the resource is essential. However, people often act upon self-interest in irrational ways that threaten the long-term survival of the whole group. A lack of sustainable or environmentally responsible behavior is often observed. In this study, we examine how the maximization of benefits principle works in a wider social interactive context of personality preferences in order to gain a more realistic insight into the evolution of cooperation. We used time perspective (TP, a concept reflecting individual differences in orientation towards past, present, or future, and relevant for making sustainable choices. We developed a personality-driven agent-based model that explores the role of personality in the outcomes of social dilemmas and includes multiple facets of diversity: (1 The agents have different behavior strategies: individual differences derived by applying cluster analysis to survey data from 22 countries (N = 10,940 and resulting in 7 cross-cultural profiles of TP; (2 The non-uniform distribution of the types of agents across countries; (3 The diverse interactions between the agents; and (4 diverse responses to those interactions in a well-mixed population. As one of the results, we introduced an index of overall cooperation for each of the 22 countries, which was validated against cultural, economic, and sustainability indicators (HDI, dimensions of national culture, and Environment Performance Index. It was associated with higher human development, higher individualism, lower power distance, and better environmental performance. The findings illustrate how individual differences in TP can be simulated to predict the ways people in different countries solve the personal vs. common gain dilemma in the global limited-resource situation. This interdisciplinary approach to social simulation can be adopted to explain the possible causes of global

  14. Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp

    Directory of Open Access Journals (Sweden)

    Mohammad Dehghani

    2014-01-01

    Full Text Available Grasping objects by continuum arms or fingers is a new field of interest in robotics. Continuum manipulators have the advantages of high adaptation and compatibility with respect to the object shape. However, due to their extremely nonlinear behavior and infinite degrees of freedom, continuum arms cannot be easily modeled. In fact, dynamics modeling of continuum robotic manipulators is state-of-the-art. Using the exact modeling approaches, such as theory of Cosserat rod, the resulting models are either too much time-taking for computation or numerically unstable. Thus, such models are not suitable for applications such as real-time control. However, based on realistic assumptions and using some approximations, these systems can be modeled with reasonable computational efforts. In this paper, a planar continuum robotic arm is modeled, considering its backbone as two circular arcs. In order to simulate finger grasping, the continuum arm experiences a point-force along its body. Finally, the results are validated using obtained experimental data.

  15. The role of GRASPs in morphological alterations of Golgi apparatus: mechanisms and effects.

    Science.gov (United States)

    Ji, Guang; Ji, Hui; Mo, Xiaoye; Li, Ting; Yu, Yaduo; Hu, Zhiping

    2013-01-01

    The Golgi apparatus (GA) is a pivotal organelle in cell metabolism, functioning not only in the processing and transportation of cargoes but also in ion homeostasis, cell apoptosis, and stress sensing. We are interested in the intricate role of GA and the recently present novel concept of 'GA stress'. GA shows various morphological alterations in many neurodegenerative diseases and cell apoptosis induced by biochemical reagents, mechanisms in which oxidative stress is strongly involved. In turn, the structural changes and morphological alterations of the GA could also transduce stress signals. Therefore, besides the biochemical changes, more attention should be paid to the morphological alterations of the GA itself during pathological processes and diseases. The Golgi reassembly and stacking proteins (GRASPs) have been identified as important components acting in the transformation of Golgi structure, and they may thus affect the Golgi functions and cell behavior. In this review, we will discuss the intricate role of the GRASPs in remodeling the GA morphology and focus on their mechanisms and effects in the processes of Golgi stacking, mitosis, cell apoptosis, and cargo secretion. We would also like to provide a further prospective of their potential biological values in neurodegenerative diseases.

  16. Integrative approaches utilizing oxytocin to enhance prosocial behavior: from animal and human social behavior to autistic social dysfunction.

    Science.gov (United States)

    Yamasue, Hidenori; Yee, Jason R; Hurlemann, René; Rilling, James K; Chen, Frances S; Meyer-Lindenberg, Andreas; Tost, Heike

    2012-10-10

    The prevalence of autism spectrum disorder (ASD) is as high as 1 in 100 individuals and is a heavy burden to society. Thus, identifying causes and treatments is imperative. Here, we briefly review the topics covered in our 2012 Society for Neuroscience Mini-Symposium entitled "Integrative Approaches Using Oxytocin to Enhance Prosocial Behavior: From Animal and Human Social Behavior to ASD's Social Dysfunction." This work is not meant to be a comprehensive review of oxytocin and prosocial behavior. Instead, we wish to share the newest findings on the effects of oxytocin on social behavior, the brain, and the social dysfunction of ASD at the molecular, genetic, systemic, and behavior levels, in varied subjects ranging from animal models to humans suffering from autism for the purpose of promoting further study for developing the clinical use of oxytocin in treating ASD.

  17. Poor shape perception is the reason reaches-to-grasp are visually guided online.

    Science.gov (United States)

    Lee, Young-Lim; Crabtree, Charles E; Norman, J Farley; Bingham, Geoffrey P

    2008-08-01

    Both judgment studies and studies of feedforward reaching have shown that the visual perception of object distance, size, and shape are inaccurate. However, feedback has been shown to calibrate feedfoward reaches-to-grasp to make them accurate with respect to object distance and size. We now investigate whether shape perception (in particular, the aspect ratio of object depth to width) can be calibrated in the context of reaches-to-grasp. We used cylindrical objects with elliptical cross-sections of varying eccentricity. Our participants reached to grasp the width or the depth of these objects with the index finger and thumb. The maximum grasp aperture and the terminal grasp aperture were used to evaluate perception. Both occur before the hand has contacted an object. In Experiments 1 and 2, we investigated whether perceived shape is recalibrated by distorted haptic feedback. Although somewhat equivocal, the results suggest that it is not. In Experiment 3, we tested the accuracy of feedforward grasping with respect to shape with haptic feedback to allow calibration. Grasping was inaccurate in ways comparable to findings in shape perception judgment studies. In Experiment 4, we hypothesized that online guidance is needed for accurate grasping. Participants reached to grasp either with or without vision of the hand. The result was that the former was accurate, whereas the latter was not. We conclude that shape perception is not calibrated by feedback from reaches-to-grasp and that online visual guidance is required for accurate grasping because shape perception is poor.

  18. ERK regulates Golgi and centrosome orientation towards the leading edge through GRASP65.

    Science.gov (United States)

    Bisel, Blaine; Wang, Yanzhuang; Wei, Jen-Hsuan; Xiang, Yi; Tang, Danming; Miron-Mendoza, Miguel; Yoshimura, Shin-ichiro; Nakamura, Nobuhiro; Seemann, Joachim

    2008-09-08

    Directed cell migration requires the orientation of the Golgi and centrosome toward the leading edge. We show that stimulation of interphase cells with the mitogens epidermal growth factor or lysophosphatidic acid activates the extracellular signal-regulated kinase (ERK), which phosphorylates the Golgi structural protein GRASP65 at serine 277. Expression of a GRASP65 Ser277 to alanine mutant or a GRASP65 1-201 truncation mutant, neither of which can be phosphorylated by ERK, prevents Golgi orientation to the leading edge in a wound assay. We show that phosphorylation of GRASP65 with recombinant ERK leads to the loss of GRASP65 oligomerization and causes Golgi cisternal unstacking. Furthermore, preventing Golgi polarization by expressing mutated GRASP65 inhibits centrosome orientation, which is rescued upon disassembly of the Golgi structure by brefeldin A. We conclude that Golgi remodeling, mediated by phosphorylation of GRASP65 by ERK, is critical for the establishment of cell polarity in migrating cells.

  19. Optimal Needle Grasp Selection for Automatic Execution of Suturing Tasks in Robotic Minimally Invasive Surgery.

    Science.gov (United States)

    Liu, Taoming; Çavuşoğlu, M Cenk

    2015-05-01

    This paper presents algorithms for optimal selection of needle grasp, for autonomous robotic execution of the minimally invasive surgical suturing task. In order to minimize the tissue trauma during the suturing motion, the best practices of needle path planning that are used by surgeons are applied for autonomous robotic surgical suturing tasks. Once an optimal needle trajectory in a well-defined suturing scenario is chosen, another critical issue for suturing is the choice of needle grasp for the robotic system. Inappropriate needle grasp increases operating time requiring multiple re-grasps to complete the desired task. The proposed methods use manipulability, dexterity and torque metrics for needle grasp selection. A simulation demonstrates the proposed methods and recommends a variety of grasps. Then a realistic demonstration compares the performances of the manipulator using different grasps.

  20. Supporting Negotiation Behavior with Haptics-Enabled Human-Computer Interfaces

    OpenAIRE

    Küçükyılmaz, Ayşe; Sezgin, Tevfik Metin; Başdoğan, Çağatay

    2012-01-01

    An active research goal for human-computer interaction is to allow humans to communicate with computers in an intuitive and natural fashion, especially in real-life interaction scenarios. One approach that has been advocated to achieve this has been to build computer systems with human-like qualities and capabilities. In this paper, we present insight on how human-computer interaction can be enriched by employing the computers with behavioral patterns that naturally appear in human-human nego...

  1. "Anatomical simulation" of the biomechanical behavior of the human mandible.

    Science.gov (United States)

    Kober, Cornelia; Hellmich, Christian; Stübinger, Stefan; Zeilhofer, Hans-Florian; Sader, Robert

    2015-01-01

    The load-carrying behavior of the human mandible can be described using finite element simulation, enabling investigations about physiological and pathological skeletal adaption. "Anatomical simulation" implies a stepwise approximation towards the anatomical reality. The project is structured in three steps. In Step 1, the preprocessing, the simulation model is provided. Step 2 is the numerical computation. Step 3 is dedicated to the interpretation of the results. The requirements of the preprocessing are: a) realization of the organ's individual anatomy, namely its outer shape; b) the tissue's elastic properties, thus its inner consistency; and c) the organ's mechanical loads. For physiological mandibular loading, these are due to muscles, temporomandibular joints, and tooth forces. Meanwhile, the reconstruction of the macroscopic anatomy from computed tomography data is standard. The periodontal ligament is inserted ex post using an approach developed by the authors. The bone is modeled anisotropically and inhomogeneously. By the visualization of the individual fiber course, the muscular force vectors are realized. The mandibular condyle is freely mobile in a kind of simplified joint capsule. For the realization of bite forces, several approaches are available. An extendible software tool is provided, enabling the user - by variable input of muscle and bite forces - to examine the individual patient's biomechanics, eg, the influence of the periodontal ligament, the condition of the temporomandibular joints, atrophic processes, or the biomechanical situation of dental implants. By stepwise approximation towards the anatomical reality, the mandibular simulation will be advanced to a valuable tool for diagnosis and prognosis.

  2. Linear and nonlinear behavior of human and artificial lip reeds

    Science.gov (United States)

    Campbell, Murray; Richards, Orlando

    2003-10-01

    In a musical instrument of the lip reed aerophone class, the flow of air from the player's lungs into the resonating air column is modulated by the periodic opening and closing of the pressure-controlled valve formed by the player's lips. The nature of the operation of this valve has been the subject of considerable study in recent years. Since the pressure-flow relationship is strongly nonlinear, the behavior of the coupled system of lips and air column can only be modeled using the methods of nonlinear dynamics. Extensive studies of artificial lip reeds, in which the lips are simulated by water-filled latex tubes, have shown them to be capable of reproducing musically important features of human playing, including the lipping of notes both below and above an acoustic resonance of the air column. Measurements of the linear response of artificial reeds have guided the development of more realistic models of the lip reed, while studies of both real and artificial lips using a high-speed digital camera have shed fresh light on the nature of the lip motion at the large amplitudes typical of loud playing. [Work supported by EPSRC.

  3. Modeling Humans as Reinforcement Learners: How to Predict Human Behavior in Multi-Stage Games

    Science.gov (United States)

    Lee, Ritchie; Wolpert, David H.; Backhaus, Scott; Bent, Russell; Bono, James; Tracey, Brendan

    2011-01-01

    This paper introduces a novel framework for modeling interacting humans in a multi-stage game environment by combining concepts from game theory and reinforcement learning. The proposed model has the following desirable characteristics: (1) Bounded rational players, (2) strategic (i.e., players account for one anothers reward functions), and (3) is computationally feasible even on moderately large real-world systems. To do this we extend level-K reasoning to policy space to, for the first time, be able to handle multiple time steps. This allows us to decompose the problem into a series of smaller ones where we can apply standard reinforcement learning algorithms. We investigate these ideas in a cyber-battle scenario over a smart power grid and discuss the relationship between the behavior predicted by our model and what one might expect of real human defenders and attackers.

  4. Ontology-based Deep Learning for Human Behavior Prediction with Explanations in Health Social Networks.

    Science.gov (United States)

    Phan, Nhathai; Dou, Dejing; Wang, Hao; Kil, David; Piniewski, Brigitte

    2017-04-01

    Human behavior modeling is a key component in application domains such as healthcare and social behavior research. In addition to accurate prediction, having the capacity to understand the roles of human behavior determinants and to provide explanations for the predicted behaviors is also important. Having this capacity increases trust in the systems and the likelihood that the systems actually will be adopted, thus driving engagement and loyalty. However, most prediction models do not provide explanations for the behaviors they predict. In this paper, we study the research problem, human behavior prediction with explanations, for healthcare intervention systems in health social networks. We propose an ontology-based deep learning model (ORBM(+)) for human behavior prediction over undirected and nodes-attributed graphs. We first propose a bottom-up algorithm to learn the user representation from health ontologies. Then the user representation is utilized to incorporate self-motivation, social influences, and environmental events together in a human behavior prediction model, which extends a well-known deep learning method, the Restricted Boltzmann Machine. ORBM(+) not only predicts human behaviors accurately, but also, it generates explanations for each predicted behavior. Experiments conducted on both real and synthetic health social networks have shown the tremendous effectiveness of our approach compared with conventional methods.

  5. Human Behavior, Social Environment, Social Reconstruction, and Social Policy: A System of Linkages, Goals, and Priorities.

    Science.gov (United States)

    Mohan, Brij

    1980-01-01

    The idea of a wholesome relationship between human behavior and the forces of social environment is explored. The goals and foci of the human behavior and social environment component in social work education are reconceptualized in the light of knowledge that underscores the need for social reconstruction. (Author/MLW)

  6. Choice, Communication, and Conflict. A System's Approach to the Study of Human Behavior.

    Science.gov (United States)

    Ackoff, Russell L.

    This book presents a teleological analysis of the concepts of human behavior. Through distinctions and definitions, a model or system is developed, upon which all aspects of behavior are interrelated. The model of choice or purposeful state is discussed with its underlying concepts. Human communication and feeling, and cooperation and conflict…

  7. Ontology-based high-level context inference for human behavior identification

    NARCIS (Netherlands)

    Villalonga, Claudia; Razzaq, Muhammad Asif; Ali Khan, Wajahat; Pomares, Hector; Rojas, Ignacio; Lee, Sungyoung; Banos Legran, Oresti

    2016-01-01

    Recent years have witnessed a huge progress in the utomatic 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

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

    Science.gov (United States)

    Ramon Soria, Pablo; Arrue, Begoña C; Ollero, Anibal

    2017-01-07

    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.

  9. Affordance effects in grasping actions for graspable objects: electromyographic reaction time study.

    Science.gov (United States)

    Suzuki, Tomotaka; Takagi, Mineko; Sugawara, Kenichi

    2012-12-01

    It is unclear whether affordance effects shorten the reaction time in the interaction between objects and actions. This study investigated affordance effects based on compatibility between perception of graspable objects and the act of grasping. The electromyographic reaction time (EMG-RT) was used as the response, and Go/NoGo (Experiment 1) and choice (Experiment 2) reaction-time tasks were performed using combinations of two types of stimulus image (tools and animals) and two types of response task (flexion and extension of all fingers). In Experiment 1, no interaction of stimulus images and response tasks occurred, but the EMG-RT for tools was statistically significantly delayed longer than that for animals. In Experiment 2, the EMG-RT of flexion of all fingers for tools was statistically significantly delayed compared with that for animals, showing interaction. Affordance effects based on compatibility of objects and actions are the basis on human-tool interaction. This interaction induces a goal-directed act and prolongs motor execution of grasping actions for them.

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

    Science.gov (United States)

    Ramon Soria, Pablo; Arrue, Begoña C.; Ollero, Anibal

    2017-01-01

    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. PMID:28067851

  11. Classification of upper arm EMG signals during object-specific grasp.

    Science.gov (United States)

    Martelloni, C; Carpaneto, J; Micera, S

    2008-01-01

    Electromyographic (EMG) signals can represent an interesting solution to control artificial hands because they are easy to record and can allow the user to control different robotic systems. However, after limb amputation the 'homologous' muscles are no more available to control the prosthetic device and for this reason complex pattern recognition approaches have to be developed to extract the voluntary commands by the user. This makes the control strategy less natural and acceptable and asks for alternative approaches. At the same time, it has been recently shown that (in monkeys) it is possible to discriminate grasping tasks just analyzing the activation onset/offset of upper limb muscles during the reaching phase. This kind of information can be very interesting because it can allow the development of a natural EMG-based control strategy based on the natural muscular activities selected by the central nervous system. In this paper, preliminary experiments have been carried out in order to verify whether these results can be confirmed also in human beings. In particular, a support vector machine (SVM) based pattern recognition algorithm has been developed and used for the prediction of grip types from the EMG recorded from proximal and distal muscles during reach to grasp movements of three able bodied subjects.

  12. 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.

  13. Motivational Interviewing: A Theoretical Framework for the Study of Human Behavior and the Social Environment

    OpenAIRE

    Katherine van Wormer

    2007-01-01

    This article provides a critical analysis of motivational interviewing stages of change model. Although rarely included in textbooks on human behavior and the social environment, this model has much to teach us about that aspect of human behavior most germane to social work practice—personal motivation for change of behaviors that are dysfunctional. The basic concepts that underlie motivational interviewing are derived from empirically-based principles from the science of social psychology. T...

  14. Sensorization of Robotic Hand Using Optical Three-Axis Tactile Sensor: Evaluation with Grasping and Twisting Motions

    Directory of Open Access Journals (Sweden)

    Hanafiah Yussof

    2010-01-01

    Full Text Available Problem statement: Sensitization of robot hand is still remaining as crucial issue since most of robot hand systems nowadays are only capable to grasp a predefined specific object. It is still difficult for robot hand system to realize human-like tactile sensation. Some common problems in robot hand system are low accuracy sensing device, sensors are not robust enough for long time work and heavy duties, inconsistence tactile sensing detection and difficulties in control of sensing fusion with robot trajectory. These problems are apparently drawback the progress to commercializing robot hands as real consumer products. Approach: This study presented the application of optical three-axis tactile sensor to robot hand to improve sensitization quality in robotic hand system. The proposed tactile sensor system was designed with compliance modules to communicate with robot hand control system. The sensing principle used in this tactile sensor comparatively provides better sensing accuracy to detect contact phenomena from acquisition of three axial directions of forces. Methodology of force and slippage detection in the tactile sensor system was presented. Accordingly, the optimization of robot hand control algorithm to comply with the tactile sensor system was presented and verified in experiment of grasping and twisting. Results: The tactile sensor presented in this study is capable of detecting normal and shear force simultaneously. The proposed methodology was verified in experiment with paper cup and water, in which the result shows the robot control system managed to respond to the proposed object stiffness distinction parameters and effectively respond to sudden change of object weight during grasping. An experiment of grasping and twisting motions was conducted using a bottle cap. In order to perform simultaneous grasping and twisting tasks, optimization of the control algorithm was conducted with additional parameters to satisfy the desired

  15. 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.

  16. It’s Out of My Hands! Grasping Capacity May Not Influence Perceived Object Size

    Science.gov (United States)

    2017-01-01

    Linkenauger, Witt, and Proffitt (2011) found that the perceived size of graspable objects was scaled by perceived grasping capacity. However, it is possible that this effect occurred because object size was estimated on the same trial as grasping capacity. This may have led to a conflation of estimates of perceived action capacity and spatial properties. In 5 experiments, we tested Linkenauger et al.’s claim that right-handed observers overestimate the grasping capacity of their right hand relative to their left hand, and that this, in turn, leads them to underestimate the size of objects to-be-grasped in their right hand relative to their left hand. We replicated the finding that right handers overestimate the size and grasping capacity of their right hand relative to their left hand. However, when estimates of object size and grasping capacity were made in separate tasks, objects grasped in the right hand were not underestimated relative to those grasped in the left hand. Further, when grasping capacity was physically restricted, observers appropriately recalibrated their perception of their maximum grasp but estimates of object size were unaffected. Our results suggest that changes in action capacity may not influence perceived object size if sources of conflation are controlled for. PMID:28191987

  17. It's Out of My Hands! Grasping Capacity May Not Influence Perceived Object Size.

    Science.gov (United States)

    Collier, Elizabeth S; Lawson, Rebecca

    2017-02-13

    Linkenauger, Witt, and Proffitt (2011) found that the perceived size of graspable objects was scaled by perceived grasping capacity. However, it is possible that this effect occurred because object size was estimated on the same trial as grasping capacity. This may have led to a conflation of estimates of perceived action capacity and spatial properties. In 5 experiments, we tested Linkenauger et al.'s claim that right-handed observers overestimate the grasping capacity of their right hand relative to their left hand, and that this, in turn, leads them to underestimate the size of objects to-be-grasped in their right hand relative to their left hand. We replicated the finding that right handers overestimate the size and grasping capacity of their right hand relative to their left hand. However, when estimates of object size and grasping capacity were made in separate tasks, objects grasped in the right hand were not underestimated relative to those grasped in the left hand. Further, when grasping capacity was physically restricted, observers appropriately recalibrated their perception of their maximum grasp but estimates of object size were unaffected. Our results suggest that changes in action capacity may not influence perceived object size if sources of conflation are controlled for. (PsycINFO Database Record

  18. 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.

  19. 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.

  20. Visual field preferences of object analysis for grasping with one hand.

    Science.gov (United States)

    Le, Ada; Niemeier, Matthias

    2014-01-01

    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,b), consistent with a general right-hemisphere dominance for sensorimotor control of bimanual grasps (Le et al., 2014). 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 with the left hand 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.

  1. Issues in human/computer control of dexterous remote hands

    Science.gov (United States)

    Salisbury, K.

    1987-01-01

    Much research on dexterous robot hands has been aimed at the design and control problems associated with their autonomous operation, while relatively little research has addressed the problem of direct human control. It is likely that these two modes can be combined in a complementary manner yielding more capability than either alone could provide. While many of the issues in mixed computer/human control of dexterous hands parallel those found in supervisory control of traditional remote manipulators, the unique geometry and capabilities of dexterous hands pose many new problems. Among these are the control of redundant degrees of freedom, grasp stabilization and specification of non-anthropomorphic behavior. An overview is given of progress made at the MIT AI Laboratory in control of the Salisbury 3 finger hand, including experiments in grasp planning and manipulation via controlled slip. It is also suggested how we might introduce human control into the process at a variety of functional levels.

  2. Frank A. Beach award. Homologies of animal and human sexual behaviors.

    Science.gov (United States)

    Pfaus, J G

    1996-09-01

    Theoretical models of animal and human sexual behavior have evolved from two very different literatures, yet they contain many common behavioral components that may reflect the action of similar neuroendocrine and neurochemical systems. The study of animal sexual behavior has been largely concerned with mechanisms that underlie the pattern of consummatory behaviors observed during copulation, behaviors that tend to be highly stereotyped, sexually differentiated, and species-specific. There are important species differences in the behavioral topography, endocrine control, and neural substrates of consummatory behaviors, which tend to be extreme when comparing animals and humans. Although this has led to an increased interest in comparative animal behavior, it has also helped to foster a general perception that animals and humans are fundamentally different. In contrast to consummatory behaviors, appetitive behaviors (which serve to bring animals and humans into contact with sexual incentives) are more flexible, less sexually differentiated, and less species-specific and span a variety of situations other than sexual interactions. Appetitive behaviors are thus viewed as "sexually specific" when they are displayed under sexual circumstances and reinforced by sexual incentives. Interestingly, an appetitive/consummatory dichotomy has emerged in the human literature which distinguishes measures of sexual desire or arousal from "performance" measures of masturbation or copulation. In fact, sexual desire, which reflects fantasy and behavioral excitement, has been further differentiated from sexual arousal, which reflects genital blood flow. The present analysis attempts to pull together these seemingly disparate literatures into a coherent theoretical framework that emphasizes similarities and differences in the structure of sexual behavior across rats and humans.

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

    Science.gov (United States)

    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.

  4. Interest of the MICROSTAR Accelerometer to improve the GRASP Mission.

    Science.gov (United States)

    Perrot, E.; Lebat, V.; Foulon, B.; Christophe, B.; Liorzou, F.; Huynh, P. A.

    2015-12-01

    The Geodetic Reference Antenna in Space (GRASP) is a micro satellite mission concept proposed by JPL to improve the definition of the Terrestrial Reference Frame (TRF). GRASP collocates GPS, SLR, VLBI, and DORIS sensors on a dedicated spacecraft in order to establish precise and stable ties between the key geodetic techniques used to define and disseminate the TRF. GRASP also offers a space-based reference antenna for the present and future Global Navigation Satellite Systems (GNSS). By taking advantage of the new testing possibilities offer by the catapult facility at the ZARM drop tower, the ONERA's space accelerometer team proposes an up-dated version, called MICROSTAR, of its ultra sensitive electrostatic accelerometers which have contributed to the success of the last Earth's gravity missions GRACE and GOCE. Built around a cubic proof-mass, it provides the 3 linear accelerations with a resolution better than 10-11 ms-2/Hz1/2 into a measurement bandwidth between 10-3 Hz and 0.1 Hz and the 3 angular accelerations about its 3 orthogonal axes with 5´10-10 rad.s-2/Hz1/2 resolution. Integrated at the centre of mass of the satellite, MICROSTAR improves the Precise Orbit Determination (POD) by accurate measurement of the non-gravitational force acting on the satellite. It offers also the possibility to calibrate the change in the position of the satellite center of mass with an accuracy better than 100 μm as demonstrated in the GRACE mission. Assuming a sufficiently rigid structure between the antennas and the accelerometer, its data can participate to reach the mission objective of 1 mm precision for the TRF position.

  5. The MICROSTAR electrostatic accelerometer for the GRASP Mission

    Science.gov (United States)

    Foulon, Bernard; Christophe, Bruno; Liorzou, Francoise; Huynh, Phuong-Anh; Perrot, Eddy

    2015-04-01

    The Geodetic Reference Antenna in Space (GRASP) is a micro satellite mission concept dedicated to the enhancement of all the space geodetic techniques, and promising revolutionary improvements to the definition of the Terrestrial Reference Frame (TRF). GRASP collocates GPS, SLR, VLBI, and DORIS sensors on a dedicated spacecraft in order to establish precise and stable ties between the key geodetic techniques used to define and disseminate the TRF. GRASP also offers a space-based reference antenna for the present and future Global Navigation Satellite Systems (GNSS). The integration of an ultra sensitive accelerometer at the Center of mass of the satellite can provide not only improvement of the Precise Orbit Determination (POD) by the accurate measurement of the non-gravitational force acting on the surface of the satellite but also by the possibility to calibrate with an accuracy better than 100 µm the change in the position of the Satellite Center of Mass as it is performed in the GRACE mission and to determine the precise motion of the antennas assuming some rigid structure between them and the accelerometer as it is done between the star sensor, the optical cube assembly of satellite laser ranging system and the accelerometer in the GRACE-Follow On mission. The proposed accelerometer is miniaturized version of the electrostatic accelerometers developed for the Earth gravity missions CHAMP, GRACE, GOCE and GRACE-FO. He has 3 sensitive axes thanks to a cubic proof-mass and provides the 3 linear accelerations and the 3 angular accelerations about its 3 orthogonal axes. He is called MICROSTAR and its foreseen performance is a linear acceleration noise lower than 10-11 ms-2/Hz1/2 into a measurement bandwidth between 10-3 Hz and 0.1 Hz.

  6. Two-Fingered Grasp of Cylindrical Objects in Planar Motion

    Science.gov (United States)

    1988-12-01

    from the dot product of the contact force, el, with the unit tangential vector, filt: I i = 01 ,, = AcosO + C, sinO (B.1o) Similarly, the magnitude...the tangential contact force at fingertip 2, C2ht, is shown in the negative direction. From Figure B.5 we can say Cl, = AsinO (B.38) Cith = AcosO (B...39) C 2, = AsinO (B.40) C2th = - AcosO (B.41) B-10 ! a x Figure B.5. Vector diagram of the homogeneous solution contact force components for the grasp

  7. 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.

  8. 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

  9. The Synthesis of Stable Grasps in the Plane.

    Science.gov (United States)

    1985-10-01

    ft-AIG5 903 THE SYNTHESIS OF STABLE GRASPS IN THE PLANE(U) / MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB V NGUYEN OCT 85 AI-M...assembly operations become easier and less sensitive to errors. -4 ’I MASSACIIUSI’TS INST’I’TI,’ O1 ’IINOIOGY ARTIIFICIAL IN’i’II(I’N(’I AI)ItA’i’ORY...Acknowledgments: This report describes research done at the General Mo- tors Research Laboratories and at the Artificial Intelligence Laboratory of the Mas

  10. Human Behavior, Learning, and the Developing Brain: Typical Development

    Science.gov (United States)

    Coch, Donna, Ed.; Fischer, Kurt W., Ed.; Dawson, Geraldine, Ed.

    2010-01-01

    This volume brings together leading authorities from multiple disciplines to examine the relationship between brain development and behavior in typically developing children. Presented are innovative cross-sectional and longitudinal studies that shed light on brain-behavior connections in infancy and toddlerhood through adolescence. Chapters…

  11. Industrial Buying Behavior Related to Human Resource Consulting Services

    DEFF Research Database (Denmark)

    Hollensen, Svend; Grünbaum, Niels Nolsøe; Andresen, Marc

    2013-01-01

    Early B2B buying-behavior literature strongly emphasizes the rational aspects of buying behavior in B2B services. Based on a comprehensive exploratory study of Danish companies’ purchases of HR consulting services, the authors provide insights into the factors that determine how Danish companies ...

  12. Industrial Buying Behavior Related to Human Resource Consulting Services

    DEFF Research Database (Denmark)

    Hollensen, Svend; Grünbaum, Niels Nolsøe; Andresen, Marc

    2013-01-01

    Early B2B buying-behavior literature strongly emphasizes the rational aspects of buying behavior in B2B services. Based on a comprehensive exploratory study of Danish companies’ purchases of HR consulting services, the authors provide insights into the factors that determine how Danish companies ...

  13. Human Behavior, Learning, and the Developing Brain: Typical Development

    Science.gov (United States)

    Coch, Donna, Ed.; Fischer, Kurt W., Ed.; Dawson, Geraldine, Ed.

    2010-01-01

    This volume brings together leading authorities from multiple disciplines to examine the relationship between brain development and behavior in typically developing children. Presented are innovative cross-sectional and longitudinal studies that shed light on brain-behavior connections in infancy and toddlerhood through adolescence. Chapters…

  14. Scale dependent behavioral responses to human development by a large predator, the puma.

    Science.gov (United States)

    Wilmers, Christopher C; Wang, Yiwei; Nickel, Barry; Houghtaling, Paul; Shakeri, Yasaman; Allen, Maximilian L; Kermish-Wells, Joe; Yovovich, Veronica; Williams, Terrie

    2013-01-01

    The spatial scale at which organisms respond to human activity can affect both ecological function and conservation planning. Yet little is known regarding the spatial scale at which distinct behaviors related to reproduction and survival are impacted by human interference. Here we provide a novel approach to estimating the spatial scale at which a top predator, the puma (Puma concolor), responds to human development when it is moving, feeding, communicating, and denning. We find that reproductive behaviors (communication and denning) require at least a 4× larger buffer from human development than non-reproductive behaviors (movement and feeding). In addition, pumas give a wider berth to types of human development that provide a more consistent source of human interference (neighborhoods) than they do to those in which human presence is more intermittent (arterial roads with speeds >35 mph). Neighborhoods were a deterrent to pumas regardless of behavior, while arterial roads only deterred pumas when they were communicating and denning. Female pumas were less deterred by human development than males, but they showed larger variation in their responses overall. Our behaviorally explicit approach to modeling animal response to human activity can be used as a novel tool to assess habitat quality, identify wildlife corridors, and mitigate human-wildlife conflict.

  15. A learning scheme for reach to grasp movements: on EMG-based interfaces using task specific motion decoding models.

    Science.gov (United States)

    Liarokapis, Minas V; Artemiadis, Panagiotis K; Kyriakopoulos, Kostas J; Manolakos, Elias S

    2013-09-01

    A learning scheme based on random forests is used to discriminate between different reach to grasp movements in 3-D space, based on the myoelectric activity of human muscles of the upper-arm and the forearm. Task specificity for motion decoding is introduced in two different levels: Subspace to move toward and object to be grasped. The discrimination between the different reach to grasp strategies is accomplished with machine learning techniques for classification. The classification decision is then used in order to trigger an EMG-based task-specific motion decoding model. Task specific models manage to outperform "general" models providing better estimation accuracy. Thus, the proposed scheme takes advantage of a framework incorporating both a classifier and a regressor that cooperate advantageously in order to split the task space. The proposed learning scheme can be easily used to a series of EMG-based interfaces that must operate in real time, providing data-driven capabilities for multiclass problems, that occur in everyday life complex environments.

  16. 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.

  17. A Novel Synthesis of Computational Approaches Enables Optimization of Grasp Quality of Tendon-Driven Hands

    Science.gov (United States)

    Inouye, Joshua M.; Kutch, Jason J.; Valero-Cuevas, Francisco J.

    2013-01-01

    We propose a complete methodology to find the full set of feasible grasp wrenches and the corresponding wrench-direction-independent grasp quality for a tendon-driven hand with arbitrary design parameters. Monte Carlo simulations on two representative designs combined with multiple linear regression identified the parameters with the greatest potential to increase this grasp metric. This synthesis of computational approaches now enables the systematic design, evaluation, and optimization of tendon-driven hands. PMID:23335864

  18. The Yeast GRASP Grh1 Colocalizes with COPII and Is Dispensable for Organizing the Secretory Pathway

    OpenAIRE

    Levi, Stephanie K.; Bhattacharyya, Dibyendu; Strack, Rita L.; Austin, Jotham R; Glick, Benjamin S.

    2010-01-01

    In mammalian cells, the “Golgi Reassembly and Stacking Protein” (GRASP) family has been implicated in Golgi stacking, but the broader functions of GRASP proteins are still unclear. The yeast Saccharomyces cerevisiae contains a single nonessential GRASP homolog called Grh1. However, Golgi cisternae in S. cerevisiae are not organized into stacks, so a possible structural role for Grh1 has been difficult to test. Here we examined the localization and function of Grh1 in S. cerevisiae and in the ...

  19. Depth Perception and Grasp in Central Field Loss.

    Science.gov (United States)

    Verghese, Preeti; Tyson, Terence L; Ghahghaei, Saeideh; Fletcher, Donald C

    2016-03-01

    We set out to determine whether individuals with central field loss benefit from using two eyes to perform a grasping task. Specifically, we tested the hypothesis that this advantage is correlated with coarse stereopsis, in addition to binocular summation indices of visual acuity, contrast sensitivity, and binocular visual field. Sixteen participants with macular degeneration and nine age-matched controls placed pegs on a pegboard, while their eye and hand movements were recorded. Importantly, the pegboard was placed near eye height, to minimize the contribution of monocular cues to peg position. All participants performed this task binocularly and monocularly. Before the experiment, we performed microperimetry to determine the profile of field loss in each eye and the locations of eccentric fixation (if applicable). In addition, we measured both acuity and contrast sensitivity monocularly and binocularly, and stereopsis by using both a RanDot test and a custom stereo test. Peg-placement time was significantly shorter and participants made significantly fewer errors with binocular than with monocular viewing in both the patient and control groups. Among participants with measurable stereopsis, binocular advantage in peg-placement time was significantly correlated with stereoacuity (ρ = -0.78; P = 0.003). In patients without measurable stereopsis, the binocular advantage was related significantly to the overlap in the scotoma between the two eyes (ρ = -0.81; P = 0.032). The high correlation between grasp performance and stereoacuity indicates that coarse stereopsis may benefit tasks of daily living for individuals with central field loss.

  20. Tangential finger forces use mechanical advantage during static grasping.

    Science.gov (United States)

    Slota, Gregory P; Latash, Mark L; Zatsiorsky, Vladimir M

    2012-02-01

    When grasping and manipulating objects, the central controller utilizes the mechanical advantage of the normal forces of the fingers for torque production. Whether the same is valid for tangential forces is unknown. The main purpose of this study was to determine the patterns of finger tangential forces and the use of mechanical advantage as a control mechanism when dealing with objects of nonuniform finger positioning. A complementary goal was to explore the interaction of mechanical advantage (moment arm) and the role a finger has as a torque agonist/antagonist with respect to external torques (±0.4 N m). Five 6-df force/torque transducers measured finger forces while subjects held a prism handle (6 cm width × 9 cm height) with and without a single finger displaced 2 cm (handle width). The effect of increasing the tangential moment arm was significant (p forces (in >70% of trials) and hence creating greater moments. Thus, the data provides evidence that the grasping system as a rule utilizes mechanical advantage for generating tangential forces. The increase in tangential force was independent of whether the finger was acting as a torque agonist or antagonist, revealing their effects to be additive.

  1. Press to grasp: how action dynamics shape object categorization.

    Science.gov (United States)

    Triberti, Stefano; Repetto, Claudia; Costantini, Marcello; Riva, Giuseppe; Sinigaglia, Corrado

    2016-03-01

    Action and object are deeply linked to each other. Not only can viewing an object influence an ongoing action, but motor representations of action can also influence visual categorization of objects. It is tempting to assume that this influence is effector-specific. However, there is indirect evidence suggesting that this influence may be related to the action goal and not just to the effector involved in achieving it. This paper aimed, for the first time, to tackle this issue directly. Participants were asked to categorize different objects in terms of the effector (e.g. hand or foot) typically used to act upon them. The task was delivered before and after a training session in which participants were instructed either just to press a pedal with their foot or to perform the same foot action with the goal of guiding an avatar's hand to grasp a small ball. Results showed that pressing a pedal to grasp a ball influenced how participants correctly identified graspable objects as hand-related ones, making their responses more uncertain than before the training. Just pressing a pedal did not have any similar effect. This is evidence that the influence of action on object categorization can be goal-related rather than effector-specific.

  2. Locomotion and Grasping impairment in preschoolers with autism spectrum disorder

    Directory of Open Access Journals (Sweden)

    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.

  3. Privacy and human behavior in the age of information.

    Science.gov (United States)

    Acquisti, Alessandro; Brandimarte, Laura; Loewenstein, George

    2015-01-30

    This Review summarizes and draws connections between diverse streams of empirical research on privacy behavior. We use three themes to connect insights from social and behavioral sciences: people's uncertainty about the consequences of privacy-related behaviors and their own preferences over those consequences; the context-dependence of people's concern, or lack thereof, about privacy; and the degree to which privacy concerns are malleable—manipulable by commercial and governmental interests. Organizing our discussion by these themes, we offer observations concerning the role of public policy in the protection of privacy in the information age. Copyright © 2015, American Association for the Advancement of Science.

  4. THE PREREQUISITES OF PROSOCIAL BEHAVIOR IN HUMAN ONTOGENY

    National Research Council Canada - National Science Library

    Irina M. Sozinova; Alexey A. Sozinov; Seppo J. Laukka; Yuri I. Alexandrov

    2017-01-01

    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...

  5. Motor planning in different grasping tasks by capuchin monkeys (Sapajus spp.).

    Science.gov (United States)

    Sabbatini, Gloria; Meglio, Giusy; Truppa, Valentina

    2016-10-01

    Studies on motor planning and action selection in object use reveal that what we choose to do in the present moment depends on our next planned action. In particular, many studies have shown that adult humans initially adopt uncomfortable hand postures to accommodate later task demands (i.e., the end-state comfort effect). Recent studies on action planning in different non-human primates species have provided contrasting results. Here, we tested whether capuchin monkeys (Sapajus spp.), natural tool users, would show planning abilities in two tasks with varying complexity: (i) an object-retrieval task involving self-directed actions (Experiment 1) and (ii) a tool-using task involving actions directed toward an external target (Experiment 2). In Experiment 1, six of 10 monkeys preferentially used a radial grip (i.e., with the thumb-side oriented towards the baited end) to grasp a horizontal dowel with either the left- or right-end baited and bring it to their mouth. In Experiment 2, all six tested capuchins preferentially used a radial grip (i.e., with the thumb-side oriented towards the center of the dowel) to grasp a dowel that was positioned horizontally at different orientations and to dislodge an out-of-reach food reward. Thus, we found that the capuchins showed second-order planning abilities in both tasks, but performance differences emerged in relation to hand preference and learning across sessions. Our findings support the idea that second-order motor planning occurred in an early stage of the primate lineage. Factors affecting the ability of nonhuman primates to estimate motor costs in action selection are discussed.

  6. Model of Competencies for Decomposition of Human Behavior: Application to Control System of Robots

    Directory of Open Access Journals (Sweden)

    Jose Vicente Berna-Martinez

    2013-02-01

    Full Text Available Humans and machines have shared the same physical space for many years. To share the same space, we want the robots to behave like human beings. This will facilitate their social integration, their interaction with humans and create an intelligent behavior. To achieve this goal, we need to understand how human behavior is generated, analyze tasks running our nerves and how they relate to them. Then and only then can we implement these mechanisms in robotic beings. In this study, we propose a model of competencies based on human neuroregulator system for analysis and decomposition of behavior into functional modules. Using this model allow separate and locate the tasks to be implemented in a robot that displays human-like behavior. As an example, we show the application of model to the autonomous movement behavior on unfamiliar environments and its implementation in various simulated and real robots with different physical configurations and physical devices of different nature. The main result of this study has been to build a model of competencies that is being used to build robotic systems capable of displaying behaviors similar to humans and consider the specific characteristics of robots.

  7. A Conceptual Framework for Representing Human Behavior Characteristics in a System of Systems Agent-Based Survivability Simulation

    Science.gov (United States)

    2010-11-22

    distribution is unlimited. A CONCEPTUAL FRAMEWORK FOR REPRESENTING HUMAN BEHAVIOR CHARACTERISTICS IN A SYSTEM OF SYSTEMS AGENT-BASED SURVIVABILITY...27411 -0001 ABSTRACT A CONCEPTUAL FRAMEWORK FOR REPRESENTING HUMAN BEHAVIOR CHARACTERISTICS IN A SYSTEM OF SYSTEMS AGENT-BASED SURVIVABILITY SIMULATION...TITLE AND SUBTITLE A CONCEPTUAL FRAMEWORK FOR REPRESENTING HUMAN BEHAVIOR CHARACTERISTICS IN A SYSTEM OF SYSTEMS AGENT-BASED SURVIVABILITY

  8. The granularity of grasping. Comment on "Grasping synergies: A motor-control approach to the mirror neuron mechanism" by A. D'Ausilio et al.

    Science.gov (United States)

    Hamilton, Antonia F. de C.

    2015-03-01

    The idea that mirror neuron systems in the human and the macaque monkey could provide a link between perceiving an action and performing it has spurred intense research [1,2]. Hundreds of papers now examine if this link exists and what it might contribute to human behaviour. The review article from D'Ausilio et al. [3] highlights how relatively few papers have considered the granularity of coding with mirror neuron systems, and even fewer have directly tested different possibilities. Granularity refers to the critical question of what actually is encoded within the mirror system - are neurons selective for low level kinematic features such as joint angle, or for postural synergies, or for action goals? Focusing on studies of single neurons in macaques and on studies measuring the excitability of primary motor cortex with TMS, the review suggests that it is very hard to distinguish low-level kinematic from goal representations. Furthermore, these two levels are often highly correlated in real-life contexts - the kinematics needed to grasp an apple are defined by the shape of the goal (an apple tends to be a large sphere) and these kinematics differ for other possible goals (a pencil which is a narrow cylinder). In some cases, kinematics may be enough to define a goal [4]. The review suggests that it is therefore arbitrary to distinguish these levels, and that a synergy level might be a better way to understand the mirror system. Synergies are a form of coding based on commonly used hand-shapes or hand postures, which take into account the fact that some joint angles are more likely to co-occur than others. Evidence that different grasp shapes are represented separately in premotor cortex has been found [5]. These could provide an intermediate level of representation between muscle activity and goals. The review proposes that a synergy level of granularity provides the best way to consider both the motor system and the role of the mirror system in understanding

  9. Human papillomavirus vaccination and sexual behavior in young women.

    Science.gov (United States)

    Rysavy, Mary B; Kresowik, Jessica D K; Liu, Dawei; Mains, Lindsay; Lessard, Megan; Ryan, Ginny L

    2014-04-01

    To compare sexual attitudes and behaviors of young women who have received or declined the HPV vaccine. Cross-sectional survey. Obstetrics and gynecology and pediatrics clinics at a large, Midwestern, academic health center. 223 young women (ages 13-24): 153 who had received HPV vaccination and 70 with no prior HPV vaccination. Sexual behaviors; attitudes toward sexual activity. Vaccinated young women were slightly but significantly younger than unvaccinated (mean age 19.2 vs 20.0). Both groups showed a large percentage of participants engaging in high-risk sexual behavior (75% vs 77%). The mean age at sexual debut was not significantly different between the groups (16.8 vs 17.0) nor was the average number of sexual partners (6.6 for both). Unvaccinated participants were more likely to have been pregnant (20% vs 8.6%, P = .016), although this difference was not significant in multivariate analysis CI [0.902-5.177]. Specific questions regarding high-risk sexual behaviors and attitudes revealed no significant differences between the groups. We found that sexual behaviors, including high-risk behaviors, were similar between young women who had and had not received HPV vaccination. Our findings provide no support for suggestions that the vaccine is associated with increased sexual activity. Importantly, we found that young women in our population are sexually active at a young age and are engaged in high-risk behaviors, affirming the importance of early vaccination. Copyright © 2014 North American Society for Pediatric and Adolescent Gynecology. Published by Elsevier Inc. All rights reserved.

  10. Shaped and Balanced by Hormones : cortisol, testosterone and the psychoneuroendocrinology of human socio-emotional behavior

    NARCIS (Netherlands)

    Montoya, E.R.

    2015-01-01

    The steroid hormones testosterone and cortisol can be considered hormones for environmental challenges; they are involved in adaptive neural and behavioral responses towards emotional stimuli. A key challenge of human psychoneuroendocrinology is to unravel the neural mechanisms by which testosterone

  11. A Formal Investigation of the Organization of Guidance Behavior: Implications for Humans and Autonomous Guidance

    Science.gov (United States)

    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

  12. Human adaptive behavior in common pool resource systems.

    Directory of Open Access Journals (Sweden)

    Gunnar Brandt

    Full Text Available Overexploitation of common-pool resources, resulting from uncooperative harvest behavior, is a major problem in many social-ecological systems. Feedbacks between user behavior and resource productivity induce non-linear dynamics in the harvest and the resource stock that complicate the understanding and the prediction of the co-evolutionary system. With an adaptive model constrained by data from a behavioral economic experiment, we show that users' expectations of future pay-offs vary as a result of the previous harvest experience, the time-horizon, and the ability to communicate. In our model, harvest behavior is a trait that adjusts to continuously changing potential returns according to a trade-off between the users' current harvest and the discounted future productivity of the resource. Given a maximum discount factor, which quantifies the users' perception of future pay-offs, the temporal dynamics of harvest behavior and ecological resource can be predicted. Our results reveal a non-linear relation between the previous harvest and current discount rates, which is most sensitive around a reference harvest level. While higher than expected returns resulting from cooperative harvesting in the past increase the importance of future resource productivity and foster sustainability, harvests below the reference level lead to a downward spiral of increasing overexploitation and disappointing returns.

  13. Modeling of Human Criminal Behavior using Probabilistic Networks

    CERN Document Server

    Pillai, Ramesh Kumar Gopala

    2010-01-01

    Currently, criminals profile (CP) is obtained from investigators or forensic psychologists interpretation, linking crime scene characteristics and an offenders behavior to his or her characteristics and psychological profile. This paper seeks an efficient and systematic discovery of nonobvious and valuable patterns between variables from a large database of solved cases via a probabilistic network (PN) modeling approach. The PN structure can be used to extract behavioral patterns and to gain insight into what factors influence these behaviors. Thus, when a new case is being investigated and the profile variables are unknown because the offender has yet to be identified, the observed crime scene variables are used to infer the unknown variables based on their connections in the structure and the corresponding numerical (probabilistic) weights. The objective is to produce a more systematic and empirical approach to profiling, and to use the resulting PN model as a decision tool.

  14. A Human Motor Behavior Model for Direct Pointing at a Distance

    OpenAIRE

    Kopper, Regis; Bowman,Doug A.; Silva, Mara G.

    2008-01-01

    Models of human motor behavior are well known as an aid in the design of user interfaces (UIs). Most current models apply primarily to desktop interaction, but with the development of non-desktop UIs, new types of motor behaviors need to be modeled. Direct Pointing at a Distance is such a motor behavior. A model of direct pointing at a distance would be particularly useful in the comparison of different interaction techniques, because the performance of such techniques is highly dependent on ...

  15. Drinking behavior in nursery pigs: Determining the accuracy between an automatic water meter versus human observers

    Science.gov (United States)

    Assimilating accurate behavioral events over a long period can be labor intensive and relatively expensive. If an automatic device could accurately record the duration and frequency for a given behavioral event, it would be a valuable alternative to the traditional use of human observers for behavio...

  16. Women in STEM and Human Information Behavior: Implications for LIS Educators

    Science.gov (United States)

    Davis, Rebecca

    2014-01-01

    This paper reports preliminary data from research that seeks to inform the readers about the way that human information behavior and the use of scholarly resources impacts on women in the STEM fields. By focusing on the information behavior and information needs of women in STEM, this could lead to an increased use of academic library resources…

  17. Knowledge, Attitudes, and Informational Behaviors of College Students in Regard to the Human Papillomavirus

    Science.gov (United States)

    Sandfort, Jessica R.; Pleasant, Andrew

    2009-01-01

    Objective: To assess students' human papillomavirus (HPV) knowledge, attitudes, and behaviors. Participants/ Methods: Students (N = 1,282) at a large, public university in the Northeast United States completed a questionnaire during February 2008 assessing HPV knowledge, prevalence, transmission, cervical cancer risk and stigma; sexual behavior,…

  18. Generation of human/rat xenograft animal model for the study of human donor stem cell behaviors in vivo

    Institute of Scientific and Technical Information of China (English)

    Yan Sun; Dong Xiao; Xing-Hua Pan; Ruo-Shuang Zhang; Guang-Hui Cui; Xi-Gu Chen

    2007-01-01

    AIM: To accurately and realistically elucidate human stem cell behaviors In vivo and the fundamental mechanisms controlling human stem cell fates in vivo, which is urgently required in regenerative medicine and treatments for some human diseases, a surrogate human-rat chimera model was developed.METHODS: Human-rat chimeras were achieved by in utero transplanting low-density mononuclear cells from human umbilical cord blood into the fetal rats at 9-11 d of gestation, and subsequently, a variety of methods, including flow cytometry, PCR as well as immunohistochemical assay, were used to test the human donor contribution in the recipients.RESULTS: Of 29 live-born recipients, 19 had the presence of human CD45+ cells in peripheral blood (PB) detected by flow cytometry, while PCR analysis on genomic DNA from 11 different adult tissues showed that 14 selected from flow cytometry-positive 19 animals possessed of donor-derived human cell engraftment in multiple tissues (i.e. liver, spleen, thymus, heart, kidney, blood, lung, muscle, gut and skin) examined at the time of tissue collection, as confirmed by detecting human β2-microglobulin expression using immunohistochemistry.In this xenogeneic system, the engrafted donor-derived human cells persisted in multiple tissues for at least 6 mo after birth. Moreover, transplanted human donor cells underwent site-specific differentiation into CK18-positive human cells in chimeric liver and CD45-positive human cells in chimeric spleen and thymus of recipients.CONCLUSION: Taken together, these findings suggest that we successfully developed human-rat chimeras, in which xenogeneic human cells exist up to 6 mo later. This humanized small animal model, which offers an in vivo environment more closely resembling to the situations in human, provides an invaluable and effective approach for in vivo investigating human stem cell behaviors, and further in vivo examining fundamental mechanisms controlling human stem cell fates in the future

  19. A GRASP for Next Generation Sapphire Image Acquisition Scheduling

    Directory of Open Access Journals (Sweden)

    Yang Wang

    2016-01-01

    Full Text Available This paper investigates an image acquisition scheduling problem for a Canadian surveillance-of-space satellite named Sapphire that takes images of deep space Earth-orbiting objects. For a set of resident space objects (RSOs that needs to be imaged within the time horizon of one day, the Sapphire image acquisition scheduling (SIAS problem is to find a schedule that maximizes the “Figure of Merit” of all the scheduled RSO images. To address the problem, we propose an effective GRASP heuristic that alternates between a randomized greedy constructive procedure and a local search procedure. Experimental comparisons with the currently used greedy algorithm are presented to demonstrate the merit of the proposed algorithm in handling the SIAS problem.

  20. Stereovision system for estimation of the grasp type for electrotherapy

    Directory of Open Access Journals (Sweden)

    Štrbac Matija

    2011-01-01

    Full Text Available This paper presents hardware and software for scene analysis that are designed for the system used in treatment of post stroke hemiplegic patients using electrical stimulation. New hardware includes two cameras and a laser pointer, while new software is given as a Matlab program that performs real-time estimate of size and shape of targeted object. Based on heuristic contemplation the system makes a decision grasp type and necessary actions for the purpose of hand opening and closing. The system was tested on 13 objects and in 95% of cases it worked according to demands, i.e. corresponding to choices of healthy subjects when they wanted to grab that same object.

  1. 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.

  2. Grounded Object and Grasp Representations in a Cognitive Architecture

    DEFF Research Database (Denmark)

    Kraft, Dirk

    for example unknown objects, we need to establish that something is an object (and not, an obstacle). One of the initial steps there is to see if we can manipulate the object. We therefore present work that describes how to achieve physical control over an object. This work uses a feature-action relationship...... 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....... We also explain how the feature-action relationship can be improved through learning from a set of experiences. Once physical control is achieved, we can move the object in such a way that we can gather visual information from different viewpoints. We describe how this information can be integrated...

  3. Grounded Object and Grasp Representations in a Cognitive Architecture

    DEFF Research Database (Denmark)

    Kraft, Dirk

    . We also explain how the feature-action relationship can be improved through learning from a set of experiences. Once physical control is achieved, we can move the object in such a way that we can gather visual information from different viewpoints. We describe how this information can be integrated......Robotic systems are today still mostly unable to perform complex tasks in unknown environments. While there have been many approaches to cope with unknown environments, for example in mobile robot navigation, the work done when it comes to more complex tasks, for example object handling are, less...... 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...

  4. Human Behavior Model Based Control Program for ACC Mobile Robot

    Directory of Open Access Journals (Sweden)

    Claudiu Pozna

    2006-07-01

    Full Text Available Present work is a part of the ACC autonomous car project. This paper will focuson the control program architecture. To design this architecture we will start from thehuman driver behavior model. Using this model we have constructed a three level controlprogram. Preliminary results are presented.

  5. Psychopharmacology of male rat sexual behavior: modeling human sexual dysfunctions?

    NARCIS (Netherlands)

    Olivier, B.; Chan, J.S.; Pattij, T.; Jong, T.R. de; Oosting, R.S.; Veening, J.G.; Waldinger, M.D.

    2006-01-01

    Most of our current understanding of the neurobiology, neuroanatomy and psychopharmacology of sexual behavior and ejaculatory function has been derived from preclinical studies in the rat. When a large population of male rats is tested on sexual activity during a number of successive tests, over tim

  6. A Social Episode Model of Human Sexual Behavior

    Science.gov (United States)

    Meyer, Robert G.; Freeman, William M.

    1976-01-01

    A social episode model of sexual behavior is proposed with emphasis placed on arousal as a crucial variable. This model argues against a disease or deficiency concept of homosexuality. The authors hold a therapist should adequately respond to a valid sexual orientation request. (Author)

  7. Supporting Negotiation Behavior with Haptics-Enabled Human-Computer Interfaces.

    Science.gov (United States)

    Oguz, S O; Kucukyilmaz, A; Sezgin, Tevfik Metin; Basdogan, C

    2012-01-01

    An active research goal for human-computer interaction is to allow humans to communicate with computers in an intuitive and natural fashion, especially in real-life interaction scenarios. One approach that has been advocated to achieve this has been to build computer systems with human-like qualities and capabilities. In this paper, we present insight on how human-computer interaction can be enriched by employing the computers with behavioral patterns that naturally appear in human-human negotiation scenarios. For this purpose, we introduce a two-party negotiation game specifically built for studying the effectiveness of haptic and audio-visual cues in conveying negotiation related behaviors. The game is centered around a real-time continuous two-party negotiation scenario based on the existing game-theory and negotiation literature. During the game, humans are confronted with a computer opponent, which can display different behaviors, such as concession, competition, and negotiation. Through a user study, we show that the behaviors that are associated with human negotiation can be incorporated into human-computer interaction, and the addition of haptic cues provides a statistically significant increase in the human-recognition accuracy of machine-displayed behaviors. In addition to aspects of conveying these negotiation-related behaviors, we also focus on and report game-theoretical aspects of the overall interaction experience. In particular, we show that, as reported in the game-theory literature, certain negotiation strategies such as tit-for-tat may generate maximum combined utility for the negotiating parties, providing an excellent balance between the energy spent by the user and the combined utility of the negotiating parties.

  8. Social Learning Theory and Behavioral Therapy: Considering Human Behaviors within the Social and Cultural Context of Individuals and Families.

    Science.gov (United States)

    McCullough Chavis, Annie

    2011-01-01

    This article examines theoretical thoughts of social learning theory and behavioral therapy and their influences on human behavior within a social and cultural context. The article utilizes two case illustrations with applications for consumers. It points out the abundance of research studies concerning the effectiveness of social learning theory, and the paucity of research studies regarding effectiveness and evidence-based practices with diverse groups. Providing a social and cultural context in working with diverse groups with reference to social learning theory adds to the literature for more cultural considerations in adapting the theory to women, African Americans, and diverse groups.

  9. Properties of the grasp stiffness matrix and conservative control strategies

    Energy Technology Data Exchange (ETDEWEB)

    Kao, I.; Ngo, C. [State Univ. of New York, Stony Brook, NY (United States)

    1999-02-01

    In this paper, the authors present fundamental properties of stiffness matrices as applied in analysis of grasping and dexterous manipulation in configuration spaces and linear Euclidean R{sup 3x3} space without rotational components. A conservative-stiffness matrix in such spaces needs to satisfy both symmetric and exact differential criteria. Two types of stiffness matrices are discussed: constant and configuration-dependent matrices are discussed: constant and configuration-dependent matrices. The symmetric part of a constant-stiffness matrix can be derived from a conservative quadratic potential function in the Hermitian form; while the skew-symmetric part is a function of the nonconservative curl vector field of the grasp. A configuration-dependent stiffness matrix needs to be symmetric and must simultaneously satisfy the exact differential condition to be conservative. The theory is most relevant to the Cartesian stiffness control, where the stiffness of the end effector is usually constant, such as that in RCC wrists. Conservative control strategies are proposed for a configuration-dependent stiffness matrix. One of the most important results of this paper is the nonconservative congruence mapping of stiffness between the joint and Cartesian spaces. In general, the congruence transformation (or its inverse transformation), K{sub {theta}} = J{sub {theta}}{sup T}K{sub p}J{sub {theta}}, is a nonconservative mapping over finite paths for a configuration-dependent Jacobian. Thus, to obtain a conservative system with respect to the Cartesian space, one has to either find the corresponding K{sub {theta}} at every configuration due to the constant and symmetric Cartesian stiffness matrix, or determine symmetric yet configuration-varying K{sub {theta}} at every configuration due to the constant and symmetric Cartesian stiffness matrix, or determine the symmetric yet configuration-varying K{sub {theta}} which makes the resulting configuration-dependent K{sub p

  10. Behavior generation for interpersonal coordination with virtual humans : on specifying, scheduling and realizing multimodal virtual human behavior

    NARCIS (Netherlands)

    Welbergen, van Herwin

    2011-01-01

    Interactive virtual humans, are used in many educational and entertain- ment settings. They have become very complex pieces of software. Building a state-of-the-art virtual human entails re-implementing several pieces of ex- isting work. The SAIBA initiative (consisting of several leading researcher

  11. Shaping of Reach-to-Grasp Kinematics by Intentions: A Meta-Analysis

    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...

  12. Vibrotactile grasping force and hand aperture feedback for myoelectric forearm prosthesis users

    NARCIS (Netherlands)

    Witteveen, Heidi J.B.; Rietman, Hans S.; Veltink, Peter H.

    2015-01-01

    Background: User feedback about grasping force and hand aperture is very important in object handling with myoelectric forearm prostheses but is lacking in current prostheses. Vibrotactile feedback increases the performance of healthy subjects in virtual grasping tasks, but no extensive validation o

  13. The Role of Motor Experience in Understanding Action Function: The Case of the Precision Grasp

    Science.gov (United States)

    Loucks, Jeff; Sommerville, Jessica A.

    2012-01-01

    Recent evidence suggests adults and infants selectively attend to features of action, such as how a hand contacts an object. The current research investigated whether this bias stems from infants' processing of the functional consequences of grasps: understanding that different grasps afford different future actions. A habituation paradigm…

  14. 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; Umiltà, Maria Alessandra

    2010-08-01

    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.

  15. 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

    We examine the use of automatic adaptation to the user’s grasp and facial direction in interaction with a game. Two experimental studies were conducted. The first experiment identified patterns in grasp and facial direction that can be used as objective indicators of intentions and attention. The...

  16. Movements of Individual Digits in Bimanual Prehension Are Coupled into a Grasping Component

    NARCIS (Netherlands)

    Zaal, Frank T. J. M.; Bongers, Raoul M.

    2014-01-01

    The classic understanding of prehension is that of coordinated reaching and grasping. An alternative view is that the grasping in prehension emerges from independently controlled individual digit movements (the double-pointing model). The current study tested this latter model in bimanual prehension

  17. Fixation Biases towards the Index Finger in Almost-Natural Grasping

    NARCIS (Netherlands)

    Voudouris, D.; Smeets, J.B.J.; Brenner, E.

    2016-01-01

    We use visual information to guide our grasping movements. When grasping an object with a precision grip, the two digits need to reach two different positions more or less simultaneously, but the eyes can only be directed to one position at a time. Several studies that have examined eye movements in

  18. The neuroscience of vision-based grasping: a functional review for computational modeling and bio-inspired robotics.

    Science.gov (United States)

    Chinellato, Eris; Del Pobil, Angel P

    2009-06-01

    The topic of vision-based grasping is being widely studied in humans and in other primates using various techniques and with different goals. The fundamental related findings are reviewed in this paper, with the aim of providing researchers from different fields, including intelligent robotics and neural computation, a comprehensive but accessible view on the subject. A detailed description of the principal sensorimotor processes and the brain areas involved is provided following a functional perspective, in order to make this survey especially useful for computational modeling and bio-inspired robotic applications.

  19. 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 underlyi

  20. Human Behavior and the Social Environment, Self-Disclosure, and Poetry.

    Science.gov (United States)

    Holliman, Diane Carol

    2001-01-01

    Describes how a social work course requires students to reflect upon their own theories of human development. Reflects upon the author's experiences as a student and teacher of Human Behavior and the Social Environment. Discusses the role of self-disclosure and shares several of her own poems that illustrate her own view of lifespan development…

  1. 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, Illa 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, Tonu; 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; Toenjes, Anke; Thorleifsson, Gudmar; Ulivi, Sheila; Wedenoja, Juho; Wellmann, Juergen; Willeit, Peter; Yao, Jie; Yengo, Loic; Zhao, Jing Hua; Zhao, Wei; Zhernakova, Dania V.; Amin, Najaf; Andrews, Howard; Balkau, Beverley; Barzilai, Nir; Bergmann, Sven; Biino, Ginevra; Bisgaard, Hans; Bonnelykke, 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-Joergen; Greiser, Karin Halina; Groenen, Patrick J. F.; de Haan, Hugoline G.; Haerting, Johannes; Harris, Tamara B.; Heath, Andrew C.; Heikkila, Kauko; Hofman, Albert; Homuth, Georg; Holliday, Elizabeth G.; Hopper, John; Hypponen, Elina; Jacobsson, Bo; Jaddoe', Vincent W. V.; Johannesson, Magnus; Kahonen, Mika; Kajantie, Eero; Kardia, Sharon L. R.; Keavney, Bernard; Kolcic, Ivana; Koponen, Paivikki; Kovacs, Peter; Kronenberg, Florian; Kutalik, Zoltan; La Bianca, Martina; Lachance, Genevieve; Iacono, William G.; Lai, Sandra; Lehtimaki, 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; Mellstrom, Dan; Metspalu, Andres; Traglia, Michela; Milani, Lili; Mitchell, Paul; Montgomery, Grant W.; Mook-Kanamori, Dennis; de Mutsert, Renee; Nohr, Ellen A.; Ohlsson, Claes; Olsen, Porn; 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.; Raikkonen, 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.; Stockl, Doris; Strauch, Konstantin; Stumvoll, Michael; Swertz, Morris A.; Thorsteinsdottir, Unnur; Thurik, A. Roy; Timpson, Nicholas J.; Tung, Joyce Y.; Uitterlinden, Andre G.; Vaccargiu, Simona; Viikari, Jorma; Vitart, Veronique; Voelzke, 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 underlyi

  2. Integrating Theory, Research, and Practice in Human Performance Technology: Examples from Behavioral, Cognitive, and Constructivist Theories.

    Science.gov (United States)

    Brethower, Dale M.

    2000-01-01

    Considers how to integrate theory, research, and practice in human performance technology. Discusses human learning; market pull versus knowledge push; using inquiry to connect theory, research, and practice; constructivist examples; behavioral and cognitive approaches; and differences in research methodologies. (Contains 13 references.) (LRW)

  3. Integrating Theory, Research, and Practice in Human Performance Technology: Examples from Behavioral, Cognitive, and Constructivist Theories.

    Science.gov (United States)

    Brethower, Dale M.

    2000-01-01

    Considers how to integrate theory, research, and practice in human performance technology. Discusses human learning; market pull versus knowledge push; using inquiry to connect theory, research, and practice; constructivist examples; behavioral and cognitive approaches; and differences in research methodologies. (Contains 13 references.) (LRW)

  4. The moderating role of human values in planned behavior

    DEFF Research Database (Denmark)

    Zhou, Y.; Thøgersen, John; Ruan, Y.

    2013-01-01

    and behavioral intentions: the attitude towards buying organic food and perceived behavioral control. Both of these antecedents have a stronger impact on intentions among consumers with strong selftranscendence values than among consumers with weak ones. Research limitations/implications – The study is based......Purpose – This article aims to study the role of personal values as moderators of the antecedents of consumers’ “green” buying intentions in the context of Chinese consumers’ inclination to buy organic food. Design/methodology/approach – Ordinary Chinese consumers (n ¼ 479) were intercepted...... contribute positively to the development of the economy. Originality/value – This article extends the rare literature analyzing Chinese consumers’ inclination to buy organic food. It also extends the understanding of the role of personal values as moderators of antecedents of consumers’ buying intentions...

  5. NASA Human Research Program Behavioral Health and Performance Element (BHP)

    Science.gov (United States)

    Whitmire, Sandra; Faulk, Jeremy; Leveton, Lauren

    2010-01-01

    The goal of NASA BHP is to identify, characterize, and prevent or reduce behavioral health and performance risks associated with space travel, exploration, and return to terrestrial life. The NASA Behavioral Health and Performance Operations Group (BHP Ops) supports astronauts and their families before, during, and after a long-duration mission (LDM) on the ISS. BHP Ops provides ISS crews with services such as preflight training (e.g., psychological factors of LDM, psychological support, cross-cultural); preflight, in-flight, and postflight support services, including counseling for astronauts and their families; and psychological support such as regular care packages and a voice-over IP phone system between crew members and their families to facilitate real-time one-on-one communication.

  6. Theory of Point Contact Restraint and Qualitative Analysis of Robot Grasping

    Institute of Scientific and Technical Information of China (English)

    熊有伦

    1994-01-01

    This paper presents a geometrical representation of robot grasping and a definition of "relative form closure" of point contact restraint based on the concepts of positive linear combination,affine combination,convex combination,etc.in the screw space.The dual equivalence theorem,topological equivalence theorem and algebraic equivalence theorem are derived from the defined restraint cone and freedom cone in the dual screw spaces.A J0-function method of computer-aided grasp planning is implemented more efficiently than other proposed methods.The states of restraint and instantaneous motion of a rigid body grasped by a set of point contacts are specified by the unisense degrees of freedom and unisense degrees of restraint.Finally,a quality measure of robot grasping is provided for the synthesis procedure of relatively form-closed grasp.

  7. Cooperative Control Based on Absolute Positional Information of Grasped Object in Multiple Mobile Manipulators

    Science.gov (United States)

    Sugawara, Toshiharu; Murakami, Toshiyuki

    This paper describes a control strategy to realize grasping and cooperative motion in multiple mobile manipulators. In the general approach, the stable grasping motion is well realized, but the emergent motion such as the obstacle avoidance motion and the collision avoidance motion among the robots are not taken into account in the cooperative motion of multiple mobile manipulators. In the practical application, however, the above issue is important to realize an adaptive and sophisticated motion. The proposed approach introduces the null space motion based on the grasping matrix and the absolute position of target object in the grasping motion of the manipulator. In this case, each motion of mobile manipulator is given independently of the grasping and the cooperative motion, and the emergent motion is determined arbitrary. This is one of the remarkable features of the proposed strategy. Several numerical and experimental results show the validity of the proposed approach.

  8. Performance measurement of autonomous grasping software in a simulated orbital environment

    Science.gov (United States)

    Norsworthy, Robert S.

    1993-12-01

    The EVAHR (extravehicular activity helper/retriever) robot is being developed to perform a variety of navigation and manipulation tasks under astronaut supervision. The EVAHR is equipped with a manipulator and dexterous end-effector for capture and a laser range imager with pan/tilt for target perception. Perception software has been developed to perform target pose estimation, tracking, and motion estimation for rigid, freely rotating, polyhedral objects. Manipulator grasp planning and trajectory control software has also been developed to grasp targets while avoiding collisions. A software simulation of the EVAHR hardware, orbital dynamics, collision detection, and grasp impact dynamics has been developed to test and measure the performance of the integrated software. Performance measurements include grasp success/failure % and time-to-grasp for a variety of targets, initial target states, and simulated pose estimation computing resources.

  9. 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.

  10. Scavenging behavior of Lynx rufus on human remains during the winter months of Southeast Texas.

    Science.gov (United States)

    Rippley, Angela; Larison, Nicole C; Moss, Kathryn E; Kelly, Jeffrey D; Bytheway, Joan A

    2012-05-01

    Animal-scavenging alterations on human remains can be mistaken as human criminal activity. A 32-day study, documenting animal scavenging on a human cadaver, was conducted at the Southeast Texas Applied Forensic Science facility, Sam Houston State University, Huntsville, Texas. A Stealth Cam Rogue IR was positioned near the cadaver to capture scavenging activity. An atypical scavenger, the bobcat, Lynx rufus, was recorded feeding on the cadaver. Scavenging by bobcats on human remains is not a predominant behavior and has minimal documentation. Scavenging behaviors and destruction of body tissues were analyzed. Results show that the bobcat did not feed on areas of the body that it does for other large animal carcasses. Results also show the bobcat feeds similarly during peak and nonpeak hours. Understanding the destruction of human tissue and covering of the body with leaf debris may aid forensic anthropologists and pathologists in differentiating between nefarious human activity and animal scavenging. © 2012 American Academy of Forensic Sciences.

  11. 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.

  12. Modeling human decision making behavior in supervisory control

    Science.gov (United States)

    Tulga, M. K.; Sheridan, T. B.

    1977-01-01

    An optimal decision control model was developed, which is based primarily on a dynamic programming algorithm which looks at all the available task possibilities, charts an optimal trajectory, and commits itself to do the first step (i.e., follow the optimal trajectory during the next time period), and then iterates the calculation. A Bayesian estimator was included which estimates the tasks which might occur in the immediate future and provides this information to the dynamic programming routine. Preliminary trials comparing the human subject's performance to that of the optimal model show a great similarity, but indicate that the human skips certain movements which require quick change in strategy.

  13. Behavioral responses to epidemics in an online experiment: using virtual diseases to study human behavior.

    Science.gov (United States)

    Chen, Frederick; Griffith, Amanda; Cottrell, Allin; Wong, Yue-Ling

    2013-01-01

    We report the results of a study we conducted using a simple multiplayer online game that simulates the spread of an infectious disease through a population composed of the players. We use our virtual epidemics game to examine how people respond to epidemics. The analysis shows that people's behavior is responsive to the cost of self-protection, the reported prevalence of disease, and their experiences earlier in the epidemic. Specifically, decreasing the cost of self-protection increases the rate of safe behavior. Higher reported prevalence also raises the likelihood that individuals would engage in self-protection, where the magnitude of this effect depends on how much time has elapsed in the epidemic. Individuals' experiences in terms of how often an infection was acquired when they did not engage in self-protection are another factor that determines whether they will invest in preventive measures later on. All else being equal, individuals who were infected at a higher rate are more likely to engage in self-protective behavior compared to those with a lower rate of infection. Lastly, fixing everything else, people's willingness to engage in safe behavior waxes or wanes over time, depending on the severity of an epidemic: when prevalence is high, people are more likely to adopt self-protective measures as time goes by; when prevalence is low, a 'self-protection fatigue' effect sets in whereby individuals are less willing to engage in safe behavior over time.

  14. The double power law in human collaboration behavior: The case of Wikipedia

    Science.gov (United States)

    Kwon, Okyu; Son, Woo-Sik; Jung, Woo-Sung

    2016-11-01

    We study human behavior in terms of the inter-event time distribution of revision behavior on Wikipedia, an online collaborative encyclopedia. We observe a double power law distribution for the inter-editing behavior at the population level and a single power law distribution at the individual level. Although interactions between users are indirect or moderate on Wikipedia, we determine that the synchronized editing behavior among users plays a key role in determining the slope of the tail of the double power law distribution.

  15. Comparison of human face matching behavior and computational image similarity measure

    Institute of Scientific and Technical Information of China (English)

    CHEN WenFeng; LIU ChangHong; LANDER Karen; FU XiaoLan

    2009-01-01

    Computational similarity measures have been evaluated in a variety of ways, but few of the validated computational measures are based on a high-level, cognitive criterion of objective similarity. In this paper, we evaluate two popular objective similarity measures by comparing them with face matching performance In human observers. The results suggest that these measures are still limited in predicting human behavior, especially In rejection behavior, but objective measure taking advantage of global and local face characteristics may improve the prediction. It is also suggested that human may set different criterions for "hit" and "rejection" and this may provide implications for biologically-inspired computational systems.

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

    Science.gov (United States)

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

    2017-02-18

    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 Author 2017. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

  17. Haptic feedback attenuates illusory bias in pantomime-grasping: evidence for a visuo-haptic calibration.

    Science.gov (United States)

    Chan, Jillian; Heath, Matthew

    2017-04-01

    Relative visual information has been shown to mediate grasping responses directed to an area previously occupied by a target object (i.e., pantomime-grasping) and is an information type functionally distinct from the absolute visual information supporting naturalistic grasping (i.e., grasping a physical target). Pantomime- and naturalistic grasps differ not only in terms of their visual properties, but also because the former lacks physical interaction with a target object (i.e., no-haptic feedback). The absence of haptic feedback may represent a reason why pantomime- and naturalistic grasps differ. To address this issue, participants completed pantomime-grasps to objects embedded in fins-in and fins-out configurations of the Müller-Lyer (ML) illusion following a 2000-ms visual delay when haptic feedback was unavailable (H- condition), and when experimentally induced (H+ condition). In particular, in the H+ condition the experimenter placed a physical target object between participants' thumb and forefinger after they completed their grasping response. H- and H+ conditions were performed when online vision was available (i.e., Experiment 1) and when withdrawn (i.e., Experiment 2). If haptic feedback influences grasping, then the absolute information afforded from physically touching a target object (i.e., the H+ condition) should result in aperture metrics that are refractory-or attenuated-to the relative properties of the ML figures. Grip apertures in H- and H+ conditions were "tricked" in a direction consistent with the perceptual effects of the ML illusion; however, Experiment 2 showed that illusory effects were attenuated in the H+ condition. In other words, responses without online vision showed evidence of a visuo-haptic calibration. These results provide convergent evidence that haptic and visual feedback play a salient role in considering the extant literature's documented report of kinematic differences between pantomime- and naturalistic grasps.

  18. Toward a Psychobiological Theory of Motivations for Human Communication Behavior.

    Science.gov (United States)

    Haskins, Jack B.

    Noting that recent research and theory from the expanding field of psychobiology have not been integrated into the study of human communication, this paper offers a synthesis of principles from several leading psychobiological scientists as a step toward a possible unifying approach to communication philosophy, theory, and research. The paper…

  19. Recognition and localization of relevant human behavior in videos

    NARCIS (Netherlands)

    Bouma, H.; Burghouts, G.J.; Penning, L. de; Hanckmann, P.; Hove, R.J.M. ten; Korzec, S.; Kruithof, M.C.; Landsmeer, S.; Leeuwen, C.J. van; Broek, S.P. van den; Halma, A.H.R.; Hollander, R.J.M. den; Schutte, K.

    2013-01-01

    Ground surveillance is normally performed by human assets, since it requires visual intelligence. However, especially for military operations, this can be dangerous and is very resource intensive. Therefore, unmanned autonomous visual-intelligence systems are desired. In this paper, we present an im

  20. 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.

  1. Real-time vision, tactile cues, and visual form agnosia: removing haptic feedback from a "natural" grasping task induces pantomime-like grasps.

    Science.gov (United States)

    Whitwell, Robert L; Ganel, Tzvi; Byrne, Caitlin M; Goodale, Melvyn A

    2015-01-01

    Investigators study the kinematics of grasping movements (prehension) under a variety of conditions to probe visuomotor function in normal and brain-damaged individuals. "Natural" prehensile acts are directed at the goal object and are executed using real-time vision. Typically, they also entail the use of tactile, proprioceptive, and kinesthetic sources of haptic feedback about the object ("haptics-based object information") once contact with the object has been made. Natural and simulated (pantomimed) forms of prehension are thought to recruit different cortical structures: patient DF, who has visual form agnosia following bilateral damage to her temporal-occipital cortex, loses her ability to scale her grasp aperture to the size of targets ("grip scaling") when her prehensile movements are based on a memory of a target previewed 2 s before the cue to respond or when her grasps are directed towards a visible virtual target but she is denied haptics-based information about the target. In the first of two experiments, we show that when DF performs real-time pantomimed grasps towards a 7.5 cm displaced imagined copy of a visible object such that her fingers make contact with the surface of the table, her grip scaling is in fact quite normal. This finding suggests that real-time vision and terminal tactile feedback are sufficient to preserve DF's grip scaling slopes. In the second experiment, we examined an "unnatural" grasping task variant in which a tangible target (along with any proxy such as the surface of the table) is denied (i.e., no terminal tactile feedback). To do this, we used a mirror-apparatus to present virtual targets with and without a spatially coincident copy for the participants to grasp. We compared the grasp kinematics from trials with and without terminal tactile feedback to a real-time-pantomimed grasping task (one without tactile feedback) in which participants visualized a copy of the visible target as instructed in our laboratory in the

  2. Real-time vision, tactile cues, and visual form agnosia: removing haptic feedback from a “natural” grasping task induces pantomime-like grasps

    Science.gov (United States)

    Whitwell, Robert L.; Ganel, Tzvi; Byrne, Caitlin M.; Goodale, Melvyn A.

    2015-01-01

    Investigators study the kinematics of grasping movements (prehension) under a variety of conditions to probe visuomotor function in normal and brain-damaged individuals. “Natural” prehensile acts are directed at the goal object and are executed using real-time vision. Typically, they also entail the use of tactile, proprioceptive, and kinesthetic sources of haptic feedback about the object (“haptics-based object information”) once contact with the object has been made. Natural and simulated (pantomimed) forms of prehension are thought to recruit different cortical structures: patient DF, who has visual form agnosia following bilateral damage to her temporal-occipital cortex, loses her ability to scale her grasp aperture to the size of targets (“grip scaling”) when her prehensile movements are based on a memory of a target previewed 2 s before the cue to respond or when her grasps are directed towards a visible virtual target but she is denied haptics-based information about the target. In the first of two experiments, we show that when DF performs real-time pantomimed grasps towards a 7.5 cm displaced imagined copy of a visible object such that her fingers make contact with the surface of the table, her grip scaling is in fact quite normal. This finding suggests that real-time vision and terminal tactile feedback are sufficient to preserve DF’s grip scaling slopes. In the second experiment, we examined an “unnatural” grasping task variant in which a tangible target (along with any proxy such as the surface of the table) is denied (i.e., no terminal tactile feedback). To do this, we used a mirror-apparatus to present virtual targets with and without a spatially coincident copy for the participants to grasp. We compared the grasp kinematics from trials with and without terminal tactile feedback to a real-time-pantomimed grasping task (one without tactile feedback) in which participants visualized a copy of the visible target as instructed in our

  3. 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

    2016-12-01

    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.

  4. On Understanding the Human Nature of Good and Bad Behavior in Business: A Behavioral Ethics Approach

    NARCIS (Netherlands)

    D. de Cremer (David)

    2009-01-01

    textabstractThe numerous scandals in business, such as those at AIG, Tyco, WorldCom, Enron and Ahold, have made all of us concerned about the emergence of unethical and irresponsible behavior in organizations. Such widespread corruption in business and politics has, as result, prompted a growth of i

  5. Behavioral analysis of marijuana effects on food intake in humans.

    Science.gov (United States)

    Foltin, R W; Brady, J V; Fischman, M W

    1986-09-01

    Nine male research volunteers, in three groups of three subjects each, resided in a residential laboratory for up to 25 days. All contact with the experimenter was through a networked computer system and subjects' behaviors including food intake were continuously recorded. Subjects brought their own activities such as model-making, and these in combination with those provided by the laboratory resulted in rich behavior repertoires. During the first part of the day, subjects remained in their private rooms doing planned work activities, and during the remainder of the day, they were allowed to socialize. Cigarettes containing active marijuana (1.84% THC) or placebo were smoked prior to the private work period and during the social access period. A single active marijuana cigarette prior to the private work period had no effect on food intake. The administration of two or three active marijuana cigarettes during the social access period increased average daily caloric intake. The increased intake was due to an augmentation of calories consumed as between-meal snack items rather than an increase in meal size per se.

  6. Spatiotemporal Detection of Unusual Human Population Behavior Using Mobile Phone Data

    CERN Document Server

    Dobra, Adrian; Eagle, Nathan

    2014-01-01

    With the aim to contribute to humanitarian response to disasters and violent events, scientists have proposed the development of analytical tools that could identify emergency events in real-time, using mobile phone data. The assumption is that dramatic and discrete changes in behavior, measured with mobile phone data, will indicate extreme events. In this study, we propose an efficient system for spatiotemporal detection of behavioral anomalies from mobile phone data and compare sites with behavioral anomalies to an extensive database of emergency and non-emergency events in Rwanda. Our methodology successfully captures anomalous behavioral patterns associated with a broad range of events, from religious and official holidays to earthquakes, floods, violence against civilians and protests. Our results suggest that human behavioral responses to extreme events are complex and multi-dimensional, including extreme increases and decreases in both calling and movement behaviors. We also find significant temporal a...

  7. Early human symbolic behavior in the Late Pleistocene of Wallacea.

    Science.gov (United States)

    Brumm, Adam; Langley, Michelle C; Moore, Mark W; Hakim, Budianto; Ramli, Muhammad; Sumantri, Iwan; Burhan, Basran; Saiful, Andi Muhammad; Siagian, Linda; Suryatman; Sardi, Ratno; Jusdi, Andi; Abdullah; Mubarak, Andi Pampang; Hasliana; Hasrianti; Oktaviana, Adhi Agus; Adhityatama, Shinatria; van den Bergh, Gerrit D; Aubert, Maxime; Zhao, Jian-Xin; Huntley, Jillian; Li, Bo; Roberts, Richard G; Saptomo, E Wahyu; Perston, Yinika; Grün, Rainer

    2017-04-18

    Wallacea, the zone of oceanic islands separating the continental regions of Southeast Asia and Australia, has yielded sparse evidence for the symbolic culture of early modern humans. Here we report evidence for symbolic activity 30,000-22,000 y ago at Leang Bulu Bettue, a cave and rock-shelter site on the Wallacean island of Sulawesi. We describe hitherto undocumented practices of personal ornamentation and portable art, alongside evidence for pigment processing and use in deposits that are the same age as dated rock art in the surrounding karst region. Previously, assemblages of multiple and diverse types of Pleistocene "symbolic" artifacts were entirely unknown from this region. The Leang Bulu Bettue assemblage provides insight into the complexity and diversification of modern human culture during a key period in the global dispersal of our species. It also shows that early inhabitants of Sulawesi fashioned ornaments from body parts of endemic animals, suggesting modern humans integrated exotic faunas and other novel resources into their symbolic world as they colonized the biogeographically unique regions southeast of continental Eurasia.

  8. The Impact of Human Resource Practices and Organizational Citizenship Behaviors on Firm Performance

    Directory of Open Access Journals (Sweden)

    Davood Babaei

    2012-01-01

    Full Text Available Problem statement: The examination of organizational citizenship behaviors as the mediating variable through which human resource practices affect firm performance is still scarce. Approach: This study examined the mediation effects of organizational citizenship behaviors on the relationships between selected human resource practices and firm performance. The human resource practices studied were reward and performance appraisal practices and firm performance was studied in terms of quality of services. Data were collected from a sample of 179 branches of two banks in Tehran, Iran. The participants in this study included 176 managerial employees, 352 non-managerial employees and 871 customers. To achieve these objectives a mediation model was tested using structural equation modeling procedure to examine if the hypothesized model fit the data. Results: The results showed that organizational citizenship behaviors fully mediated the relationships between reward practices and quality of services and partially mediated the relationships between performance appraisal practices and quality of services. Conclusion/Recommendations: The findings of this study suggest that human resource practices play a critical role in enhancing employees organizational citizenship behaviors and firm performance. Organizational citizenship behaviors mediate the effects of reward and performance appraisal practices on service quality. To improve service quality, employers should improve reward and performance appraisal practices since these practices have an impact on employees organizational citizenship behaviors which in turn would affect service quality.

  9. Institutionalization: A Theory of Human Behavior and the Social Environment

    Directory of Open Access Journals (Sweden)

    Miriam McNown Johnson

    2007-05-01

    Full Text Available Institutionalism is the syndrome first recognized and described in inpatient psychiatric facilities,which is now used to describe a set of maladaptive behaviors that are evoked by the pressures of living in any institutional setting. This article traces the development of the theory of institutionalization, which predicts and explains an individual’s response to that particular type of environment. The article makes note of key contributors and contributions, and of empirical studies that have advanced the theory. Underlying perspectives and assumptions are identified and earlier theoretical models are reviewed and critiqued. An updated model of the theory, which includes individual vulnerabilities, objective conditions of the institutional placement, and the resident’s perceptions of the environment, is presented. New directions in the field of institutional care and implications for social workers, particularly for those working in nursing home and prison settings, are discussed, along with recommendations for next steps for theory progression.

  10. Stealth and Natural Disasters: Science, Policy and Human Behavior

    Science.gov (United States)

    Kieffer, S. W.

    2008-12-01

    Geophysicists, earth scientists, and other natural scientists play a key role in studying disasters, and are challenged to convey the science to the public and policy makers (including government and business). I have found it useful to introduce the concept of two general types of disasters to these audiences: natural and stealth. Natural disasters are geological phenomena over which we humans have some, but relatively little, control. Earthquakes, tsunamis, floods and volcanic eruptions are the most familiar examples, but exogenous events such as meteorite impacts, solar flares, and supernovae are also possibly disruptive. Natural disasters typically have an abrupt onset, cause immediate major change, are familiar from the historic record, and get much media and public attention. They cannot be prevented, but preplanning can ameliorate their effects. Natural disasters are increasingly amplified by us (humans), and we are increasingly affected by them due to our expanding presence on the planet. Less familiar disasters are unfolding in the near-term, but they are not happening in the minds of most people. They are approaching us stealthily, and for this reason I propose that we call them stealth disasters. They differ from natural disasters in several important ways: stealth disasters are primarily caused by, or driven by, the interaction of humans with complex cycles of processes on the planet. Examples are: fresh water shortages and contamination, soil degradation and loss, climate changes, ocean degradation. The onset of stealth disasters is incremental rather than abrupt. They may not unfold significantly during the course of one term of political office, but they are unfolding in our lifetime. We as individuals may or may not escape their consequences, but they will affect our children and grandchildren. If humans are familiar with stealth disasters at all, it is from a relatively local experience, e.g., flooding of the Mississippi or the Dust Bowl in the U

  11. Grasps Recognition and Evaluation of Stroke Patients for Supporting Rehabilitation Therapy

    Directory of Open Access Journals (Sweden)

    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.

  12. Social interactions model and adaptability of human behavior

    Directory of Open Access Journals (Sweden)

    Kun eZhao

    2011-12-01

    Full Text Available Human social networks evolve on the fast timescale of face-to face interactions and of interactions mediated by technology such as a telephone calls or video conferences. The resulting networks have a strong dynamical component that changes significantly the properties of dynamical processes. In this paper we study a general model of pairwise human social interaction intended to model both face-to face interactions and mobile phone communication. We study the distribution of durations of social interactions in whitin the model. This distribution in one limit is a power law, for other values of the parameters of the model this distribution is given by a Weibull function. Therefore the model can be used to model both face-to-face interactions data, where the distribution of duration has been shown to be fat-tailed, and mobile phone communication data where the distribution of duration is given by a Weibull distribution.The highly adaptable social interaction model propose in this paper has a very simple algorithmic implementation and can be used to simulate dynamical processes occurring in dynamical social interaction networks.

  13. Humans display a reduced set of consistent behavioral phenotypes in dyadic games

    CERN Document Server

    Poncela-Casasnovas, Julia; Gracia-Lazaro, Carlos; Vicens, Julian; Gomez-Gardenes, Jesus; Perello, Josep; Moreno, Yamir; Duch, Jordi; Sanchez, Angel

    2016-01-01

    Socially relevant situations that involve strategic interactions are widespread among animals and humans alike. To study these situations, theoretical and experimental works have adopted a game-theoretical perspective, which has allowed to obtain valuable insights about human behavior. However, most of the results reported so far have been obtained from a population perspective and considered one specific conflicting situation at a time. This makes it difficult to extract conclusions about the consistency of individuals' behavior when facing different situations, and more importantly, to define a comprehensive classification of the strategies underlying the observed behaviors. Here, we present the results of a lab-in-the-field experiment in which subjects face four different dyadic games, with the aim of establishing general behavioral rules dictating individuals' actions. By analyzing our data with an unsupervised clustering algorithm, we find that all the subjects conform, with a large degree of consistency...

  14. 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.

  15. Predicting others' actions via grasp and gaze: evidence for distinct brain networks.

    Science.gov (United States)

    Ramsey, Richard; Cross, Emily S; Hamilton, Antonia F de C

    2012-07-01

    During social interactions, how do we predict what other people are going to do next? One view is that we use our own motor experience to simulate and predict other people's actions. For example, when we see Sally look at a coffee cup or grasp a hammer, our own motor system provides a signal that anticipates her next action. Previous research has typically examined such gaze and grasp-based simulation processes separately, and it is not known whether similar cognitive and brain systems underpin the perception of object-directed gaze and grasp. Here we use functional magnetic resonance imaging to examine to what extent gaze- and grasp-perception rely on common or distinct brain networks. Using a 'peeping window' protocol, we controlled what an observed actor could see and grasp. The actor could peep through one window to see if an object was present and reach through a different window to grasp the object. However, the actor could not peep and grasp at the same time. We compared gaze and grasp conditions where an object was present with matched conditions where the object was absent. When participants observed another person gaze at an object, left anterior inferior parietal lobule (aIPL) and parietal operculum showed a greater response than when the object was absent. In contrast, when participants observed the actor grasp an object, premotor, posterior parietal, fusiform and middle occipital brain regions showed a greater response than when the object was absent. These results point towards a division in the neural substrates for different types of motor simulation. We suggest that left aIPL and parietal operculum are involved in a predictive process that signals a future hand interaction with an object based on another person's eye gaze, whereas a broader set of brain areas, including parts of the action observation network, are engaged during observation of an ongoing object-directed hand action.

  16. Static Stability Analysis of a Planar Object Grasped by Multifingers with Three Joints

    Directory of Open Access Journals (Sweden)

    Takayoshi Yamada

    2015-11-01

    Full Text Available This paper discusses static stability of a planar object grasped by multifingers with three joints. Each individual joint (prismatic joint or revolute joint is modeled as a linear spring stiffness. The object mass and the link masses are also included. We consider not only pure rolling contact but also frictionless sliding contact. The grasp stability is investigated using the potential energy method. This paper makes the following contributions: (i Grasp wrench vectors and grasp stiffness matrices are analytically derived not only for the rolling contact but also for the sliding contact; (ii It is shown in detail that the vectors and the matrices are given by functions of grasp parameters such as the contact conditions (rolling contact and sliding contact, the contact position, the contact force, the local curvature, the link shape, the object mass, the link masses, and so on; (iii By using positive definiteness of the difference matrix of the grasp stiffness matrices, it is analytically proved that the rolling contact grasp is more stable than the sliding contact grasp. The displacement direction affected by the contact condition deviation is derived; (iv By using positive definiteness of the differential matrix with respect to the local curvatures, it is analytically proved that the grasp stability increases when the local curvatures decrease. The displacement direction affected by the local curvature deviation is also derived; (v Effects of the object mass and the joint positions are discussed using numerical examples. The numerical results are reinforced by analytical explanations. The effect of the link masses is also investigated.

  17. Unusual hand postures but not familiar tools show motor equivalence with precision grasping.

    Science.gov (United States)

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

    2016-06-01

    A central question in sensorimotor control is whether or not actions performed with the hands and corresponding actions performed with tools share a common underlying motor plan, even though different muscles and effectors are engaged. There is certainly evidence that tools used to extend the reach of the limb can be incorporated into the body schema after training. But even so, it is not clear whether or not actions such as grasping with tools and grasping with the fingers share the same programming network, i.e. show 'motor equivalence'. Here we first show that feedback-appropriate motor programming for grasps with atypical hand postures readily transfers to stereotypical precision grasps. In stark contrast, however, we find no evidence for an analogous transfer of the programming for grasps using tools to the same stereotypical precision grasps. These findings have important implications for our understanding of body schema. Although the extension of the limb that is afforded by tool use may be incorporated into the body schema, the programming of a grasping movement made with tools appears to resist such incorporation. It could be the case that the proprioceptive signals from the limb can be easily updated to reflect the end of a tool held in the hand, but the motor programs and sensory signals associated with grasping with the thumb and finger cannot be easily adapted to control the opening and closing of a tool. Instead, new but well-practiced motor programs are put in place for tool use that do not exhibit motor equivalence with manual grasping.

  18. Depth-cue integration in grasp programming: no evidence for a binocular specialism.

    Science.gov (United States)

    Keefe, Bruce D; Hibbard, Paul B; Watt, Simon J

    2011-04-01

    When we grasp with one eye covered, the finger and thumb are typically opened wider than for binocularly guided grasps, as if to build a margin-for-error into the movement. Also, patients with visual form agnosia can have profound deficits in their (otherwise relatively normal) grasping when binocular information is removed. One interpretation of these findings is that there is a functional specialism for binocular vision in the control of grasping. Alternatively, cue-integration theory suggests that binocular and monocular depth cues are combined in the control of grasping, and so impaired performance reflects not the loss of 'critical' binocular cues, but increased uncertainty per se. Unfortunately, removing binocular information confounds removing particular (binocular) depth cues with an overall reduction in the available information, and so such experiments cannot distinguish between these alternatives. We measured the effects on visually open-loop grasping of selectively removing monocular (texture) or binocular depth cues. To allow meaningful comparisons, we made psychophysical measurements of the uncertainty in size estimates in each case, so that the informativeness of binocular and monocular cues was known in each condition. Consistent with cue-integration theory, removing either binocular or monocular cues resulted in similar increases in grip apertures. In a separate experiment, we also confirmed that changes in uncertainty per se (keeping the same depth cues available) resulted in larger grip apertures. Overall, changes in the margin-for-error in grasping movements were determined by the uncertainty in size estimates and not by the presence or absence of particular depth cues. Our data therefore argue against a binocular specialism for grasp programming. Instead, grip apertures were smaller when binocular and monocular cues were available than with either cue alone, providing strong evidence that the visuo-motor system exploits the redundancy available

  19. [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.

  20. A development of the Human Factors Assessment Guide for the Study of Erroneous Human Behaviors in Nuclear Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Oh, Yeon Ju; Lee, Yong Hee; Jang, Tong Il; Kim, Sa Kil [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2014-08-15

    The aim of this paper is to describe a human factors assessment guide for the study of the erroneous characteristic of operators in nuclear power plants (NPPs). We think there are still remaining the human factors issues such as an uneasy emotion, fatigue and stress, varying mental workload situation by digital environment, and various new type of unsafe response to digital interface for better decisions, although introducing an advanced main control room. These human factors issues may not be resolved through the current human reliability assessment which evaluates the total probability of a human error occurring throughout the completion of a specific task. This paper provides an assessment guide for the human factors issues a set of experimental methodology, and presents an assessment case of measurement and analysis especially from neuro physiology approach. It would be the most objective psycho-physiological research technique on human performance for a qualitative analysis considering the safety aspects. This paper can be trial to experimental assessment of erroneous behaviors and their influencing factors, and it can be used as an index for recognition and a method to apply human factors engineering V and V, which is required as a mandatory element of human factor engineering program plan for a NPP design.

  1. The grasp2K relativistic atomic structure package

    Science.gov (United States)

    Jönsson, P.; He, X.; Froese Fischer, C.; Grant, I. P.

    2007-10-01

    This paper describes grasp2K, a general-purpose relativistic atomic structure package. It is a modification and extension of the GRASP92 package by [F.A. Parpia, C. Froese Fischer, I.P. Grant, Comput. Phys. Comm. 94 (1996) 249]. For the sake of continuity, two versions are included. Version 1 retains the GRASP92 formats for wave functions and expansion coefficients, but no longer requires preprocessing and more default options have been introduced. Modifications have eliminated some errors, improved the stability, and simplified interactive use. The transition code has been extended to cases where the initial and final states have different orbital sets. Several utility programs have been added. Whereas Version 1 constructs a single interaction matrix for all the J's and parities, Version 2 treats each J and parity as a separate matrix. This block structure results in a reduction of memory use and considerably shorter eigenvectors. Additional tools have been developed for this format. The CPU intensive parts of Version 2 have been parallelized using MPI. The package includes a "make" facility that relies on environment variables. These make it easier to port the application to different platforms. The present version supports the 32-bit Linux and ibmSP environments where the former is compatible with many Unix systems. Descriptions of the features and the program/data flow of the package will be given in some detail in this report. Program summaryProgram title: grasp2K Catalogue identifier: ADZL_v1_0 Program summary URL:http://cpc.cs.qub.ac.uk/summaries/ADZL_v1_0.html Program obtainable from: CPC Program Library, Queen's University, Belfast, N. Ireland Licensing provisions: Standard CPC licence, http://cpc.cs.qub.ac.uk/licence/licence.html No. of lines in distributed program, including test data, etc.: 213 524 No. of bytes in distributed program, including test data, etc.: 1 328 588 Distribution format: tar.gz Programming language: Fortran and C Computer: Intel

  2. Dynamical Integration of Language and Behavior in a Recurrent Neural Network for Human-Robot Interaction.

    Science.gov (United States)

    Yamada, Tatsuro; Murata, Shingo; Arie, Hiroaki; Ogata, Tetsuya

    2016-01-01

    To work cooperatively with humans by using language, robots must not only acquire a mapping between language and their behavior but also autonomously utilize the mapping in appropriate contexts of interactive tasks online. To this end, we propose a novel learning method linking language to robot behavior by means of a recurrent neural network. In this method, the network learns from correct examples of the imposed task that are given not as explicitly separated sets of language and behavior but as sequential data constructed from the actual temporal flow of the task. By doing this, the internal dynamics of the network models both language-behavior relationships and the temporal patterns of interaction. Here, "internal dynamics" refers to the time development of the system defined on the fixed-dimensional space of the internal states of the context layer. Thus, in the execution phase, by constantly representing where in the interaction context it is as its current state, the network autonomously switches between recognition and generation phases without any explicit signs and utilizes the acquired mapping in appropriate contexts. To evaluate our method, we conducted an experiment in which a robot generates appropriate behavior responding to a human's linguistic instruction. After learning, the network actually formed the attractor structure representing both language-behavior relationships and the task's temporal pattern in its internal dynamics. In the dynamics, language-behavior mapping was achieved by the branching structure. Repetition of human's instruction and robot's behavioral response was represented as the cyclic structure, and besides, waiting to a subsequent instruction was represented as the fixed-point attractor. Thanks to this structure, the robot was able to interact online with a human concerning the given task by autonomously switching phases.

  3. A Framework for Human-like Behavior in an Immersive Virtual World

    OpenAIRE

    Kuijk, Fons; Van Broeck, Sigurd; Dareau, Claude; Ravenet, Brian; Ochs, Magalie; Apostolakis, Konstantinos; Daras, Petros; Monaghan, David; O''Connor, Noel E.; Wall, Julie; Izquierdo, Ebroul

    2013-01-01

    Just as readers feel immersed when the story line adheres to their experiences, users will more easily feel immersed in a virtual environment if the behavior of the characters in that environment adheres to their expectations, based on their life-long observations in the real world. This paper introduces a framework that allows authors to establish natural, human-like behavior, physical interaction and emotional engagement of characters living in a virtual environment. Represented by realisti...

  4. Dynamical Integration of Language and Behavior in a Recurrent Neural Network for Human--Robot Interaction

    Directory of Open Access Journals (Sweden)

    Tatsuro Yamada

    2016-07-01

    Full Text Available To work cooperatively with humans by using language, robots must not only acquire a mapping between language and their behavior but also autonomously utilize the mapping in appropriate contexts of interactive tasks online. To this end, we propose a novel learning method linking language to robot behavior by means of a recurrent neural network. In this method, the network learns from correct examples of the imposed task that are given not as explicitly separated sets of language and behavior but as sequential data constructed from the actual temporal flow of the task. By doing this, the internal dynamics of the network models both language--behavior relationships and the temporal patterns of interaction. Here, ``internal dynamics'' refers to the time development of the system defined on the fixed-dimensional space of the internal states of the context layer. Thus, in the execution phase, by constantly representing where in the interaction context it is as its current state, the network autonomously switches between recognition and generation phases without any explicit signs and utilizes the acquired mapping in appropriate contexts. To evaluate our method, we conducted an experiment in which a robot generates appropriate behavior responding to a human's linguistic instruction. After learning, the network actually formed the attractor structure representing both language--behavior relationships and the task's temporal pattern in its internal dynamics. In the dynamics, language--behavior mapping was achieved by the branching structure. Repetition of human's instruction and robot's behavioral response was represented as the cyclic structure, and besides, waiting to a subsequent instruction was represented as the fixed-point attractor. Thanks to this structure, the robot was able to interact online with a human concerning the given task by autonomously switching phases.

  5. Is "circling" behavior in humans related to postural asymmetry?

    Directory of Open Access Journals (Sweden)

    Emma Bestaven

    Full Text Available In attempting to walk rectilinearly in the absence of visual landmarks, persons will gradually turn in a circle to eventually become lost. The aim of the present study was to provide insights into the possible underlying mechanisms of this behavior. For each subject (N = 15 six trajectories were monitored during blindfolded walking in a large enclosed area to suppress external cues, and ground irregularities that may elicit unexpected changes in direction. There was a substantial variability from trial to trial for a given subject and between subjects who could either veer very early or relatively late. Of the total number of trials, 50% trajectories terminated on the left side, 39% on the right side and 11% were defined as "straight". For each subject, we established a "turning score" that reflected his/her preferential side of veering. The turning score was found to be unrelated to any evident biomechanical asymmetry or functional dominance (eye, hand.... Posturographic analysis, used to assess if there was a relationship between functional postural asymmetry and veering revealed that the mean position of the center of foot pressure during balance tests was correlated with the turning score. Finally, we established that the mean position of the center of pressure was correlated with perceived verticality assessed by a subjective verticality test. Together, our results suggest that veering is related to a "sense of straight ahead" that could be shaped by vestibular inputs.

  6. Behavioral estimates of human frequency selectivity at low frequencies

    DEFF Research Database (Denmark)

    Orellana, Carlos Andrés Jurado

    A fundamental property of our hearing organ is its ability to break down sound into different spectral components, allowing us to make use of the richness in natural sound phenomena. Auditory filters, which conceptualize this property of the ear, however, have not been appropriately described...... at low sound frequencies. As a consequence of our lack of knowledge, we cannot accurately model our perception of complex low-frequency sound (such as that emitted by wind turbines or industrial processes, which can easily produce annoyance) nor make meaningful predictions of our perception based...... on physical sound measurements. In this PhD thesis a detailed description of frequency selectivity at low frequencies is given. Different experiments have been performed to determine the properties of human auditory filters. Besides, loudness perception of low-frequency sinusoidal signals has been evaluated...

  7. Features of hand-foot crawling behavior in human adults.

    Science.gov (United States)

    Maclellan, M J; Ivanenko, Y P; Cappellini, G; Sylos Labini, F; Lacquaniti, F

    2012-01-01

    Interlimb coordination of crawling kinematics in humans shares features with other primates and nonprimate quadrupeds, and it has been suggested that this is due to a similar organization of the locomotor pattern generators (CPGs). To extend the previous findings and to further explore the neural control of bipedal vs. quadrupedal locomotion, we used a crawling paradigm in which healthy adults crawled on their hands and feet at different speeds and at different surface inclinations (13°, 27°, and 35°). Ground reaction forces, limb kinematics, and electromyographic (EMG) activity from 26 upper and lower limb muscles on the right side of the body were collected. The EMG activity was mapped onto the spinal cord in approximate rostrocaudal locations of the motoneuron pools to characterize the general features of cervical and lumbosacral spinal cord activation. The spatiotemporal pattern of spinal cord activity significantly differed between quadrupedal and bipedal gaits. In addition, participants exhibited a large range of kinematic coordination styles (diagonal vs. lateral patterns), which is in contrast to the stereotypical kinematics of upright bipedal walking, suggesting flexible coupling of cervical and lumbosacral pattern generators. Results showed strikingly dissimilar directional horizontal forces for the arms and legs, considerably retracted average leg orientation, and substantially smaller sacral vs. lumbar motoneuron activity compared with quadrupedal gait in animals. A gradual transition to a more vertical body orientation (increasing the inclination of the treadmill) led to the appearance of more prominent sacral activity (related to activation of ankle plantar flexors), typical of bipedal walking. The findings highlight the reorganization and adaptation of CPG networks involved in the control of quadrupedal human locomotion and a high specialization of the musculoskeletal apparatus to specific gaits.

  8. 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.

  9. Sociability and gazing toward humans in dogs and wolves: Simple behaviors with broad implications.

    Science.gov (United States)

    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.

  10. Coupling infectious diseases, human preventive behavior, and networks--a conceptual framework for epidemic modeling.

    Science.gov (United States)

    Mao, Liang; Yang, Yan

    2012-01-01

    Human-disease interactions involve the transmission of infectious diseases among individuals and the practice of preventive behavior by individuals. Both infectious diseases and preventive behavior diffuse simultaneously through human networks and interact with one another, but few existing models have coupled them together. This article proposes a conceptual framework to fill this knowledge gap and illustrates the model establishment. The conceptual model consists of two networks and two diffusion processes. The two networks include: an infection network that transmits diseases and a communication network that channels inter-personal influence regarding preventive behavior. Both networks are composed of same individuals but different types of interactions. This article further introduces modeling approaches to formulize such a framework, including the individual-based modeling approach, network theory, disease transmission models and behavioral models. An illustrative model was implemented to simulate a coupled-diffusion process during an influenza epidemic. The simulation outcomes suggest that the transmission probability of a disease and the structure of infection network have profound effects on the dynamics of coupled-diffusion. The results imply that current models may underestimate disease transmissibility parameters, because human preventive behavior has not been considered. This issue calls for a new interdisciplinary study that incorporates theories from epidemiology, social science, behavioral science, and health psychology. Copyright © 2011 Elsevier Ltd. All rights reserved.

  11. Effects of prenatal alcohol exposure on social behavior in humans and other species.

    Science.gov (United States)

    Kelly, S J; Day, N; Streissguth, A P

    2000-01-01

    Alcohol exposure during development causes central nervous system alterations in both humans and animals. Although the most common behavioral manifestation of these alterations is a reduction in cognitive abilities, it is becoming increasingly apparent that deficits in social behavior may be very prevalent sequelae of developmental alcohol exposure. In infancy and early childhood, deficits in attachment behavior and state regulation are seen in both alcohol-exposed people and animals, suggesting that these changes are largely the result of the alcohol exposure rather than maternal behavior. In the periadolescent period, people exposed to alcohol during development show a variety of difficulties in the social domain as measured by checklists filled out by either a parent or teacher. Rats exposed to alcohol during development show changes in play and parenting behaviors. In adulthood, prenatal alcohol exposure is related to high rates of trouble with the law, inappropriate sexual behavior, depression, suicide, and failure to care for children. These high rates all suggest that there may be fundamental problems in the social domain. In other animals, perinatal alcohol exposure alters aggression, active social interactions, social communication and recognition, maternal behavior, and sexual behavior in adults. In conclusion, research suggests that people exposed to alcohol during development may exhibit striking changes in social behavior; the animal research suggests that these changes may be largely the result of the alcohol insult and not the environment.

  12. Effects of human activity on physiological and behavioral responses of an endangered steppe bird

    OpenAIRE

    Tarjuelo, Rocío; Barja, Isabel; Morales, Manuel B.; Traba, Juan; Benítez-López, Ana; Casas, Fabián; Arroyo, Beatriz; Delgado, M. Paula; Mougeot, François

    2015-01-01

    This is a pre-copyedited, author-produced PDF of an article accepted for publication in Behavioral Ecology following peer review. The version of recordBehavioral Ecology 26.3 (2015): 828-838 is available online at: http://beheco.oxfordjournals.org/content/early/2015/04/02/beheco.arv016 Animals may perceive humans as a form of predatory threat, a disturbance, triggering behavioral changes together with the activation of physiological stress responses. These adaptive responses may allow indi...

  13. Modeling the tensile behavior of human Achilles tendon.

    Science.gov (United States)

    Lewis, G; Shaw, K M

    1997-01-01

    Uniaxial quasi-static tensile stress, sigma versus strain, epsilon, data were obtained from 29 cadaveric Achilles tendons (donor ages: 36 to 100 years), at a strain rate of either 10 or 100%/s. These results were then used in modeling the elastic component of the tensile deformational behavior of this tissue. Two approaches were taken. In the first, it was shown that the following constitutive relation provided an excellent fit to the elastic section of the sigma-epsilon curve, sigma = C epsilon exp[D epsilon + F epsilon 2], with C, D and F being material constants, whose values for the present dataset were found to be C = 2.00 +/- 0.99, D = 0.089 +/- 0.087 and F = -0.0047 +/- 0.0095. The values of these coefficients were not statistically significantly affected by either donor age or test strain rate. In the second approach, the value of the modulus of elasticity of a filamentary polymer matrix composite material was computed as a function of various combinations of values of the modulus of elasticity of the fiber, the modulus of elasticity of the matrix, and angle of orientation of the principal material axes with respect to the reference coordinate axes (theta) for a fiber volume fraction of 0.6 and a material Poisson's ratio of 0.4. By comparing these results with the experimentally-obtained values of the tangent modulus of elasticity of the tendons (defined as the slope of the linear section of the post-toe zone in the sigma-epsilon plot), and assuming that the tendon may be idealized as a filamentary polymer matrix composite material, the suggestion is made that the winding angle of the fibers (collagen fibrils) in the tendon (taken to be equal to theta) is about 6 degrees.

  14. The animal and human neuroendocrinology of social cognition, motivation and behavior.

    Science.gov (United States)

    McCall, Cade; Singer, Tania

    2012-04-15

    Extensive animal and recent human research have helped inform neuroendocrinological models of social cognition, motivation and behavior. In this review, we first summarize important findings regarding oxytocin, arginine vasopressin and testosterone in the domains of affiliation, social cognition, aggression and stress/anxiety. We then suggest ways in which human research can continue to profit from animal research, particularly by exploring the interactive nature of neuromodulatory effects at neurochemical, organismic and contextual levels. We further propose methods inspired by the animal literature for the ecologically valid assessment of affiliative behavior in humans. We conclude with suggestions for how human research could advance by directly assessing specific social cognitive and motivational mechanisms as intermediate variables. We advocate a more comprehensive look at the distinct networks identified by social neuroscience and the importance of a motivational state, in addition to approach and avoidance, associated with quiescence and homeostatic regulation.

  15. Human Behavior Analysis by Means of Multimodal Context Mining.

    Science.gov (United States)

    Banos, Oresti; Villalonga, Claudia; Bang, Jaehun; Hur, Taeho; Kang, Donguk; Park, Sangbeom; Huynh-The, Thien; Le-Ba, Vui; Amin, Muhammad Bilal; Razzaq, Muhammad Asif; Khan, Wahajat Ali; Hong, Choong Seon; Lee, Sungyoung

    2016-01-01

    There is sufficient evidence proving the impact that negative lifestyle choices have on people's health and wellness. Changing unhealthy behaviours requires raising people's self-awareness and also providing healthcare experts with a thorough and continuous description of the user's conduct. Several monitoring techniques have been proposed in the past to track users' behaviour; however, these approaches are either subjective and prone to misreporting, such as questionnaires, or only focus on a specific component of context, such as activity counters. This work presents an innovative multimodal context mining framework to inspect and infer human behaviour in a more holistic fashion. The proposed approach extends beyond the state-of-the-art, since it not only explores a sole type of context, but also combines diverse levels of context in an integral manner. Namely, low-level contexts, including activities, emotions and locations, are identified from heterogeneous sensory data through machine learning techniques. Low-level contexts are combined using ontological mechanisms to derive a more abstract representation of the user's context, here referred to as high-level context. An initial implementation of the proposed framework supporting real-time context identification is also presented. The developed system is evaluated for various realistic scenarios making use of a novel multimodal context open dataset and data on-the-go, demonstrating prominent context-aware capabilities at both low and high levels.

  16. Life-Cycle Labor Supply with Human Capital: Econometric and Behavioral Implications

    OpenAIRE

    Michael P. Keane

    2015-01-01

    I examine the econometric and behavioral implications of including human capital in the life-cycle labor supply model. With human capital, the wage no longer equals the opportunity cost of time – which is, instead, the wage plus returns to work experience. This has a number of important implications, of which I highlight four: First, labor supply elasticities become functions of both preference and wage process parameters. Thus, one cannot estimate elasticities without also specifying and est...

  17. Morphological Variation and Sexual Behavior in the Human Past : II. The Origin of East Asians and their Sexual Behavior

    OpenAIRE

    Hiroto, Naora; Research School of Biological Sciences, The Australian National University

    2007-01-01

    Sexual behavior is the crucial element of global migration and the population expansion of humans in the past Based on the previous proposal that female pubic length is inversely correlated with the sexual activity of her male partner, the sexual activity of hominids in Palaeolithic Europe, Middle East and East Asia was assessed. A long pubic feature in the female pelvis of current East Asians can be seen in the Asian Palaeolithic hominid, i.e. the Jinniushan (around 200,000 years old), China...

  18. Behavior of human serum albumin on strong cation exchange resins: I. experimental analysis.

    Science.gov (United States)

    Voitl, Agnes; Butté, Alessandro; Morbidelli, Massimo

    2010-08-20

    Experiments with human serum albumin on the strong cation exchange resin Fractogel EMD SE Hicap (M) were carried out. Even though human serum albumin was used at high purity, two peaks in gradient elution experiments occurred. The obtained data can be explained by considering that human serum albumin binds to Fractogel EMD SE Hicap (M) in two different binding conformations: the protein adsorbs instantaneously in the first conformation and then changes into the second one with a kinetic limitation. The two-peak behavior of human serum albumin was analyzed in detail, especially at various gradient lengths, concentrations and temperatures. Breakthrough curves were performed at four modifier concentrations and three velocities. The characteristic adsorption behavior, found for gradient experiments, was confirmed by the breakthrough curves. The two-peak elution pattern of human serum albumin was also found for other strong cation exchange resins, but not for weak cation exchange resins. It is concluded that the described behavior is peculiar for the interaction of human serum albumin with the strong cation exchange ligand of the resin.

  19. 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.

  20. 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.

  1. 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...

  2. Grasp and Manipulation of Five Fingered Hand Robot in Unstructured Environments

    Directory of Open Access Journals (Sweden)

    GANIPINENI SAI KRISHNA

    2014-12-01

    Full Text Available Handling of objects with irregular shapes and that of flexible/soft objects by ordinary robot grippers is difficult. It is required that various objects with different shapes or sizes could be grasped and manipulated by one robot hand mechanism for the sake of factory automation and labor saving. Dexterous grippers will be the appropriate solution to such problems. Corresponding to such needs, the present work is towards the design and development of an articulated mechanical hand with five fingers and twenty five degrees-of-freedom having an improved grasp capability. Since the designed hand is capable of enveloping and grasping an object mechanically, it can be conveniently used in manufacturing automation as well as for medical rehabilitation purpose. This work presents the kinematic design and the grasping analysis of such a hand.

  3. Structure of the Membrane-tethering GRASP Domain Reveals a Unique PDZ Ligand Interaction That Mediates Golgi Biogenesis

    Energy Technology Data Exchange (ETDEWEB)

    S Truschel; D Sengupta; A Foote; A Heroux; M Macbeth; A Linstedt

    2011-12-31

    Biogenesis of the ribbon-like membrane network of the mammalian Golgi requires membrane tethering by the conserved GRASP domain in GRASP65 and GRASP55, yet the tethering mechanism is not fully understood. Here, we report the crystal structure of the GRASP55 GRASP domain, which revealed an unusual arrangement of two tandem PDZ folds that more closely resemble prokaryotic PDZ domains. Biochemical and functional data indicated that the interaction between the ligand-binding pocket of PDZ1 and an internal ligand on PDZ2 mediates the GRASP self-interaction, and structural analyses suggest that this occurs via a unique mode of internal PDZ ligand recognition. Our data uncover the structural basis for ligand specificity and provide insight into the mechanism of GRASP-dependent membrane tethering of analogous Golgi cisternae.

  4. Structure of the Membrane-tethering GRASP Domain Reveals a Unique PDZ Ligand Interaction That Mediates Golgi Biogenesis

    Energy Technology Data Exchange (ETDEWEB)

    Truschel, S.T.; Heroux, A.; Sengupta, D.; Foote, A.; Macbeth, M. R.; Linstedt, A. D.

    2011-06-10

    Biogenesis of the ribbon-like membrane network of the mammalian Golgi requires membrane tethering by the conserved GRASP domain in GRASP65 and GRASP55, yet the tethering mechanism is not fully understood. Here, we report the crystal structure of the GRASP55 GRASP domain, which revealed an unusual arrangement of two tandem PDZ folds that more closely resemble prokaryotic PDZ domains. Biochemical and functional data indicated that the interaction between the ligand-binding pocket of PDZ1 and an internal ligand on PDZ2 mediates the GRASP self-interaction, and structural analyses suggest that this occurs via a unique mode of internal PDZ ligand recognition. Our data uncover the structural basis for ligand specificity and provide insight into the mechanism of GRASP-dependent membrane tethering of analogous Golgi cisternae.

  5. Methods for reducing peak pressure in laparoscopic grasping.

    Science.gov (United States)

    Bos, Jasper; Doornebosch, Ernst W L J; Engbers, Josco G; Nyhuis, Ole; Dodou, Dimitra

    2013-12-01

    During tissue retraction with a laparoscopic grasper, tissue-damaging pressures can occur. Past research suggests that peak pressures can be considerably reduced by rounding the edges or covering the tip of the end effector with a silicon sleeve. To identify grasping methods that limit tissue damage, the effects of (a) Young's modulus of the end effector, (b) curvature of the end effector, and (c) angle with which the tissue is pulled relative to the plane of the end effector, on the pressure generated on the tissue were investigated. Artificial skin was placed between two non-serrated jaws, a pressure-sensitive film was interposed between the skin and upper jaw, and the end effector was loaded with 13 N. End effectors with Young's moduli of 0.09, 0.67, 1.49 MPa, and 69 GPa, and with non-rounded and 5 mm rounded edges were tested under pulling angles of 25°, 50°, and 75°. For non-rounded end effectors, the maximum pressure and the area across which pressure exceeded the safety threshold for tissue damage increased with Young's modulus and pulling angle. For rounded end effectors, maximum pressure did not increase monotonically with Young's modulus. Instead, the end effector with the second lowest Young's modulus yielded significantly lower maximum pressure than the end effector with the lowest Young's modulus. For rounded end effectors, pressures were below the safety threshold for all Young's moduli. This indicates that to prevent tissue damage, soft graspers may not be needed; rounding the edges of metal graspers could suffice for preventing tissue damage.

  6. Systematic Influence of Perceived Grasp Shape on Speech Production.

    Science.gov (United States)

    Vainio, Lari; Rantala, Aleksi; Tiainen, Mikko; Tiippana, Kaisa; Komeilipoor, Naeem; Vainio, Martti

    2017-01-01

    Previous research has shown that precision and power grip performance is consistently influenced by simultaneous articulation. For example, power grip responses are performed relatively fast with the open-back vowel [a], whereas precision grip responses are performed relatively fast with the close-front vowel [i]. In the present study, the participants were presented with a picture of a hand shaped to the precision or power grip. They were required to pronounce speech sounds according to the front/above perspective of the hand. The results showed that not only the grip performance is affected by simultaneously pronouncing the speech sound but also the production of speech sound can be affected by viewing an image of a grip. The precision grip stimulus triggered relatively rapid production of the front-close vowel [i]. In contrast, the effect related to the power grip stimulus was mostly linked to the vertical dimension of the pronounced vowel since this stimulus triggered relatively rapid production of the back-open vowel [a] and back-mid-open vowel [o] while production of the back-close vowel [u] was not influenced by it. The fact that production of the dorsal consonant [k] or coronal consonant [t] were not influenced by these stimuli suggests that the effect was not associated with a relative front-back tongue shape of the articulation in the absence of changes in any vertical articulatory components. These findings provide evidence for an intimate interaction between certain articulatory gestures and grip types, suggesting that an overlapping visuomotor network operates for planning articulatory gestures and grasp actions.

  7. Decision making models and human factors: TOPSIS and Ergonomic Behaviors (TOPSIS-EB

    Directory of Open Access Journals (Sweden)

    Mohammad

    2017-02-01

    Full Text Available An effective safety management requires attention to human factors as well as system compo-nents which make risky or safe situations at technical components. This study evaluates and ana-lyze ergonomic behaviors in order to select the best work shift group in an Iranian process in-dustry, in 2010.The methodology was based on the Ergonomic Behavior Sampling (EBS, and TOPSIS method. After specifying the unergonomic behaviors and with reference to the results of a pilot study, a sample of 1755 was determined, with a sampling accuracy of 5% and confi-dence level of 95%. However, in order to gain more confidence, 2631 observations were collect-ed. The results indicate that 43.6% of workers’ behaviors were unergonomic. The most frequent unergonomic behavior was amusing of legs while load lifting with 83.01% of total unergonomic behaviors observations. Using TOPSIS method, the most effective shift group and the least at-tractive alternatives for intervention were selected in this company. Findings declare high number of unergonomic behaviors. Catastrophic consequences of accidents in petrochemical industry ne-cessitate attention to workers’ ergonomic behaviors in the workplace and promotion of them.

  8. New version: GRASP2K relativistic atomic structure package

    Science.gov (United States)

    Jönsson, P.; Gaigalas, G.; Bieroń, J.; Fischer, C. Froese; Grant, I. P.

    2013-09-01

    A revised version of GRASP2K [P. Jönsson, X. He, C. Froese Fischer, I.P. Grant, Comput. Phys. Commun. 177 (2007) 597] is presented. It supports earlier non-block and block versions of codes as well as a new block version in which the njgraf library module [A. Bar-Shalom, M. Klapisch, Comput. Phys. Commun. 50 (1988) 375] has been replaced by the librang angular package developed by Gaigalas based on the theory of [G. Gaigalas, Z.B. Rudzikas, C. Froese Fischer, J. Phys. B: At. Mol. Phys. 30 (1997) 3747, G. Gaigalas, S. Fritzsche, I.P. Grant, Comput. Phys. Commun. 139 (2001) 263]. Tests have shown that errors encountered by njgraf do not occur with the new angular package. The three versions are denoted v1, v2, and v3, respectively. In addition, in v3, the coefficients of fractional parentage have been extended to j=9/2, making calculations feasible for the lanthanides and actinides. Changes in v2 include minor improvements. For example, the new version of rci2 may be used to compute quantum electrodynamic (QED) corrections only from selected orbitals. In v3, a new program, jj2lsj, reports the percentage composition of the wave function in LSJ and the program rlevels has been modified to report the configuration state function (CSF) with the largest coefficient of an LSJ expansion. The bioscl2 and bioscl3 application programs have been modified to produce a file of transition data with one record for each transition in the same format as in ATSP2K [C. Froese Fischer, G. Tachiev, G. Gaigalas, M.R. Godefroid, Comput. Phys. Commun. 176 (2007) 559], which identifies each atomic state by the total energy and a label for the CSF with the largest expansion coefficient in LSJ intermediate coupling. All versions of the codes have been adapted for 64-bit computer architecture. Program SummaryProgram title: GRASP2K, version 1_1 Catalogue identifier: ADZL_v1_1 Program summary URL: http://cpc.cs.qub.ac.uk/summaries/ADZL_v1_1.html Program obtainable from: CPC Program Library

  9. Human behavior understanding for assisted living by means of hierarchical context free grammars

    Science.gov (United States)

    Rosani, A.; Conci, N.; De Natale, F. G. B.

    2014-03-01

    Human behavior understanding has attracted the attention of researchers in various fields over the last years. Recognizing behaviors with sufficient accuracy from sensors analysis is still an unsolved problem, because of many reasons, including the low accuracy of the data, differences in the human behaviors as well as the gap between low-level sensors data and high-level scene semantics. In this context, an application that is attracting the interest of both public and industrial entities is the possibility to allow elderly or physically impaired people conducting a normal life at home. Ambient intelligence (AmI) technologies, intended as the possibility of automatically detecting and reacting to the status of the environment and of the persons, is probably the major enabling factor for the achievement of such an ambitious objective. AmI technologies require suitable networks of sensors and actuators, as well as adequate processing and communication technologies. In this paper we propose a solution based on context free grammars for human behavior understanding with an application to assisted living. First, the grammars of the different actions performed by a person in his/her daily life are discovered. Then, a longterm analysis of the behavior is used to generate a control grammar, taking care of the context when an action is performed, and adding semantics. The proposed framework is tested on a dataset acquired in a real environment and compared with state of the art methods already available for the problem considered.

  10. Support Vector Machine-Based Human Behavior Classification in Crowd through Projection and Star Skeletonization

    Directory of Open Access Journals (Sweden)

    Yogameena, B.

    2010-01-01

    Full Text Available Problem statement: Detection of individual’s abnormal human behaviors in the crowd has become a critical problem because in the event of terror strikes. This study presented a real-time video surveillance system which classifies normal and abnormal behaviors in crowds. The aim of this research was to provide a system which can aid in monitoring crowded urban environments. Approach: The proposed behaviour classification was through projection which separated individuals and using star skeletonization the features like body posture and the cyclic motion cues were obtained. Using these cues the Support Vector Machine (SVM classified the normal and abnormal behaviors of human. Results: Experimental results demonstrated the method proposed was robust and efficient in the classification of normal and abnormal human behaviors. A comparative study of classification accuracy between principal component analysis and Support Vector Machine (SVM classification was also presented. Conclusion: The proposed method classified the behavior such as running people in a crowded environment, bending down movement while most are walking or standing, a person carrying a long bar and a person waving hand in the crowd is classified.

  11. Optimal Needle Grasp Selection for Automatic Execution of Suturing Tasks in Robotic Minimally Invasive Surgery

    OpenAIRE

    Liu, Taoming; Çavuşoğlu, M. Cenk

    2015-01-01

    This paper presents algorithms for optimal selection of needle grasp, for autonomous robotic execution of the minimally invasive surgical suturing task. In order to minimize the tissue trauma during the suturing motion, the best practices of needle path planning that are used by surgeons are applied for autonomous robotic surgical suturing tasks. Once an optimal needle trajectory in a well-defined suturing scenario is chosen, another critical issue for suturing is the choice of needle grasp f...

  12. Grasping a 2D object: terminal haptic feedback supports an absolute visuo-haptic calibration.

    Science.gov (United States)

    Hosang, Stephanie; Chan, Jillian; Davarpanah Jazi, Shirin; Heath, Matthew

    2016-04-01

    Grasping a three-dimensional (3D) object results in the specification of motor output via absolute size information. In contrast, the impoverished visual cues (e.g., binocular and vergence) associated with grasping a two-dimensional (2D) object are reported to render aperture formation via an object's perceptual and relative visual features. It is, however, important to recognize that 3D and 2D grasping differ not only in terms of their visual properties, but also because the latter does not entail the provision of haptic feedback. As such, the present work examined whether haptic feedback influences the nature of the information supporting 2D grasping. Participants grasped differently sized 3D objects (i.e., 3D task) and completed a 'traditional' 2D grasping task to line drawings without receiving haptic feedback (i.e., 2DH- task). As well, we included a separate condition using the same objects as the 2DH- task; however, the experimenter placed a 3D object (i.e., one corresponding to the size of the 2D object) between the thumb and forefinger of participants' grasping limb once they completed their response (i.e., 2DH+ task). Thus, the 2DH+ task provided haptic feedback related to absolute object size. Notably, we computed just-noticeable-difference (JND) scores to determine whether the different tasks adhered to, or violated, the relative psychophysical principles of Weber's law. JNDs for the 2DH- task adhered to Weber's law, whereas 3D and 2DH+ tasks violated the law. Thus, results evince that 2DH- and 2DH+ tasks are specified via relative and absolute object size information, respectively. Accordingly, we propose that haptic feedback supports an absolute visuo-haptic calibration and contend that our results highlight the importance of multi-sensory cue integration in goal-directed grasping.

  13. Importance of a Good Grasp of Sentence Sense Groups in English Learning

    Institute of Scientific and Technical Information of China (English)

    张二旗

    2002-01-01

    In the past twenty years, many good ways of learning English have been put forward. In this paper, the author comes up with a new approacha good grasp of sentence sense groups which he thinks is very helpful in improving the student English in many aspects. The author believes that a good grasp of sentence groups in English sentences is the basis of learning English well and that many students will benefit much from it when applying it to their English learning.

  14. Performance Simulation and Analysis for LTE System Using Human Behavior Queue Model

    Directory of Open Access Journals (Sweden)

    Tony Tsang

    2013-05-01

    Full Text Available Understanding the nature of traffic has been a key concern of the researchers particularly over the last two decades and it has been noticed through extensive high quality studies that traffic found in different kinds of IP/wireless IP networks is human operators . Despite the recent findings of real time human behavior in measured traffic from data networks, much of the current understanding of IP traffic modeling is still based on simplistic probability distributed traffic. Unlike most existing studies that areprimarily based on simplistic probabilistic model and traditional scheduling algorithms, this research presents an analytical performance model for real time human behavior queue systems with intelligent task management traffic input scheduled by anovel and promising scheduling mechanism for 4G -LTE system. Our proposed model is substantiated on human behavior queuing system that considers real time of traffic exhibiting homogeneous tasks characteristics. We analyze the model on the basis of newly proposed scheduling scheme for 4G - LTE system. We present closed form expressions of expected response times for real time traffic classes. We develop a discrete event simulator to understand the behavior of real time of arriving tasks traffic under this newly proposed scheduling mechanism for 4G - LTE system . The results indicate that our proposed scheduling algorithm provides preferential treatment to real -time applications such as voice and video but not to that extent that data applications are starving for bandwidth and outperforms all other scheduling schemes that are available in the market.

  15. Effects of human-machine interface design for intelligent speed adaptation on driving behavior and acceptance

    NARCIS (Netherlands)

    Rook, A.M.; Hogema, J.H.

    2005-01-01

    The effects of human-machine interface (HMI) design for intelligent speed adaptation (ISA) on driving behavior and acceptance were measured in a moving-base research driving simulator. Sixty-four experienced drivers participated in two simulator experiments (32 in each). During the simulated runs wi

  16. Data-Driven Modeling of Target Human Behavior in Military Operations

    Science.gov (United States)

    2014-03-12

    Military Operations Elizabeth Mezzacappa, Ph.D. Gordon Cooke, MEME Gladstone Reid, MSBMS Robert DeMarco, MSBMS Charles Sheridan BA John...stress, and human behavior modeling and simulation issues. GORDON COOKE, MEME , is a Principal Investigator at the TBRL. He was also a Chief

  17. Using ontologies to model human navigation behavior in information networks: A study based on Wikipedia.

    Science.gov (United States)

    Lamprecht, Daniel; Strohmaier, Markus; Helic, Denis; Nyulas, Csongor; Tudorache, Tania; Noy, Natalya F; Musen, Mark A

    The need to examine the behavior of different user groups is a fundamental requirement when building information systems. In this paper, we present Ontology-based Decentralized Search (OBDS), a novel method to model the navigation behavior of users equipped with different types of background knowledge. Ontology-based Decentralized Search combines decentralized search, an established method for navigation in social networks, and ontologies to model navigation behavior in information networks. The method uses ontologies as an explicit representation of background knowledge to inform the navigation process and guide it towards navigation targets. By using different ontologies, users equipped with different types of background knowledge can be represented. We demonstrate our method using four biomedical ontologies and their associated Wikipedia articles. We compare our simulation results with base line approaches and with results obtained from a user study. We find that our method produces click paths that have properties similar to those originating from human navigators. The results suggest that our method can be used to model human navigation behavior in systems that are based on information networks, such as Wikipedia. This paper makes the following contributions: (i) To the best of our knowledge, this is the first work to demonstrate the utility of ontologies in modeling human navigation and (ii) it yields new insights and understanding about the mechanisms of human navigation in information networks.

  18. Predicting Team Performance through Human Behavioral Sensing and Quantitative Workflow Instrumentation

    Science.gov (United States)

    2016-07-27

    Information Theory · Operations Research · Decision- Making . 1 Introduction From network operations control centers to expeditionary military...instantiation of this approach, shown in Fig. 1, and its application to the study of teams’ abilities to effectively discover data, make sense of...Predicting Team Performance Through Human Behavioral Sensing and Quantitative Workflow Instrumentation Matthew Daggett1, Kyle O’Brien1, Michael

  19. A theoretical model to address organizational human conflict and disruptive behavior in health care organizations.

    Science.gov (United States)

    Piper, Llewellyn E

    2006-01-01

    This article proposes a theoretical model for leaders to use to address organizational human conflict and disruptive behavior in health care organizations. Leadership is needed to improve interpersonal relationships within the workforce. A workforce with a culture of internal conflict will be unable to achieve its full potential to delivery quality patient care.

  20. A Lesson on Social Role Theory: An Example of Human Behavior in the Social Environment Theory

    OpenAIRE

    Agnes M. Dulin

    2007-01-01

    This paper discusses the social role theory, a theory of Human Behavior in the Social Environment (HBSE). Relevance of this topic is briefly discussed, as well as a definition of the theory and its historical background. Empirical research that employs this theory will be discussed.Recommendations will be made for future theory development and implications for social work education will conclude the discussion.

  1. Human Behavior/Social Environment: Past and Present, Future or Folly?

    Science.gov (United States)

    Brooks, Winn Kelly

    1986-01-01

    Human behavior and social environment courses are traditionally the foundation on which the rest of the social work curriculum is based, but their development has been "chaotic." An analysis of 481 graduate courses at 66 graduate schools indicates that formal guidelines have been minimally implemented. (Author/MH)

  2. To survive and protect: testosterone and the neuroendocrinology of human social behavior

    NARCIS (Netherlands)

    Bos, P.A.

    2012-01-01

    The studies reported in this thesis show that despite the development that the human brain has undergone during evolution, this organ and the behavior it brings forth is still strongly sensitive to the effects of testosterone. Testosterone strengthens the neural response to sounds of crying babies,

  3. A Comparative Study of Two Different Teaching and Curricular Agreements in Human Behavior and Social Environment.

    Science.gov (United States)

    Sze, William C.; And Others

    1979-01-01

    The use of social work faculty to teach human behavior and social environment content to undergraduate social work students vs using faculty from other departments is examined in this research study. The data suggest there were no significant differences between groups of students. (Author/MLW)

  4. Cultivating Curiosity: Integrating Hybrid Teaching in Courses in Human Behavior in the Social Environment

    Science.gov (United States)

    Rodriguez-Keyes, Elizabeth; Schneider, Dana A.

    2013-01-01

    This study illustrates an experience of implementing a hybrid model for teaching human behavior in the social environment in an urban university setting. Developing a hybrid model in a BSW program arose out of a desire to reach students in a different way. Designed to promote curiosity and active learning, this particular hybrid model has students…

  5. Using Intergenerational Oral History Service-Learning Projects to Teach Human Behavior Concepts: A Qualitative Analysis

    Science.gov (United States)

    Ames, Natalie; Diepstra, Stephene A.

    2006-01-01

    An intergenerational oral history project paired 63 students enrolled in human behavior in the social environment (HBSC) courses in a bachelor of social work (BSW) programs with older adults. The goal of the project was to provide contextual application of HBSE theories and concepts by engaging students in semester-long intentional interaction…

  6. PUSH(ing) Limits: Using Fiction in the Classroom for Human Behavior and the Social Environment

    Science.gov (United States)

    Mendoza, Natasha S.; Bonta, Kimberly; Horn, Philip; Moore, Erin; Gibson, Allison; Simmons, David

    2012-01-01

    The use of fiction and autobiography in social science course work has been shown to enhance students' learning experience. Using the novel PUSH, by Sapphire, we designed a curriculum supplement for the social work course, human behavior and the social environment (HBSE) that encourages students to integrate course content in an innovative way and…

  7. Human behavior and environmental sustainability : Problems, driving forces, and research topics

    NARCIS (Netherlands)

    Vlek, Charles; Steg, Linda

    2007-01-01

    Social and behavioral research is crucial for securing environmental sustainability and improving human living environments. To put the following articles into broader perspective, we first give an overview of worldwide developments in environmental quality and trends in resource use. Second, five g

  8. Toward an animal model for antisocial behavior : parallels between mice and humans

    NARCIS (Netherlands)

    Sluyter, F; Arseneault, L; Moffitt, TE; Veenema, AH; de Boer, S; Koolhaas, JM

    The goal of this article is to examine whether mouse lines genetically selected for short and long attack latencies are good animal models for antisocial behavior in humans. To this end, we compared male Short and Long Attack Latency mice (SAL and LAL, respectively) with the extremes of the Dunedin

  9. The Psychological Evaluation of Child Sexual Abuse Using the Louisville Behavior Checklist and Human Figure Drawing.

    Science.gov (United States)

    Chantler, Lisa; And Others

    1993-01-01

    This study investigated methods for accurately identifying sexually abused children (n=26), mental health clinic-referred children (n=37), and community children (n=39), ages 6-12. Results suggest limited support for the Louisville Behavior Checklist but caution in using the Emotional Indicator Scoring System for Human Figure Drawings in the…

  10. Human behavior and environmental sustainability : Problems, driving forces, and research topics

    NARCIS (Netherlands)

    Vlek, Charles; Steg, Linda

    2007-01-01

    Social and behavioral research is crucial for securing environmental sustainability and improving human living environments. To put the following articles into broader perspective, we first give an overview of worldwide developments in environmental quality and trends in resource use. Second, five

  11. Science and Human Behavior translated into Portuguese: Ciência e Comportamento Humano.

    Science.gov (United States)

    Todorov, João Claudio

    2003-11-01

    Science and Human Behavior was translated to Portuguese as part of the effort to begin a psychology course at the University of Brasília 40 years ago; one of the many results of the first visit of Fred S. Keller to Brazil. The book has been used continuously in undergraduate courses in Brazil since 1967.

  12. Defy or ally : Neuroendocrine regulation of human socio-emotional behavior

    NARCIS (Netherlands)

    Hermans, E.J.

    2006-01-01

    Evolution has created a human brain that is characterized by a layered, hierarchical organization. These superimposed layers have gradually evolved to generate ever more complex forms of socio-emotional behavior. The present thesis centers on the neurobiological substrates that generate this behavio

  13. To survive and protect: testosterone and the neuroendocrinology of human social behavior

    NARCIS (Netherlands)

    Bos, P.A.

    2012-01-01

    The studies reported in this thesis show that despite the development that the human brain has undergone during evolution, this organ and the behavior it brings forth is still strongly sensitive to the effects of testosterone. Testosterone strengthens the neural response to sounds of crying babies,

  14. Toward an animal model for antisocial behavior : parallels between mice and humans

    NARCIS (Netherlands)

    Sluyter, F; Arseneault, L; Moffitt, TE; Veenema, AH; de Boer, S; Koolhaas, JM

    2003-01-01

    The goal of this article is to examine whether mouse lines genetically selected for short and long attack latencies are good animal models for antisocial behavior in humans. To this end, we compared male Short and Long Attack Latency mice (SAL and LAL, respectively) with the extremes of the Dunedin

  15. The Origins of Sex Differences in Human Behavior: Evolved Dispositions versus Social Roles.

    Science.gov (United States)

    Eagly, Alice H.; Wood, Wendy

    1999-01-01

    Explores whether evolved disposition that differs by sex or social structure explains sex differences in human behavior. Illustrates the explanatory power of each theory, and reviews a study (D. Buss, 1989) that supports the social structural theory with respect to mate preference. (SLD)

  16. Interactions among human behavior, social networks, and societal infrastructures: A Case Study in Computational Epidemiology

    Science.gov (United States)

    Barrett, Christopher L.; Bisset, Keith; Chen, Jiangzhuo; Eubank, Stephen; Lewis, Bryan; Kumar, V. S. Anil; Marathe, Madhav V.; Mortveit, Henning S.

    Human behavior, social networks, and the civil infrastructures are closely intertwined. Understanding their co-evolution is critical for designing public policies and decision support for disaster planning. For example, human behaviors and day to day activities of individuals create dense social interactions that are characteristic of modern urban societies. These dense social networks provide a perfect fabric for fast, uncontrolled disease propagation. Conversely, people’s behavior in response to public policies and their perception of how the crisis is unfolding as a result of disease outbreak can dramatically alter the normally stable social interactions. Effective planning and response strategies must take these complicated interactions into account. In this chapter, we describe a computer simulation based approach to study these issues using public health and computational epidemiology as an illustrative example. We also formulate game-theoretic and stochastic optimization problems that capture many of the problems that we study empirically.

  17. International Space Station Human Behavior and Performance Competency Model: Volume II

    Science.gov (United States)

    Schmidt, Lacey

    2008-01-01

    This document further defines the behavioral markers identified in the document "Human Behavior and Performance Competency Model" Vol. I. The Human Behavior and Performance (HBP) competencies were recommended as requirements to participate in international long duration missions, and form the basis for determining the HBP training curriculum for long duration crewmembers. This document provides details, examples, knowledge areas, and affective skills to support the use of the HBP competencies in training and evaluation. This document lists examples and details specific to HBP competencies required of astronauts/cosmonauts who participate in ISS expedition and other international long-duration missions. Please note that this model does not encompass all competencies required. While technical competencies are critical for crewmembers, they are beyond the scope of this document. Additionally, the competencies in this model (and subsequent objectives) are not intended to limit the internal activities or training programs of any international partner.

  18. 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......-wide association study and 4 additional loci associated in a gene-based effort. These loci harbor genes that are likely to have a role, either directly or by affecting non-local gene expression, in human reproduction and infertility, thereby increasing understanding of these complex traits....

  19. Motor imagery reinforces brain compensation of reach-to-grasp movement after cervical spinal cord injury.

    Directory of Open Access Journals (Sweden)

    Sébastien eMateo

    2015-09-01

    Full Text Available Individuals with cervical spinal cord injury (SCI that causes tetraplegia are challenged with dramatic sensorimotor deficits. However, certain rehabilitation techniques may significantly enhance their autonomy by restoring reach-to-grasp movements. Among others, evidence of motor imagery (MI benefits for neurological rehabilitation of upper limb movements is growing. This literature review addresses motor imagery (MI effectiveness during reach-to-grasp rehabilitation after tetraplegia. Among articles from MEDLINE published between 1966 and 2015, we selected ten studies including 34 participants with C4 to C7 tetraplegia and 22 healthy controls published during the last fifteen years. We found that MI of possible non-paralyzed movements improved reach-to-grasp performance by i increasing both tenodesis grasp capabilities and muscle strength, ii decreasing movement time, and trajectory variability, and, iii reducing the abnormally increased brain activity. MI can also strengthen motor commands by potentiating recruitment and synchronization of motoneurons, which leads to improved recovery. These improvements reflect brain adaptations induced by MI. Furthermore, MI can be used to control brain computer interfaces (BCI that successfully restore grasp capabilities. These results highlight the growing interest for MI and its potential to recover functional grasping in individuals with tetraplegia, and motivate the need for further studies to substantiate it.

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

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    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.