3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands.

PubMed

Mateo, Carlos M; Gil, Pablo; Torres, Fernando

2016-05-05

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object's surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand's fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments.

Color and context: an ERP study on intrinsic and extrinsic feature binding in episodic memory.

PubMed

Ecker, Ullrich K H; Zimmer, Hubert D; Groh-Bordin, Christian

2007-09-01

Episodic memory for intrinsic item and extrinsic context information is postulated to rely on two distinct types of representation: object and episodic tokens. These provide the basis for familiarity and recollection, respectively. Electrophysiological indices of these processes (ERP old-new effects) were used together with behavioral data to test these assumptions. We manipulated an intrinsic object feature (color; Experiment 1) and a contextual feature (background; Experiments 1 and 2). In an inclusion task (Experiment 1), the study-test manipulation of color affected object recognition performance and modulated ERP old-new effects associated with both familiarity and recollection. In contrast, a contextual manipulation had no effect, although both intrinsic and extrinsic information was available in a direct feature (source memory) test. When made task relevant (exclusion task; Experiment 2), however, context affected the ERP recollection effect, while still leaving the ERP familiarity effect uninfluenced. We conclude that intrinsic features bound in object tokens are involuntarily processed during object recognition, thus influencing familiarity, whereas context features bound in episodic tokens are voluntarily accessed, exclusively influencing recollection. Figures depicting all the electrodes analyzed are available in an online supplement at www.psychonomic.org/archive.

Strategic Resource Allocation in the Human Brain Supports Cognitive Coordination of Object and Spatial Working Memory

PubMed Central

Jackson, Margaret C; Morgan, Helen M; Shapiro, Kimron L; Mohr, Harald; Linden, David EJ

2011-01-01

The ability to integrate different types of information (e.g., object identity and spatial orientation) and maintain or manipulate them concurrently in working memory (WM) facilitates the flow of ongoing tasks and is essential for normal human cognition. Research shows that object and spatial information is maintained and manipulated in WM via separate pathways in the brain (object/ventral versus spatial/dorsal). How does the human brain coordinate the activity of different specialized systems to conjoin different types of information? Here we used functional magnetic resonance imaging to investigate conjunction- versus single-task manipulation of object (compute average color blend) and spatial (compute intermediate angle) information in WM. Object WM was associated with ventral (inferior frontal gyrus, occipital cortex), and spatial WM with dorsal (parietal cortex, superior frontal, and temporal sulci) regions. Conjoined object/spatial WM resulted in intermediate activity in these specialized areas, but greater activity in different prefrontal and parietal areas. Unique to our study, we found lower temporo-occipital activity and greater deactivation in temporal and medial prefrontal cortices for conjunction- versus single-tasks. Using structural equation modeling, we derived a conjunction-task connectivity model that comprises a frontoparietal network with a bidirectional DLPFC-VLPFC connection, and a direct parietal-extrastriate pathway. We suggest that these activation/deactivation patterns reflect efficient resource allocation throughout the brain and propose a new extended version of the biased competition model of WM. Hum Brain Mapp, 2011. © 2010 Wiley-Liss, Inc. PMID:20715083

Physically coupling two objects in a bimanual task alters kinematics but not end-state comfort.

PubMed

Hughes, Charmayne M L; Haddad, Jeffrey M; Franz, Elizabeth A; Zelaznik, Howard N; Ryu, Joong Hyun

2011-06-01

People often grasp objects with an awkward grip to ensure a comfortable hand posture at the end of the movement. This end-state comfort effect is a predominant constraint during unimanual movements. However, during bimanual movements the tendency for both hands to satisfy end-state comfort is affected by factors such as end-orientation congruency and task context. Although bimanual end-state comfort has been examined when the hands manipulate two independent objects, no research has examined end-state comfort when the hands are required to manipulate two physically-coupled objects. In the present experiment, kinematics and grasp behavior during a unimanual and bimanual reaching and placing tasks were examined, when the hands manipulate two physically-connected objects. Forty-five participants were assigned to one of three groups; unimanual, bimanual no-spring (the objects were not physically connected), and bimanual spring (the objects were connected by a spring), and instructed to grasp and place objects in various end-orientations, depending on condition. Physically connecting the objects did not affect end-state comfort prevalence. However, it resulted in decreased interlimb coupling. This finding supports the notion of a flexible constraint hierarchy, in which action goals guide the selection of lower level action features (i.e., hand grip used for grasping), and the particular movements used to accomplish that goal (i.e., interlimb coupling) are controlled throughout the movement.

Investigating grounded conceptualization: motor system state-dependence facilitates familiarity judgments of novel tools.

PubMed

Matheson, Heath E; Familiar, Ariana M; Thompson-Schill, Sharon L

2018-03-02

Theories of embodied cognition propose that we recognize tools in part by reactivating sensorimotor representations of tool use in a process of simulation. If motor simulations play a causal role in tool recognition then performing a concurrent motor task should differentially modulate recognition of experienced vs. non-experienced tools. We sought to test the hypothesis that an incompatible concurrent motor task modulates conceptual processing of learned vs. non-learned objects by directly manipulating the embodied experience of participants. We trained one group to use a set of novel, 3-D printed tools under the pretense that they were preparing for an archeological expedition to Mars (manipulation group); we trained a second group to report declarative information about how the tools are stored (storage group). With this design, familiarity and visual attention to different object parts was similar for both groups, though their qualitative interactions differed. After learning, participants made familiarity judgments of auditorily presented tool names while performing a concurrent motor task or simply sitting at rest. We showed that familiarity judgments were facilitated by motor state-dependence; specifically, in the manipulation group, familiarity was facilitated by a concurrent motor task, whereas in the spatial group familiarity was facilitated while sitting at rest. These results are the first to directly show that manipulation experience differentially modulates conceptual processing of familiar vs. unfamiliar objects, suggesting that embodied representations contribute to recognizing tools.

3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands

PubMed Central

Mateo, Carlos M.; Gil, Pablo; Torres, Fernando

2016-01-01

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object’s surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand’s fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments. PMID:27164102

Dual-Arm Generalized Compliant Motion With Shared Control

NASA Technical Reports Server (NTRS)

Backes, Paul G.

1994-01-01

Dual-Arm Generalized Compliant Motion (DAGCM) primitive computer program implementing improved unified control scheme for two manipulator arms cooperating in task in which both grasp same object. Provides capabilities for autonomous, teleoperation, and shared control of two robot arms. Unifies cooperative dual-arm control with multi-sensor-based task control and makes complete task-control capability available to higher-level task-planning computer system via large set of input parameters used to describe desired force and position trajectories followed by manipulator arms. Some concepts discussed in "A Generalized-Compliant-Motion Primitive" (NPO-18134).

3D Laser Scanner for Underwater Manipulation.

PubMed

Palomer, Albert; Ridao, Pere; Youakim, Dina; Ribas, David; Forest, Josep; Petillot, Yvan

2018-04-04

Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF) fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS) is used to autonomously grasp an object from the bottom of a water tank.

Dynamic whole-body robotic manipulation

NASA Astrophysics Data System (ADS)

Abe, Yeuhi; Stephens, Benjamin; Murphy, Michael P.; Rizzi, Alfred A.

2013-05-01

The creation of dynamic manipulation behaviors for high degree of freedom, mobile robots will allow them to accomplish increasingly difficult tasks in the field. We are investigating how the coordinated use of the body, legs, and integrated manipulator, on a mobile robot, can improve the strength, velocity, and workspace when handling heavy objects. We envision that such a capability would aid in a search and rescue scenario when clearing obstacles from a path or searching a rubble pile quickly. Manipulating heavy objects is especially challenging because the dynamic forces are high and a legged system must coordinate all its degrees of freedom to accomplish tasks while maintaining balance. To accomplish these types of manipulation tasks, we use trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning trajectories in a 13 dimensional space. We apply the Covariance Matrix Adaptation (CMA) algorithm to solve for trajectories that optimize task performance while also obeying important constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate desired feed-forward body forces and foot step locations, which enable tracking on the robot. Some hardware results for cinderblock throwing are demonstrated on the BigDog quadruped platform augmented with a human-arm-like manipulator. The results are analogous to how a human athlete maximizes distance in the discus event by performing a precise sequence of choreographed steps.

Fast and accurate edge orientation processing during object manipulation

PubMed Central

Flanagan, J Randall; Johansson, Roland S

2018-01-01

Quickly and accurately extracting information about a touched object’s orientation is a critical aspect of dexterous object manipulation. However, the speed and acuity of tactile edge orientation processing with respect to the fingertips as reported in previous perceptual studies appear inadequate in these respects. Here we directly establish the tactile system’s capacity to process edge-orientation information during dexterous manipulation. Participants extracted tactile information about edge orientation very quickly, using it within 200 ms of first touching the object. Participants were also strikingly accurate. With edges spanning the entire fingertip, edge-orientation resolution was better than 3° in our object manipulation task, which is several times better than reported in previous perceptual studies. Performance remained impressive even with edges as short as 2 mm, consistent with our ability to precisely manipulate very small objects. Taken together, our results radically redefine the spatial processing capacity of the tactile system. PMID:29611804

Effects of Grip-Force, Contact, and Acceleration Feedback on a Teleoperated Pick-and-Place Task.

PubMed

Khurshid, Rebecca P; Fitter, Naomi T; Fedalei, Elizabeth A; Kuchenbecker, Katherine J

2017-01-01

The multifaceted human sense of touch is fundamental to direct manipulation, but technical challenges prevent most teleoperation systems from providing even a single modality of haptic feedback, such as force feedback. This paper postulates that ungrounded grip-force, fingertip-contact-and-pressure, and high-frequency acceleration haptic feedback will improve human performance of a teleoperated pick-and-place task. Thirty subjects used a teleoperation system consisting of a haptic device worn on the subject's right hand, a remote PR2 humanoid robot, and a Vicon motion capture system to move an object to a target location. Each subject completed the pick-and-place task 10 times under each of the eight haptic conditions obtained by turning on and off grip-force feedback, contact feedback, and acceleration feedback. To understand how object stiffness affects the utility of the feedback, half of the subjects completed the task with a flexible plastic cup, and the others used a rigid plastic block. The results indicate that the addition of grip-force feedback with gain switching enables subjects to hold both the flexible and rigid objects more stably, and it also allowed subjects who manipulated the rigid block to hold the object more delicately and to better control the motion of the remote robot's hand. Contact feedback improved the ability of subjects who manipulated the flexible cup to move the robot's arm in space, but it deteriorated this ability for subjects who manipulated the rigid block. Contact feedback also caused subjects to hold the flexible cup less stably, but the rigid block more securely. Finally, adding acceleration feedback slightly improved the subject's performance when setting the object down, as originally hypothesized; interestingly, it also allowed subjects to feel vibrations produced by the robot's motion, causing them to be more careful when completing the task. This study supports the utility of grip-force and high-frequency acceleration feedback in teleoperation systems and motivates further improvements to fingertip-contact-and-pressure feedback.

Hand and Grasp Selection in a Preferential Reaching Task: The Effects of Object Location, Orientation, and Task Intention.

PubMed

Scharoun, Sara M; Scanlan, Kelly A; Bryden, Pamela J

2016-01-01

As numerous movement options are available in reaching and grasping, of particular interest are what factors influence an individual's choice of action. In the current study a preferential reaching task was used to assess the propensity for right handers to select their preferred hand and grasp a coffee mug by the handle in both independent and joint action object manipulation contexts. Mug location (right-space, midline, and left-space) and handle orientation (toward, away, to left, and to right of the participant) varied in four tasks that differed as a function of intention: (1) pick-up (unimanual, independent); (2) pick-up and pour (bimanual, independent); (3) pick-up and pass (unimanual, joint action); and (4) pick-up, pour and pass (bimanual, joint action). In line with previous reports, a right-hand preference for unimanual tasks was observed. Furthermore, extending existing literature to a preferential reaching task, role differentiation between the hands in bimanual tasks (i.e., preferred hand mobilizing, non-preferred hand stabilizing) was displayed. Finally, right-hand selection was greatest in right space, albeit lower in bimanual tasks compared to what is typically reported in unimanual tasks. Findings are attributed to the desire to maximize biomechanical efficiency in reaching. Grasp postures were also observed to reflect consideration of efficiency. More specifically, within independent object manipulation (pick-up; pick-up and pour) participants only grasped the mug by the handle when it afforded a comfortable posture. Furthermore, in joint action (pick-up and pass; pick-up, pour and pass), the confederate was only offered the handle if the intended action of the confederate was similar or required less effort than that of the participant. Together, findings from the current study add to our knowledge of hand and grasp selection in unimanual and bimanual object manipulation, within the context of both independent and joint action tasks.

Mobile Manipulation and Mobility as Manipulation: Design and Algorithms of RoboSimian

DTIC Science & Technology

2014-05-01

feature was left out for the competition hands. The hand has three under-actuated fingers, each with a braided Dyneema R© tendon wrapped around pulleys at...models of objects (e.g. valves, ladders, hoses , etc.) into the world manually so that RoboSimian could interact with objects for manipulation. The remote...with a single button press (e.g. “rotate-valve”, “insert- hose ”, “push-open-door”), depending on the task. Note that since the plan module was run on

Object properties and cognitive load in the formation of associative memory during precision lifting.

PubMed

Li, Yong; Randerath, Jennifer; Bauer, Hans; Marquardt, Christian; Goldenberg, Georg; Hermsdörfer, Joachim

2009-01-03

When we manipulate familiar objects in our daily life, our grip force anticipates the physical demands right from the moment of contact with the object, indicating the existence of a memory for relevant object properties. This study explores the formation and consolidation of the memory processes that associate either familiar (size) or arbitrary object features (color) with object weight. In the general task, participants repetitively lifted two differently weighted objects (580 and 280 g) in a pseudo-random order. Forty young healthy adults participated in this study and were randomly distributed into four groups: Color Cue Single task (CCS, blue and red, 9.8(3)cm(3)), Color Cue Dual task (CCD), No Cue (NC) and Size Cue (SC, 9.8(3) and 6(3)cm(3)) group. All groups performed a repetitive precision grasp-lift task and were retested with the same protocol after a 5-min pause. The CCD group was also required to simultaneously perform a memory task during each lift of differently weighted objects coded by color. The results show that groups lifting objects with arbitrary or familiar features successfully formed the association between object weight and manipulated object features and incorporated this into grip force programming, as observed in the different scaling of grip force and grip force rate for different object weights. An arbitrary feature, i.e., color, can be sufficiently associated with object weight, however with less strength than the familiar feature of size. The simultaneous memory task impaired anticipatory force scaling during repetitive object lifting but did not jeopardize the learning process and the consolidation of the associative memory.

Effects of transcranial direct current stimulation on the control of finger force during dexterous manipulation in healthy older adults.

PubMed

Parikh, Pranav J; Cole, Kelly J

2015-01-01

The contribution of poor finger force control to age-related decline in manual dexterity is above and beyond ubiquitous behavioral slowing. Altered control of the finger forces can impart unwanted torque on the object affecting its orientation, thus impairing manual performance. Anodal transcranial direct current stimulation (tDCS) over primary motor cortex (M1) has been shown to improve the performance speed on manual tasks in older adults. However, the effects of anodal tDCS over M1 on the finger force control during object manipulation in older adults remain to be fully explored. Here we determined the effects of anodal tDCS over M1 on the control of grip force in older adults while they manipulated an object with an uncertain mechanical property. Eight healthy older adults were instructed to grip and lift an object whose contact surfaces were unexpectedly made more or less slippery across trials using acetate and sandpaper surfaces, respectively. Subjects performed this task before and after receiving anodal or sham tDCS over M1 on two separate sessions using a cross-over design. We found that older adults used significantly lower grip force following anodal tDCS compared to sham tDCS. Friction measured at the finger-object interface remained invariant after anodal and sham tDCS. These findings suggest that anodal tDCS over M1 improved the control of grip force during object manipulation in healthy older adults. Although the cortical networks for representing objects and manipulative actions are complex, the reduction in grip force following anodal tDCS over M1 might be due to a cortical excitation yielding improved processing of object-specific sensory information and its integration with the motor commands for production of manipulative forces. Our findings indicate that tDCS has a potential to improve the control of finger force during dexterous manipulation in older adults.

PyMOL mControl: Manipulating Molecular Visualization with Mobile Devices

ERIC Educational Resources Information Center

Lam, Wendy W. T.; Siu, Shirley W. I.

2017-01-01

Viewing and manipulating three-dimensional (3D) structures in molecular graphics software are essential tasks for researchers and students to understand the functions of molecules. Currently, the way to manipulate a 3D molecular object is mainly based on mouse-and-keyboard control that is usually difficult and tedious to learn. While gesture-based…

A test of the embodied simulation theory of object perception: potentiation of responses to artifacts and animals.

PubMed

Matheson, Heath E; White, Nicole C; McMullen, Patricia A

2014-07-01

Theories of embodied object representation predict a tight association between sensorimotor processes and visual processing of manipulable objects. Previous research has shown that object handles can 'potentiate' a manual response (i.e., button press) to a congruent location. This potentiation effect is taken as evidence that objects automatically evoke sensorimotor simulations in response to the visual presentation of manipulable objects. In the present series of experiments, we investigated a critical prediction of the theory of embodied object representations that potentiation effects should be observed with manipulable artifacts but not non-manipulable animals. In four experiments we show that (a) potentiation effects are observed with animals and artifacts; (b) potentiation effects depend on the absolute size of the objects and (c) task context influences the presence/absence of potentiation effects. We conclude that potentiation effects do not provide evidence for embodied object representations, but are suggestive of a more general stimulus-response compatibility effect that may depend on the distribution of attention to different object features.

Spatial Reasoning with External Visualizations: What Matters Is What You See, Not whether You Interact

ERIC Educational Resources Information Center

Keehner, Madeleine; Hegarty, Mary; Cohen, Cheryl; Khooshabeh, Peter; Montello, Daniel R.

2008-01-01

Three experiments examined the effects of interactive visualizations and spatial abilities on a task requiring participants to infer and draw cross sections of a three-dimensional (3D) object. The experiments manipulated whether participants could interactively control a virtual 3D visualization of the object while performing the task, and…

A software toolbox for robotics

NASA Technical Reports Server (NTRS)

Sanwal, J. C.

1985-01-01

A method for programming cooperating manipulators, which is guided by a geometric description of the task to be performed, is given. For this a suitable language must be used and a method for describing the workplace and the objects in it in geometric terms. A task level command language and its implementation for concurrently driven multiple robot arm is described. The language is suitable for driving a cell in which manipulators, end effectors, and sensors are controlled by their own dedicated processors. These processors can communicate with each other through a communication network. A mechanism for keeping track of the history of the commands already executed allows the command language for the manipulators to be event driven. A frame based world modeling system is utilized to describe the objects in the work environment and any relationships that hold between these objects. This system provides a versatile tool for managing information about the world model. Default actions normally needed are invoked when the data base is updated or accessed. Most of the first level error recovery is also invoked by the database by utilizing the concepts of demons. The package can be utilized to generate task level commands in a problem solver or a planner.

Tool actuation and force feedback on robot-assisted microsurgery system

NASA Technical Reports Server (NTRS)

Das, Hari (Inventor); Ohm, Tim R. (Inventor); Boswell, Curtis D. (Inventor); Steele, Robert D. (Inventor)

2002-01-01

An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Cerebellar input configuration toward object model abstraction in manipulation tasks.

PubMed

Luque, Niceto R; Garrido, Jesus A; Carrillo, Richard R; Coenen, Olivier J-M D; Ros, Eduardo

2011-08-01

It is widely assumed that the cerebellum is one of the main nervous centers involved in correcting and refining planned movement and accounting for disturbances occurring during movement, for instance, due to the manipulation of objects which affect the kinematics and dynamics of the robot-arm plant model. In this brief, we evaluate a way in which a cerebellar-like structure can store a model in the granular and molecular layers. Furthermore, we study how its microstructure and input representations (context labels and sensorimotor signals) can efficiently support model abstraction toward delivering accurate corrective torque values for increasing precision during different-object manipulation. We also describe how the explicit (object-related input labels) and implicit state input representations (sensorimotor signals) complement each other to better handle different models and allow interpolation between two already stored models. This facilitates accurate corrections during manipulations of new objects taking advantage of already stored models.

Evidence for higher reaction time variability for children with ADHD on a range of cognitive tasks including reward and event rate manipulations

PubMed Central

Epstein, Jeffery N.; Langberg, Joshua M.; Rosen, Paul J.; Graham, Amanda; Narad, Megan E.; Antonini, Tanya N.; Brinkman, William B.; Froehlich, Tanya; Simon, John O.; Altaye, Mekibib

2012-01-01

Objective The purpose of the research study was to examine the manifestation of variability in reaction times (RT) in children with Attention Deficit Hyperactivity Disorder (ADHD) and to examine whether RT variability presented differently across a variety of neuropsychological tasks, was present across the two most common ADHD subtypes, and whether it was affected by reward and event rate (ER) manipulations. Method Children with ADHD-Combined Type (n=51), ADHD-Predominantly Inattentive Type (n=53) and 47 controls completed five neuropsychological tasks (Choice Discrimination Task, Child Attentional Network Task, Go/No-Go task, Stop Signal Task, and N-back task), each allowing trial-by-trial assessment of reaction times. Multiple indicators of RT variability including RT standard deviation, coefficient of variation and ex-Gaussian tau were used. Results Children with ADHD demonstrated greater RT variability than controls across all five tasks as measured by the ex-Gaussian indicator tau. There were minimal differences in RT variability across the ADHD subtypes. Children with ADHD also had poorer task accuracy than controls across all tasks except the Choice Discrimination task. Although ER and reward manipulations did affect children’s RT variability and task accuracy, these manipulations largely did not differentially affect children with ADHD compared to controls. RT variability and task accuracy were highly correlated across tasks. Removing variance attributable to RT variability from task accuracy did not appreciably affect between-group differences in task accuracy. Conclusions High RT variability is a ubiquitous and robust phenomenon in children with ADHD. PMID:21463041

Somato-Motor Haptic Processing in Posterior Inner Perisylvian Region (SII/pIC) of the Macaque Monkey

PubMed Central

Ishida, Hiroaki; Fornia, Luca; Grandi, Laura Clara; Umiltà, Maria Alessandra; Gallese, Vittorio

2013-01-01

The posterior inner perisylvian region including the secondary somatosensory cortex (area SII) and the adjacent region of posterior insular cortex (pIC) has been implicated in haptic processing by integrating somato-motor information during hand-manipulation, both in humans and in non-human primates. However, motor-related properties during hand-manipulation are still largely unknown. To investigate a motor-related activity in the hand region of SII/pIC, two macaque monkeys were trained to perform a hand-manipulation task, requiring 3 different grip types (precision grip, finger exploration, side grip) both in light and in dark conditions. Our results showed that 70% (n = 33/48) of task related neurons within SII/pIC were only activated during monkeys’ active hand-manipulation. Of those 33 neurons, 15 (45%) began to discharge before hand-target contact, while the remaining neurons were tonically active after contact. Thirty-percent (n = 15/48) of studied neurons responded to both passive somatosensory stimulation and to the motor task. A consistent percentage of task-related neurons in SII/pIC was selectively activated during finger exploration (FE) and precision grasping (PG) execution, suggesting they play a pivotal role in control skilled finger movements. Furthermore, hand-manipulation-related neurons also responded when visual feedback was absent in the dark. Altogether, our results suggest that somato-motor neurons in SII/pIC likely contribute to haptic processing from the initial to the final phase of grasping and object manipulation. Such motor-related activity could also provide the somato-motor binding principle enabling the translation of diachronic somatosensory inputs into a coherent image of the explored object. PMID:23936121

How to push a block along a wall

NASA Technical Reports Server (NTRS)

Mason, Matthew T.

1989-01-01

Some robot tasks require manipulation of objects that may be touching other fixed objects. The effects of friction and kinematic constraint must be anticipated, and may even be exploited to accomplish the task. An example task, a dynamic analysis, and appropriate effector motions are presented. The goal is to move a rectangular block along a wall, so that one side of the block maintains contact with the wall. Two solutions that push the block along the wall are discussed.

Software systems for modeling articulated figures

NASA Technical Reports Server (NTRS)

Phillips, Cary B.

1989-01-01

Research in computer animation and simulation of human task performance requires sophisticated geometric modeling and user interface tools. The software for a research environment should present the programmer with a powerful but flexible substrate of facilities for displaying and manipulating geometric objects, yet insure that future tools have a consistent and friendly user interface. Jack is a system which provides a flexible and extensible programmer and user interface for displaying and manipulating complex geometric figures, particularly human figures in a 3D working environment. It is a basic software framework for high-performance Silicon Graphics IRIS workstations for modeling and manipulating geometric objects in a general but powerful way. It provides a consistent and user-friendly interface across various applications in computer animation and simulation of human task performance. Currently, Jack provides input and control for applications including lighting specification and image rendering, anthropometric modeling, figure positioning, inverse kinematics, dynamic simulation, and keyframe animation.

Effects of spatially displaced feedback on remote manipulation tasks

NASA Technical Reports Server (NTRS)

Manahan, Meera K.; Stuart, Mark A.; Bierschwale, John M.; Hwang, Ellen Y.; Legendre, A. J.

1992-01-01

Several studies have been performed to determine the effects on computer and direct manipulation task performance when viewing conditions are spatially displaced. Whether results from these studies can be directly applied to remote manipulation tasks is quenstionable. The objective of this evaluation was to determine the effects of reversed, inverted, and inverted/reversed views on remote manipulation task performance using two 3-Degree of Freedom (DOF) hand controllers and a replica position hand controller. Results showed that trials using the inverted viewing condition showed the worst performance, followed by the inverted/reversed view and the reversed view when using the 2x3 DOF. However, these differences were not significant. The inverted and inverted/reversed viewing conditions were significantly worse than the normal and reversed viewing conditions when using the Kraft Replica. A second evaluation was conducted in which additional trials were performed with each viewing condition to determine the long term effects of spatially displaced views on task performance for the hand controllers. Results of the second evaluation indicated that there was more of a difference in performance between the perturbed viewing conditions and the normal viewing condition with the Kraft Replica than with the 2x3 DOF.

The Development of Object Function and Manipulation Knowledge: Evidence from a Semantic Priming Study

PubMed Central

Collette, Cynthia; Bonnotte, Isabelle; Jacquemont, Charlotte; Kalénine, Solène; Bartolo, Angela

2016-01-01

Object semantics include object function and manipulation knowledge. Function knowledge refers to the goal attainable by using an object (e.g., the function of a key is to open or close a door) while manipulation knowledge refers to gestures one has to execute to use an object appropriately (e.g., a key is held between the thumb and the index, inserted into the door lock and then turned). To date, several studies have assessed function and manipulation knowledge in brain lesion patients as well as in healthy adult populations. In patients with left brain damage, a double dissociation between these two types of knowledge has been reported; on the other hand, behavioral studies in healthy adults show that function knowledge is processed faster than manipulation knowledge. Empirical evidence has shown that object interaction in children differs from that in adults, suggesting that the access to function and manipulation knowledge in children might also differ. To investigate the development of object function and manipulation knowledge, 51 typically developing 8-9-10 year-old children and 17 healthy young adults were tested on a naming task associated with a semantic priming paradigm (190-ms SOA; prime duration: 90 ms) in which a series of line drawings of manipulable objects were used. Target objects could be preceded by three priming contexts: related (e.g., knife-scissors for function; key-screwdriver for manipulation), unrelated but visually similar (e.g., glasses-scissors; baseball bat-screwdriver), and purely unrelated (e.g., die-scissors; tissue-screwdriver). Results showed a different developmental pattern of function and manipulation priming effects. Function priming effects were not present in children and emerged only in adults, with faster naming responses for targets preceded by objects sharing the same function. In contrast, manipulation priming effects were already present in 8-year-olds with faster naming responses for targets preceded by objects sharing the same manipulation and these decreased linearly between 8 and 10 years of age, 10-year-olds not differing from adults. Overall, results show that the access to object function and manipulation knowledge changes during development by favoring manipulation knowledge in childhood and function knowledge in adulthood. PMID:27602004

Mutual interference between statistical summary perception and statistical learning.

PubMed

Zhao, Jiaying; Ngo, Nhi; McKendrick, Ryan; Turk-Browne, Nicholas B

2011-09-01

The visual system is an efficient statistician, extracting statistical summaries over sets of objects (statistical summary perception) and statistical regularities among individual objects (statistical learning). Although these two kinds of statistical processing have been studied extensively in isolation, their relationship is not yet understood. We first examined how statistical summary perception influences statistical learning by manipulating the task that participants performed over sets of objects containing statistical regularities (Experiment 1). Participants who performed a summary task showed no statistical learning of the regularities, whereas those who performed control tasks showed robust learning. We then examined how statistical learning influences statistical summary perception by manipulating whether the sets being summarized contained regularities (Experiment 2) and whether such regularities had already been learned (Experiment 3). The accuracy of summary judgments improved when regularities were removed and when learning had occurred in advance. In sum, calculating summary statistics impeded statistical learning, and extracting statistical regularities impeded statistical summary perception. This mutual interference suggests that statistical summary perception and statistical learning are fundamentally related.

Robot training of upper limb in multiple sclerosis: comparing protocols with or without manipulative task components.

PubMed

Carpinella, Ilaria; Cattaneo, Davide; Bertoni, Rita; Ferrarin, Maurizio

2012-05-01

In this pilot study, we compared two protocols for robot-based rehabilitation of upper limb in multiple sclerosis (MS): a protocol involving reaching tasks (RT) requiring arm transport only and a protocol requiring both objects' reaching and manipulation (RMT). Twenty-two MS subjects were assigned to RT or RMT group. Both protocols consisted of eight sessions. During RT training, subjects moved the handle of a planar robotic manipulandum toward circular targets displayed on a screen. RMT protocol required patients to reach and manipulate real objects, by moving the robotic arm equipped with a handle which left the hand free for distal tasks. In both trainings, the robot generated resistive and perturbing forces. Subjects were evaluated with clinical and instrumental tests. The results confirmed that MS patients maintained the ability to adapt to the robot-generated forces and that the rate of motor learning increased across sessions. Robot-therapy significantly reduced arm tremor and improved arm kinematics and functional ability. Compared to RT, RMT protocol induced a significantly larger improvement in movements involving grasp (improvement in Grasp ARAT sub-score: RMT 77.4%, RT 29.5%, p=0.035) but not precision grip. Future studies are needed to evaluate if longer trainings and the use of robotic handles would significantly improve also fine manipulation.

PyMOL mControl: Manipulating molecular visualization with mobile devices.

PubMed

Lam, Wendy W T; Siu, Shirley W I

2017-01-02

Viewing and manipulating three-dimensional (3D) structures in molecular graphics software are essential tasks for researchers and students to understand the functions of molecules. Currently, the way to manipulate a 3D molecular object is mainly based on mouse-and-keyboard control that is usually difficult and tedious to learn. While gesture-based and touch-based interactions are increasingly popular in interactive software systems, their suitability in handling molecular graphics has not yet been sufficiently explored. Here, we designed the gesture-based and touch-based interaction methods to manipulate virtual objects in PyMOL utilizing the motion and touch sensors in a mobile device. Three fundamental viewing controls-zooming, translation and rotation-and frequently used functions were implemented. Results from a pilot user study reveal that task performances on viewing controls using a mobile device are slightly reduced as compared to mouse-and-keyboard method. However, it is considered to be more suitable for oral presentations and equally suitable for education scenarios such as school classes. Overall, PyMOL mControl provides an alternative way to manipulate objects in molecular graphic software with new user experiences. The software is freely available at http://cbbio.cis.umac.mo/mcontrol.html. © 2016 by The International Union of Biochemistry and Molecular Biology, 45(1):76-83, 2017. © 2016 The International Union of Biochemistry and Molecular Biology.

Multidigit movement synergies of the human hand in an unconstrained haptic exploration task.

PubMed

Thakur, Pramodsingh H; Bastian, Amy J; Hsiao, Steven S

2008-02-06

Although the human hand has a complex structure with many individual degrees of freedom, joint movements are correlated. Studies involving simple tasks (grasping) or skilled tasks (typing or finger spelling) have shown that a small number of combined joint motions (i.e., synergies) can account for most of the variance in observed hand postures. However, those paradigms evoked a limited set of hand postures and as such the reported correlation patterns of joint motions may be task-specific. Here, we used an unconstrained haptic exploration task to evoke a set of hand postures that is representative of most naturalistic postures during object manipulation. Principal component analysis on this set revealed that the first seven principal components capture >90% of the observed variance in hand postures. Further, we identified nine eigenvectors (or synergies) that are remarkably similar across multiple subjects and across manipulations of different sets of objects within a subject. We then determined that these synergies are used broadly by showing that they account for the changes in hand postures during other tasks. These include hand motions such as reach and grasp of objects that vary in width, curvature and angle, and skilled motions such as precision pinch. Our results demonstrate that the synergies reported here generalize across tasks, and suggest that they represent basic building blocks underlying natural human hand motions.

Credit assignment between body and object probed by an object transportation task.

PubMed

Kong, Gaiqing; Zhou, Zhihao; Wang, Qining; Kording, Konrad; Wei, Kunlin

2017-10-17

It has been proposed that learning from movement errors involves a credit assignment problem: did I misestimate properties of the object or those of my body? For example, an overestimate of arm strength and an underestimate of the weight of a coffee cup can both lead to coffee spills. Though previous studies have found signs of simultaneous learning of the object and of the body during object manipulation, there is little behavioral evidence about their quantitative relation. Here we employed a novel weight-transportation task, in which participants lift the first cup filled with liquid while assessing their learning from errors. Specifically, we examined their transfer of learning when switching to a contralateral hand, the second identical cup, or switching both hands and cups. By comparing these transfer behaviors, we found that 25% of the learning was attributed to the object (simply because of the use of the same cup) and 58% of the learning was attributed to the body (simply because of the use of the same hand). The nervous system thus seems to partition the learning of object manipulation between the object and the body.

A virtual work space for both hands manipulation with coherency between kinesthetic and visual sensation

NASA Technical Reports Server (NTRS)

Ishii, Masahiro; Sukanya, P.; Sato, Makoto

1994-01-01

This paper describes the construction of a virtual work space for tasks performed by two handed manipulation. We intend to provide a virtual environment that encourages users to accomplish tasks as they usually act in a real environment. Our approach uses a three dimensional spatial interface device that allows the user to handle virtual objects by hand and be able to feel some physical properties such as contact, weight, etc. We investigated suitable conditions for constructing our virtual work space by simulating some basic assembly work, a face and fit task. We then selected the conditions under which the subjects felt most comfortable in performing this task and set up our virtual work space. Finally, we verified the possibility of performing more complex tasks in this virtual work space by providing simple virtual models and then let the subjects create new models by assembling these components. The subjects can naturally perform assembly operations and accomplish the task. Our evaluation shows that this virtual work space has the potential to be used for performing tasks that require two-handed manipulation or cooperation between both hands in a natural manner.

Organizational and Spatial Dynamics of Attentional Focusing in Hierarchically Structured Objects

ERIC Educational Resources Information Center

Yeari, Menahem; Goldsmith, Morris

2011-01-01

Is the focusing of visual attention object-based, space-based, both, or neither? Attentional focusing latencies in hierarchically structured compound-letter objects were examined, orthogonally manipulating global size (larger vs. smaller) and organizational complexity (two-level structure vs. three-level structure). In a dynamic focusing task,…

Investigation of human-robot interface performance in household environments

NASA Astrophysics Data System (ADS)

Cremer, Sven; Mirza, Fahad; Tuladhar, Yathartha; Alonzo, Rommel; Hingeley, Anthony; Popa, Dan O.

2016-05-01

Today, assistive robots are being introduced into human environments at an increasing rate. Human environments are highly cluttered and dynamic, making it difficult to foresee all necessary capabilities and pre-program all desirable future skills of the robot. One approach to increase robot performance is semi-autonomous operation, allowing users to intervene and guide the robot through difficult tasks. To this end, robots need intuitive Human-Machine Interfaces (HMIs) that support fine motion control without overwhelming the operator. In this study we evaluate the performance of several interfaces that balance autonomy and teleoperation of a mobile manipulator for accomplishing several household tasks. Our proposed HMI framework includes teleoperation devices such as a tablet, as well as physical interfaces in the form of piezoresistive pressure sensor arrays. Mobile manipulation experiments were performed with a sensorized KUKA youBot, an omnidirectional platform with a 5 degrees of freedom (DOF) arm. The pick and place tasks involved navigation and manipulation of objects in household environments. Performance metrics included time for task completion and position accuracy.

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

PubMed

Herbort, Oliver; Büschelberger, Juliane; Janczyk, Markus

2018-03-01

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

Encoding the world around us: motor-related processing influences verbal memory.

PubMed

Madan, Christopher R; Singhal, Anthony

2012-09-01

It is known that properties of words such as their imageability can influence our ability to remember those words. However, it is not known if other object-related properties can also influence our memory. In this study we asked whether a word representing a concrete object that can be functionally interacted with (i.e., high-manipulability word) would enhance the memory representations for that item compared to a word representing a less manipulable object (i.e., low-manipulability word). Here participants incidentally encoded high-manipulability (e.g., CAMERA) and low-manipulability words (e.g., TABLE) while making word judgments. Using a between-subjects design, we varied the depth-of-processing involved in the word judgment task: participants judged the words based on personal experience (deep/elaborative processing), word length (shallow), or functionality (intermediate). Participants were able to remember high-manipulability words better than low-manipulability words in both the personal experience and word length groups; thus presenting the first evidence that manipulability can influence memory. However, we observed better memory for low- than high-manipulability words in the functionality group. We explain this surprising interaction between manipulability and memory as being mediated by automatic vs. controlled motor-related cognition. Copyright © 2012 Elsevier Inc. All rights reserved.

Validity evidence for the Simulated Colonoscopy Objective Performance Evaluation scoring system.

PubMed

Trinca, Kristen D; Cox, Tiffany C; Pearl, Jonathan P; Ritter, E Matthew

2014-02-01

Low-cost, objective systems to assess and train endoscopy skills are needed. The aim of this study was to evaluate the ability of Simulated Colonoscopy Objective Performance Evaluation to assess the skills required to perform endoscopy. Thirty-eight subjects were included in this study, all of whom performed 4 tasks. The scoring system measured performance by calculating precision and efficiency. Data analysis assessed the relationship between colonoscopy experience and performance on each task and the overall score. Endoscopic trainees' Simulated Colonoscopy Objective Performance Evaluation scores correlated significantly with total colonoscopy experience (r = .61, P = .003) and experience in the past 12 months (r = .63, P = .002). Significant differences were seen among practicing endoscopists, nonendoscopic surgeons, and trainees (P < .0001). When the 4 tasks were analyzed, each showed significant correlation with colonoscopy experience (scope manipulation, r = .44, P = .044; tool targeting, r = .45, P = .04; loop management, r = .47, P = .032; mucosal inspection, r = .65, P = .001) and significant differences in performance between the endoscopist groups, except for mucosal inspection (scope manipulation, P < .0001; tool targeting, P = .002; loop management, P = .0008; mucosal inspection, P = .27). Simulated Colonoscopy Objective Performance Evaluation objectively assesses the technical skills required to perform endoscopy and shows promise as a platform for proficiency-based skills training. Published by Elsevier Inc.

Adaptive critic neural network-based object grasping control using a three-finger gripper.

PubMed

Jagannathan, S; Galan, Gustavo

2004-03-01

Grasping of objects has been a challenging task for robots. The complex grasping task can be defined as object contact control and manipulation subtasks. In this paper, object contact control subtask is defined as the ability to follow a trajectory accurately by the fingers of a gripper. The object manipulation subtask is defined in terms of maintaining a predefined applied force by the fingers on the object. A sophisticated controller is necessary since the process of grasping an object without a priori knowledge of the object's size, texture, softness, gripper, and contact dynamics is rather difficult. Moreover, the object has to be secured accurately and considerably fast without damaging it. Since the gripper, contact dynamics, and the object properties are not typically known beforehand, an adaptive critic neural network (NN)-based hybrid position/force control scheme is introduced. The feedforward action generating NN in the adaptive critic NN controller compensates the nonlinear gripper and contact dynamics. The learning of the action generating NN is performed on-line based on a critic NN output signal. The controller ensures that a three-finger gripper tracks a desired trajectory while applying desired forces on the object for manipulation. Novel NN weight tuning updates are derived for the action generating and critic NNs so that Lyapunov-based stability analysis can be shown. Simulation results demonstrate that the proposed scheme successfully allows fingers of a gripper to secure objects without the knowledge of the underlying gripper and contact dynamics of the object compared to conventional schemes.

Study of design and control of remote manipulators. Part 4: Experiments in video camera positioning with regard to remote manipulation

NASA Technical Reports Server (NTRS)

Mackro, J.

1973-01-01

The results are presented of a study involving closed circuit television as the means of providing the necessary task-to-operator feedback for efficient performance of the remote manipulation system. Experiments were performed to determine the remote video configuration that will result in the best overall system. Two categories of tests were conducted which include: those which involved remote control position (rate) of just the video system, and those in which closed circuit TV was used along with manipulation of the objects themselves.

Grip force and force sharing in two different manipulation tasks with bottles.

PubMed

Cepriá-Bernal, Javier; Pérez-González, Antonio; Mora, Marta C; Sancho-Bru, Joaquín L

2017-07-01

Grip force and force sharing during two activities of daily living were analysed experimentally in 10 right-handed subjects. Four different bottles, filled to two different levels, were manipulated for two tasks: transporting and pouring. Each test subject's hand was instrumented with eight thin wearable force sensors. The grip force and force sharing were significantly different for each bottle model. Increasing the filling level resulted in an increase in grip force, but the ratio of grip force to load force was higher for lighter loads. The task influenced the force sharing but not the mean grip force. The contributions of the thumb and ring finger were higher in the pouring task, whereas the contributions of the palm and the index finger were higher in the transport task. Mean force sharing among fingers was 30% for index, 29% for middle, 22% for ring and 19% for little finger. Practitioner Summary: We analysed grip force and force sharing in two manipulation tasks with bottles: transporting and pouring. The objective was to understand the effects of the bottle features, filling level and task on the contribution of different areas of the hand to the grip force. Force sharing was different for each task and the bottles features affected to both grip force and force sharing.

Sensory Agreement Guides Kinetic Energy Optimization of Arm Movements during Object Manipulation.

PubMed

Farshchiansadegh, Ali; Melendez-Calderon, Alejandro; Ranganathan, Rajiv; Murphey, Todd D; Mussa-Ivaldi, Ferdinando A

2016-04-01

The laws of physics establish the energetic efficiency of our movements. In some cases, like locomotion, the mechanics of the body dominate in determining the energetically optimal course of action. In other tasks, such as manipulation, energetic costs depend critically upon the variable properties of objects in the environment. Can the brain identify and follow energy-optimal motions when these motions require moving along unfamiliar trajectories? What feedback information is required for such optimal behavior to occur? To answer these questions, we asked participants to move their dominant hand between different positions while holding a virtual mechanical system with complex dynamics (a planar double pendulum). In this task, trajectories of minimum kinetic energy were along curvilinear paths. Our findings demonstrate that participants were capable of finding the energy-optimal paths, but only when provided with veridical visual and haptic information pertaining to the object, lacking which the trajectories were executed along rectilinear paths.

Proximal arm kinematics affect grip force-load force coordination

PubMed Central

Vermillion, Billy C.; Lum, Peter S.

2015-01-01

During object manipulation, grip force is coordinated with load force, which is primarily determined by object kinematics. Proximal arm kinematics may affect grip force control, as proximal segment motion could affect control of distal hand muscles via biomechanical and/or neural pathways. The aim of this study was to investigate the impact of proximal kinematics on grip force modulation during object manipulation. Fifteen subjects performed three vertical lifting tasks that involved distinct proximal kinematics (elbow/shoulder), but resulted in similar end-point (hand) trajectories. While temporal coordination of grip and load forces remained similar across the tasks, proximal kinematics significantly affected the grip force-to-load force ratio (P = 0.042), intrinsic finger muscle activation (P = 0.045), and flexor-extensor ratio (P < 0.001). Biomechanical coupling between extrinsic hand muscles and the elbow joint cannot fully explain the observed changes, as task-related changes in intrinsic hand muscle activation were greater than in extrinsic hand muscles. Rather, between-task variation in grip force (highest during task 3) appears to contrast to that in shoulder joint velocity/acceleration (lowest during task 3). These results suggest that complex neural coupling between the distal and proximal upper extremity musculature may affect grip force control during movements, also indicated by task-related changes in intermuscular coherence of muscle pairs, including intrinsic finger muscles. Furthermore, examination of the fingertip force showed that the human motor system may attempt to reduce variability in task-relevant motor output (grip force-to-load force ratio), while allowing larger fluctuations in output less relevant to task goal (shear force-to-grip force ratio). PMID:26289460

Stanford Aerospace Research Laboratory research overview

NASA Technical Reports Server (NTRS)

Ballhaus, W. L.; Alder, L. J.; Chen, V. W.; Dickson, W. C.; Ullman, M. A.

1993-01-01

Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be, addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modelling and control of extremely flexible space structures. The ARL has designed and built several semi-autonomous free-flying robots that perform numerous tasks in a zero-gravity, drag-free, two-dimensional environment. It is envisioned that future generations of these robots will be part of a human-robot team, in which the robots will operate under the task-level commands of astronauts. To make this possible, the ARL has developed a graphical user interface (GUI) with an intuitive object-level motion-direction capability. Using this interface, the ARL has demonstrated autonomous navigation, intercept and capture of moving and spinning objects, object transport, multiple-robot cooperative manipulation, and simple assemblies from both free-flying and fixed bases. The ARL has also built a number of experimental test beds on which the modelling and control of flexible manipulators has been studied. Early ARL experiments in this arena demonstrated for the first time the capability to control the end-point position of both single-link and multi-link flexible manipulators using end-point sensing. Building on these accomplishments, the ARL has been able to control payloads with unknown dynamics at the end of a flexible manipulator, and to achieve high-performance control of a multi-link flexible manipulator.

Humanoid Mobile Manipulation Using Controller Refinement

NASA Technical Reports Server (NTRS)

Platt, Robert; Burridge, Robert; Diftler, Myron; Graf, Jodi; Goza, Mike; Huber, Eric; Brock, Oliver

2006-01-01

An important class of mobile manipulation problems are move-to-grasp problems where a mobile robot must navigate to and pick up an object. One of the distinguishing features of this class of tasks is its coarse-to-fine structure. Near the beginning of the task, the robot can only sense the target object coarsely or indirectly and make gross motion toward the object. However, after the robot has located and approached the object, the robot must finely control its grasping contacts using precise visual and haptic feedback. This paper proposes that move-to-grasp problems are naturally solved by a sequence of controllers that iteratively refines what ultimately becomes the final solution. This paper introduces the notion of a refining sequence of controllers and characterizes this type of solution. The approach is demonstrated in a move-to-grasp task where Robonaut, the NASA/JSC dexterous humanoid, is mounted on a mobile base and navigates to and picks up a geological sample box. In a series of tests, it is shown that a refining sequence of controllers decreases variance in robot configuration relative to the sample box until a successful grasp has been achieved.

Humanoid Mobile Manipulation Using Controller Refinement

NASA Technical Reports Server (NTRS)

Platt, Robert; Burridge, Robert; Diftler, Myron; Graf, Jodi; Goza, Mike; Huber, Eric

2006-01-01

An important class of mobile manipulation problems are move-to-grasp problems where a mobile robot must navigate to and pick up an object. One of the distinguishing features of this class of tasks is its coarse-to-fine structure. Near the beginning of the task, the robot can only sense the target object coarsely or indirectly and make gross motion toward the object. However, after the robot has located and approached the object, the robot must finely control its grasping contacts using precise visual and haptic feedback. In this paper, it is proposed that move-to-grasp problems are naturally solved by a sequence of controllers that iteratively refines what ultimately becomes the final solution. This paper introduces the notion of a refining sequence of controllers and characterizes this type of solution. The approach is demonstrated in a move-to-grasp task where Robonaut, the NASA/JSC dexterous humanoid, is mounted on a mobile base and navigates to and picks up a geological sample box. In a series of tests, it is shown that a refining sequence of controllers decreases variance in robot configuration relative to the sample box until a successful grasp has been achieved.

Neurocognitive development of the ability to manipulate information in working memory.

PubMed

Crone, Eveline A; Wendelken, Carter; Donohue, Sarah; van Leijenhorst, Linda; Bunge, Silvia A

2006-06-13

The ability to manipulate information in working memory is a key factor in cognitive development. Here, we used event-related functional MRI to test the hypothesis that developmental improvements in manipulation, relative to pure maintenance, are associated with increased recruitment of dorsolateral (DL) prefrontal cortex (PFC) and superior parietal cortex. Three age groups (8-12 years old, 13-17 years old, and 18-25 years old) performed an object-working memory task with separate maintenance and manipulation conditions. We found that 8- to 12-year-olds did not perform the task as well as adolescents or adults, particularly on trials requiring manipulation in addition to maintenance. In this study, no age differences were observed in the activation profile of ventrolateral PFC, a region associated with online maintenance. In contrast, unlike the older participants, 8- to 12-year-olds failed to recruit right DL PFC and bilateral superior parietal cortex during the delay period for manipulation relative to maintenance. This group difference was observed specifically during the delay period, while participants reordered items in working memory, and could not be accounted for by group differences in performance. Across participants, activation levels in right DL PFC and superior parietal cortex, but not ventrolateral PFC, were positively correlated with performance on manipulation trials. These results indicate that increased recruitment of right DL PFC and bilateral parietal cortex during adolescence is associated with improvements in the ability to work with object representations.

Learning Is Better with the Hands Free: The Role of Posture in the Memory of Manipulable Objects.

PubMed

Dutriaux, Léo; Gyselinck, Valérie

2016-01-01

Grounded cognition proposes that memory shares processing resources with sensorimotor systems. The aim of the present study was to show that motor simulation participates in the conceptual representation of manipulable objects in long-term memory. In two experiments, lists of manipulable and nonmanipulable objects were presented. Participants were instructed to memorize the items while adopting different postures. In the control condition, they had to keep their hands at rest in front of them. In the interference condition, participants had to keep their hands crossed behind their back to make their hands less free for action. After each list, participants had to perform first a distractive task, and then an oral free recall. The results showed that the interfering posture produced a specific decrease in the recall of manipulable objects, but not of nonmanipulable ones. This decrease was similar when the items were presented as pictures (Experiment 1) or as words (Experiment 2), thus excluding a purely visual effect. These results provide strong evidence that the motor simulation plays a role in the memory trace of the object.

Design of a lightweight, cost effective thimble-like sensor for haptic applications based on contact force sensors.

PubMed

Ferre, Manuel; Galiana, Ignacio; Aracil, Rafael

2011-01-01

This paper describes the design and calibration of a thimble that measures the forces applied by a user during manipulation of virtual and real objects. Haptic devices benefit from force measurement capabilities at their end-point. However, the heavy weight and cost of force sensors prevent their widespread incorporation in these applications. The design of a lightweight, user-adaptable, and cost-effective thimble with four contact force sensors is described in this paper. The sensors are calibrated before being placed in the thimble to provide normal and tangential forces. Normal forces are exerted directly by the fingertip and thus can be properly measured. Tangential forces are estimated by sensors strategically placed in the thimble sides. Two applications are provided in order to facilitate an evaluation of sensorized thimble performance. These applications focus on: (i) force signal edge detection, which determines task segmentation of virtual object manipulation, and (ii) the development of complex object manipulation models, wherein the mechanical features of a real object are obtained and these features are then reproduced for training by means of virtual object manipulation.

Design of a Lightweight, Cost Effective Thimble-Like Sensor for Haptic Applications Based on Contact Force Sensors

PubMed Central

Ferre, Manuel; Galiana, Ignacio; Aracil, Rafael

2011-01-01

This paper describes the design and calibration of a thimble that measures the forces applied by a user during manipulation of virtual and real objects. Haptic devices benefit from force measurement capabilities at their end-point. However, the heavy weight and cost of force sensors prevent their widespread incorporation in these applications. The design of a lightweight, user-adaptable, and cost-effective thimble with four contact force sensors is described in this paper. The sensors are calibrated before being placed in the thimble to provide normal and tangential forces. Normal forces are exerted directly by the fingertip and thus can be properly measured. Tangential forces are estimated by sensors strategically placed in the thimble sides. Two applications are provided in order to facilitate an evaluation of sensorized thimble performance. These applications focus on: (i) force signal edge detection, which determines task segmentation of virtual object manipulation, and (ii) the development of complex object manipulation models, wherein the mechanical features of a real object are obtained and these features are then reproduced for training by means of virtual object manipulation. PMID:22247677

Method and apparatus for configuration control of redundant robots

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1991-01-01

A method and apparatus to control a robot or manipulator configuration over the entire motion based on augmentation of the manipulator forward kinematics is disclosed. A set of kinematic functions is defined in Cartesian or joint space to reflect the desirable configuration that will be achieved in addition to the specified end-effector motion. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to directly control the configuration variables so as to achieve tracking of some desired reference trajectories throughout the robot motion. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The present invention can also be used for optimization of any kinematic objective function, or for satisfaction of a set of kinematic inequality constraints, as in an obstacle avoidance problem. In contrast to pseudoinverse-based methods, the configuration control scheme ensures cyclic motion of the manipulator, which is an essential requirement for repetitive operations. The control law is simple and computationally very fast, and does not require either the complex manipulator dynamic model or the complicated inverse kinematic transformation. The configuration control scheme can alternatively be implemented in joint space.

High degree-of-freedom dynamic manipulation

NASA Astrophysics Data System (ADS)

Murphy, Michael P.; Stephens, Benjamin; Abe, Yeuhi; Rizzi, Alfred A.

2012-06-01

The creation of high degree of freedom dynamic mobile manipulation techniques and behaviors will allow robots to accomplish difficult tasks in the field. We are investigating the use of the body and legs of legged robots to improve the strength, velocity, and workspace of an integrated manipulator to accomplish dynamic manipulation. This is an especially challenging task, as all of the degrees of freedom are active at all times, the dynamic forces generated are high, and the legged system must maintain robust balance throughout the duration of the tasks. To accomplish this goal, we are utilizing trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning the trajectories in a 13 dimensional space. Covariance Matrix Adaptation techniques are utilized to optimize for several criteria such as payload capability and task completion speed while also obeying constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate feed-forward terms, which are subsequently used online to improve tracking and maintain low controller gains. Some initial results on one of our existing balancing quadruped robots with an additional human-arm-like manipulator are demonstrated on robot hardware, including dynamic lifting and throwing of heavy objects 16.5kg cinder blocks, using motions that resemble a human athlete more than typical robotic motions. Increased payload capacity is accomplished through coordinated body motion.

Eye-in-Hand Manipulation for Remote Handling: Experimental Setup

NASA Astrophysics Data System (ADS)

Niu, Longchuan; Suominen, Olli; Aref, Mohammad M.; Mattila, Jouni; Ruiz, Emilio; Esque, Salvador

2018-03-01

A prototype for eye-in-hand manipulation in the context of remote handling in the International Thermonuclear Experimental Reactor (ITER)1 is presented in this paper. The setup consists of an industrial robot manipulator with a modified open control architecture and equipped with a pair of stereoscopic cameras, a force/torque sensor, and pneumatic tools. It is controlled through a haptic device in a mock-up environment. The industrial robot controller has been replaced by a single industrial PC running Xenomai that has a real-time connection to both the robot controller and another Linux PC running as the controller for the haptic device. The new remote handling control environment enables further development of advanced control schemes for autonomous and semi-autonomous manipulation tasks. This setup benefits from a stereovision system for accurate tracking of the target objects with irregular shapes. The overall environmental setup successfully demonstrates the required robustness and precision that remote handling tasks need.

Supervisory Control of Remote Manipulation with Compensation for Moving Target.

DTIC Science & Technology

1980-07-21

Continue on reveree aide if neceeary and Identify by block number) ’The aim of this project is to evaluate automatic compensation for moving tar- gets ...slave control. Operating manipulators in this way is a tiring job and the operator gets exhausted after j a short time of work. The use of the computer...THE MANIPULATION OF MOVING OBJECTS Undersea tasks done by human divers are getting more and more costly and hazardous as they have to be done at

Grip force control during virtual object interaction: effect of force feedback,accuracy demands, and training.

PubMed

Gibo, Tricia L; Bastian, Amy J; Okamura, Allison M

2014-03-01

When grasping and manipulating objects, people are able to efficiently modulate their grip force according to the experienced load force. Effective grip force control involves providing enough grip force to prevent the object from slipping, while avoiding excessive force to avoid damage and fatigue. During indirect object manipulation via teleoperation systems or in virtual environments, users often receive limited somatosensory feedback about objects with which they interact. This study examines the effects of force feedback, accuracy demands, and training on grip force control during object interaction in a virtual environment. The task required subjects to grasp and move a virtual object while tracking a target. When force feedback was not provided, subjects failed to couple grip and load force, a capability fundamental to direct object interaction. Subjects also exerted larger grip force without force feedback and when accuracy demands of the tracking task were high. In addition, the presence or absence of force feedback during training affected subsequent performance, even when the feedback condition was switched. Subjects' grip force control remained reminiscent of their employed grip during the initial training. These results motivate the use of force feedback during telemanipulation and highlight the effect of force feedback during training.

Separating the Sheep from the Goats: Differentiating Global Categories.

ERIC Educational Resources Information Center

Mandler, Jean M.; And Others

1991-01-01

The conceptual categories that children have developed in their second year were studied in five experiments using object manipulation tasks. Subjects included 152 children from 18 to 31 months of age. These very young children had formed global conceptions of many domains of objects. (SLD)

Comparing two types of engineering visualizations: task-related manipulations matter.

PubMed

Cölln, Martin C; Kusch, Kerstin; Helmert, Jens R; Kohler, Petra; Velichkovsky, Boris M; Pannasch, Sebastian

2012-01-01

This study focuses on the comparison of traditional engineering drawings with a CAD (computer aided design) visualization in terms of user performance and eye movements in an applied context. Twenty-five students of mechanical engineering completed search tasks for measures in two distinct depictions of a car engine component (engineering drawing vs. CAD model). Besides spatial dimensionality, the display types most notably differed in terms of information layout, access and interaction options. The CAD visualization yielded better performance, if users directly manipulated the object, but was inferior, if employed in a conventional static manner, i.e. inspecting only predefined views. An additional eye movement analysis revealed longer fixation durations and a stronger increase of task-relevant fixations over time when interacting with the CAD visualization. This suggests a more focused extraction and filtering of information. We conclude that the three-dimensional CAD visualization can be advantageous if its ability to manipulate is used. Copyright © 2011 Elsevier Ltd and The Ergonomics Society. All rights reserved.

On the costs of parallel processing in dual-task performance: The case of lexical processing in word production.

PubMed

Paucke, Madlen; Oppermann, Frank; Koch, Iring; Jescheniak, Jörg D

2015-12-01

Previous dual-task picture-naming studies suggest that lexical processes require capacity-limited processes and prevent other tasks to be carried out in parallel. However, studies involving the processing of multiple pictures suggest that parallel lexical processing is possible. The present study investigated the specific costs that may arise when such parallel processing occurs. We used a novel dual-task paradigm by presenting 2 visual objects associated with different tasks and manipulating between-task similarity. With high similarity, a picture-naming task (T1) was combined with a phoneme-decision task (T2), so that lexical processes were shared across tasks. With low similarity, picture-naming was combined with a size-decision T2 (nonshared lexical processes). In Experiment 1, we found that a manipulation of lexical processes (lexical frequency of T1 object name) showed an additive propagation with low between-task similarity and an overadditive propagation with high between-task similarity. Experiment 2 replicated this differential forward propagation of the lexical effect and showed that it disappeared with longer stimulus onset asynchronies. Moreover, both experiments showed backward crosstalk, indexed as worse T1 performance with high between-task similarity compared with low similarity. Together, these findings suggest that conditions of high between-task similarity can lead to parallel lexical processing in both tasks, which, however, does not result in benefits but rather in extra performance costs. These costs can be attributed to crosstalk based on the dual-task binding problem arising from parallel processing. Hence, the present study reveals that capacity-limited lexical processing can run in parallel across dual tasks but only at the expense of extraordinary high costs. (c) 2015 APA, all rights reserved).

A Framework for a Supervisory Expert System for Robotic Manipulators with Joint-Position Limits and Joint-Rate Limits

NASA Technical Reports Server (NTRS)

Mutambara, Arthur G. O.; Litt, Jonathan

1998-01-01

This report addresses the problem of path planning and control of robotic manipulators which have joint-position limits and joint-rate limits. The manipulators move autonomously and carry out variable tasks in a dynamic, unstructured and cluttered environment. The issue considered is whether the robotic manipulator can achieve all its tasks, and if it cannot, the objective is to identify the closest achievable goal. This problem is formalized and systematically solved for generic manipulators by using inverse kinematics and forward kinematics. Inverse kinematics are employed to define the subspace, workspace and constrained workspace, which are then used to identify when a task is not achievable. The closest achievable goal is obtained by determining weights for an optimal control redistribution scheme. These weights are quantified by using forward kinematics. Conditions leading to joint rate limits are identified, in particular it is established that all generic manipulators have singularities at the boundary of their workspace, while some have loci of singularities inside their workspace. Once the manipulator singularity is identified the command redistribution scheme is used to compute the closest achievable Cartesian velocities. Two examples are used to illustrate the use of the algorithm: A three link planar manipulator and the Unimation Puma 560. Implementation of the derived algorithm is effected by using a supervisory expert system to check whether the desired goal lies in the constrained workspace and if not, to evoke the redistribution scheme which determines the constraint relaxation between end effector position and orientation, and then computes optimal gains.

Fast-adapting mechanoreceptors are important for force control in precision grip but not for sensorimotor memory.

PubMed

Park, Susanna B; Davare, Marco; Falla, Marika; Kennedy, William R; Selim, Mona M; Wendelschafer-Crabb, Gwen; Koltzenburg, Martin

2016-06-01

Sensory feedback from cutaneous mechanoreceptors in the fingertips is important in effective object manipulation, allowing appropriate scaling of grip and load forces during precision grip. However, the role of mechanoreceptor subtypes in these tasks remains incompletely understood. To address this issue, psychophysical tasks that may specifically assess function of type I fast-adapting (FAI) and slowly adapting (SAI) mechanoreceptors were used with object manipulation experiments to examine the regulation of grip force control in an experimental model of graded reduction in tactile sensitivity (healthy volunteers wearing 2 layers of latex gloves). With gloves, tactile sensitivity decreased significantly from 1.9 ± 0.4 to 12.3 ± 2.2 μm in the Bumps task assessing function of FAI afferents but not in a grating orientation task assessing SAI afferents (1.6 ± 0.1 to 1.8 ± 0.2 mm). Six axis force/torque sensors measured peak grip (PGF) and load (PLF) forces generated by the fingertips during a grip-lift task. With gloves there was a significant increase of PGF (14 ± 6%), PLF (17 ± 5%), and grip and load force rates (26 ± 8%, 20 ± 8%). A variable-weight series task was used to examine sensorimotor memory. There was a 20% increase in PGF when the lift of a light object was preceded by a heavy relative to a light object. This relationship was not significantly altered when lifting with gloves, suggesting that the addition of gloves did not change sensorimotor memory effects. We conclude that FAI fibers may be important for the online force scaling but not for the buildup of a sensorimotor memory. Copyright © 2016 the American Physiological Society.

Task-set inertia and memory-consolidation bottleneck in dual tasks.

PubMed

Koch, Iring; Rumiati, Raffaella I

2006-11-01

Three dual-task experiments examined the influence of processing a briefly presented visual object for deferred verbal report on performance in an unrelated auditory-manual reaction time (RT) task. RT was increased at short stimulus-onset asynchronies (SOAs) relative to long SOAs, showing that memory consolidation processes can produce a functional processing bottleneck in dual-task performance. In addition, the experiments manipulated the spatial compatibility of the orientation of the visual object and the side of the speeded manual response. This cross-task compatibility produced relative RT benefits only when the instruction for the visual task emphasized overlap at the level of response codes across the task sets (Experiment 1). However, once the effective task set was in place, it continued to produce cross-task compatibility effects even in single-task situations ("ignore" trials in Experiment 2) and when instructions for the visual task did not explicitly require spatial coding of object orientation (Experiment 3). Taken together, the data suggest a considerable degree of task-set inertia in dual-task performance, which is also reinforced by finding costs of switching task sequences (e.g., AC --> BC vs. BC --> BC) in Experiment 3.

Verification hybrid control of a wheeled mobile robot and manipulator

NASA Astrophysics Data System (ADS)

Muszynska, Magdalena; Burghardt, Andrzej; Kurc, Krzysztof; Szybicki, Dariusz

2016-04-01

In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system's nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was verification on the real object which was a Scorbot - ER 4pc robotic manipulator and a Pioneer - 2DX mobile robot.

The Influence of Attentional Focus Instructions and Vision on Jump Height Performance

ERIC Educational Resources Information Center

Abdollahipour, Reza; Psotta, Rudolf; Land, William M.

2016-01-01

Purpose: Studies have suggested that the use of visual information may underlie the benefit associated with an external focus of attention. Recent studies exploring this connection have primarily relied on motor tasks that involve manipulation of an object (object projection). The present study examined whether vision influences the effect of…

Video-task acquisition in rhesus monkeys (Macaca mulatta) and chimpanzees (Pan troglodytes): a comparative analysis

NASA Technical Reports Server (NTRS)

Hopkins, W. D.; Washburn, D. A.; Hyatt, C. W.; Rumbaugh, D. M. (Principal Investigator)

1996-01-01

This study describes video-task acquisition in two nonhuman primate species. The subjects were seven rhesus monkeys (Macaca mulatta) and seven chimpanzees (Pan troglodytes). All subjects were trained to manipulate a joystick which controlled a cursor displayed on a computer monitor. Two criterion levels were used: one based on conceptual knowledge of the task and one based on motor performance. Chimpanzees and rhesus monkeys attained criterion in a comparable number of trials using a conceptually based criterion. However, using a criterion based on motor performance, chimpanzees reached criterion significantly faster than rhesus monkeys. Analysis of error patterns and latency indicated that the rhesus monkeys had a larger asymmetry in response bias and were significantly slower in responding than the chimpanzees. The results are discussed in terms of the relation between object manipulation skills and video-task acquisition.

Dual redundant arm system operational quality measures and their applications - Dynamic measures

NASA Technical Reports Server (NTRS)

Lee, Sukhan; Kim, Sungbok

1990-01-01

Dual-arm dynamic operation quality measures are presented which quantify the efficiency and capability of generating Cartesian accelerations by two cooperative arms based on the analysis of dual-arm dynamic interactions. Dual-arm dynamic manipulability is defined as the efficiency of generating Cartesian accelerations under the dynamic and kinematic interactions between individual arms and an object under manipulation. The analysis of dual-arm dynamic interactions is based on the so-called Cartesian space agent model of an arm, which represents an individual arm as a force source acting upon a point mass with the effective Cartesian space arm dynamics and an environment or an object under manipulation. The Cartesian space agent model of an arm makes it possible to derive the dynamic and kinematic constraints involved in the transport, assembly and grasping modes of dual-arm cooperation. A task-oriented operational quality measure, (TOQd) is defined by evaluating dual-arm dynamic manipulability in terms of given task requirements. TOQd is used in dual-arm joint configuration optimization. Simulation results are shown. A complete set of forward dynamic equations for a dual-arm system is derived, and dual-arm dynamic operational quality measures for various modes of dual-arm cooperation allowing sliding contacts are established.

Planning Ahead: Object-Directed Sequential Actions Decoded from Human Frontoparietal and Occipitotemporal Networks

PubMed Central

Gallivan, Jason P.; Johnsrude, Ingrid S.; Randall Flanagan, J.

2016-01-01

Object-manipulation tasks (e.g., drinking from a cup) typically involve sequencing together a series of distinct motor acts (e.g., reaching toward, grasping, lifting, and transporting the cup) in order to accomplish some overarching goal (e.g., quenching thirst). Although several studies in humans have investigated the neural mechanisms supporting the planning of visually guided movements directed toward objects (such as reaching or pointing), only a handful have examined how manipulatory sequences of actions—those that occur after an object has been grasped—are planned and represented in the brain. Here, using event-related functional MRI and pattern decoding methods, we investigated the neural basis of real-object manipulation using a delayed-movement task in which participants first prepared and then executed different object-directed action sequences that varied either in their complexity or final spatial goals. Consistent with previous reports of preparatory brain activity in non-human primates, we found that activity patterns in several frontoparietal areas reliably predicted entire action sequences in advance of movement. Notably, we found that similar sequence-related information could also be decoded from pre-movement signals in object- and body-selective occipitotemporal cortex (OTC). These findings suggest that both frontoparietal and occipitotemporal circuits are engaged in transforming object-related information into complex, goal-directed movements. PMID:25576538

Sensory feedback by peripheral nerve stimulation improves task performance in individuals with upper limb loss using a myoelectric prosthesis.

PubMed

Schiefer, Matthew; Tan, Daniel; Sidek, Steven M; Tyler, Dustin J

2016-02-01

Tactile feedback is critical to grip and object manipulation. Its absence results in reliance on visual and auditory cues. Our objective was to assess the effect of sensory feedback on task performance in individuals with limb loss. Stimulation of the peripheral nerves using implanted cuff electrodes provided two subjects with sensory feedback with intensity proportional to forces on the thumb, index, and middle fingers of their prosthetic hand during object manipulation. Both subjects perceived the sensation on their phantom hand at locations corresponding to the locations of the forces on the prosthetic hand. A bend sensor measured prosthetic hand span. Hand span modulated the intensity of sensory feedback perceived on the thenar eminence for subject 1 and the middle finger for subject 2. We performed three functional tests with the blindfolded subjects. First, the subject tried to determine whether or not a wooden block had been placed in his prosthetic hand. Second, the subject had to locate and remove magnetic blocks from a metal table. Third, the subject performed the Southampton Hand Assessment Procedure (SHAP). We also measured the subject's sense of embodiment with a survey and his self-confidence. Blindfolded performance with sensory feedback was similar to sighted performance in the wooden block and magnetic block tasks. Performance on the SHAP, a measure of hand mechanical function and control, was similar with and without sensory feedback. An embodiment survey showed an improved sense of integration of the prosthesis in self body image with sensory feedback. Sensory feedback by peripheral nerve stimulation improved object discrimination and manipulation, embodiment, and confidence. With both forms of feedback, the blindfolded subjects tended toward results obtained with visual feedback.

Does long-term object priming depend on the explicit detection of object identity at encoding?

PubMed Central

Gomes, Carlos A.; Mayes, Andrew

2015-01-01

It is currently unclear whether objects have to be explicitly identified at encoding for reliable behavioral long-term object priming to occur. We conducted two experiments that investigated long-term object and non-object priming using a selective-attention encoding manipulation that reduces explicit object identification. In Experiment 1, participants either counted dots flashed within an object picture (shallow encoding) or engaged in an animacy task (deep encoding) at study, whereas, at test, they performed an object-decision task. Priming, as measured by reaction times (RTs), was observed for both types of encoding, and was of equivalent magnitude. In Experiment 2, non-object priming (faster RTs for studied relative to unstudied non-objects) was also obtained under the same selective-attention encoding manipulation as in Experiment 1, and the magnitude of the priming effect was equivalent between experiments. In contrast, we observed a linear decrement in recognition memory accuracy across conditions (deep encoding of Experiment 1 > shallow encoding Experiment 1 > shallow encoding of Experiment 2), suggesting that priming was not contaminated by explicit memory strategies. We argue that our results are more consistent with the identification/production framework than the perceptual/conceptual distinction, and we conclude that priming of pictures largely ignored at encoding can be subserved by the automatic retrieval of two types of instances: one at the motor level and another at an object-decision level. PMID:25852594

Recent Data Sets on Object Manipulation: A Survey.

PubMed

Huang, Yongqiang; Bianchi, Matteo; Liarokapis, Minas; Sun, Yu

2016-12-01

Data sets is crucial not only for model learning and evaluation but also to advance knowledge on human behavior, thus fostering mutual inspiration between neuroscience and robotics. However, choosing the right data set to use or creating a new data set is not an easy task, because of the variety of data that can be found in the related literature. The first step to tackle this issue is to collect and organize those that are available. In this work, we take a significant step forward by reviewing data sets that were published in the past 10 years and that are directly related to object manipulation and grasping. We report on modalities, activities, and annotations for each individual data set and we discuss our view on its use for object manipulation. We also compare the data sets and summarize them. Finally, we conclude the survey by providing suggestions and discussing the best practices for the creation of new data sets.

Physiological and subjective evaluation of a human-robot object hand-over task.

PubMed

Dehais, Frédéric; Sisbot, Emrah Akin; Alami, Rachid; Causse, Mickaël

2011-11-01

In the context of task sharing between a robot companion and its human partners, the notions of safe and compliant hardware are not enough. It is necessary to guarantee ergonomic robot motions. Therefore, we have developed Human Aware Manipulation Planner (Sisbot et al., 2010), a motion planner specifically designed for human-robot object transfer by explicitly taking into account the legibility, the safety and the physical comfort of robot motions. The main objective of this research was to define precise subjective metrics to assess our planner when a human interacts with a robot in an object hand-over task. A second objective was to obtain quantitative data to evaluate the effect of this interaction. Given the short duration, the "relative ease" of the object hand-over task and its qualitative component, classical behavioral measures based on accuracy or reaction time were unsuitable to compare our gestures. In this perspective, we selected three measurements based on the galvanic skin conductance response, the deltoid muscle activity and the ocular activity. To test our assumptions and validate our planner, an experimental set-up involving Jido, a mobile manipulator robot, and a seated human was proposed. For the purpose of the experiment, we have defined three motions that combine different levels of legibility, safety and physical comfort values. After each robot gesture the participants were asked to rate them on a three dimensional subjective scale. It has appeared that the subjective data were in favor of our reference motion. Eventually the three motions elicited different physiological and ocular responses that could be used to partially discriminate them. Copyright © 2011 Elsevier Ltd and the Ergonomics Society. All rights reserved.

Use of nontraditional flight displays for the reduction of central visual overload in the cockpit

NASA Technical Reports Server (NTRS)

Weinstein, Lisa F.; Wickens, Christopher D.

1992-01-01

The use of nontraditional flight displays to reduce visual overload in the cockpit was investigated in a dual-task paradigm. Three flight displays (central, peripheral, and ecological) were used between subjects for the primary tasks, and the type of secondary task (object identification or motion judgment) and the presentation of the location of the task in the visual field (central or peripheral) were manipulated with groups. The two visual-spatial tasks were time-shared to study the possibility of a compatibility mapping between task type and task location. The ecological display was found to allow for the most efficient time-sharing.

Dusty: an assistive mobile manipulator that retrieves dropped objects for people with motor impairments.

PubMed

King, Chih-Hung; Chen, Tiffany L; Fan, Zhengqin; Glass, Jonathan D; Kemp, Charles C

2012-03-01

People with physical disabilities have ranked object retrieval as a high-priority task for assistive robots. We have developed Dusty, a teleoperated mobile manipulator that fetches objects from the floor and delivers them to users at a comfortable height. In this paper, we first demonstrate the robot's high success rate (98.4%) when autonomously grasping 25 objects considered being important by people with amyotrophic lateral sclerosis (ALS). We tested the robot with each object in five different configurations on five types of flooring. We then present the results of an experiment in which 20 people with ALS operated Dusty. Participants teleoperated Dusty to move around an obstacle, pick up an object and deliver the object to themselves. They successfully completed this task in 59 out of 60 trials (3 trials each) with a mean completion time of 61.4 SD = 20.5 seconds), and reported high overall satisfaction using Dusty (7-point Likert scale; 6.8 SD = 0.6). Participants rated Dusty to be significantly easier to use than their own hands, asking family members, and using mechanical reachers (p < 0.03, paired t-tests). Fourteen of the 20 participants reported that they would prefer using Dusty over their current methods. [Box: see text].

Dusty: an assistive mobile manipulator that retrieves dropped objects for people with motor impairments

PubMed Central

King, Chih-Hung; Chen, Tiffany L; Fan, Zhengqin; Glass, Jonathan D; Kemp, Charles C

2012-01-01

People with physical disabilities have ranked object retrieval as a high priority task for assistive robots. We have developed Dusty, a teleoperated mobile manipulator that fetches objects from the floor and delivers them to users at a comfortable height. In this paper, we first demonstrate the robot's high success rate (98.4%) when autonomously grasping 25 objects considered important by people with amyotrophic lateral sclerosis (ALS). We tested the robot with each object in five different configurations on five types of flooring. We then present the results of an experiment in which 20 people with ALS operated Dusty. Participants teleoperated Dusty to move around an obstacle, pick up an object, and deliver the object to themselves. They successfully completed this task in 59 out of 60 trials (3 trials each) with a mean completion time of 61.4 seconds (SD=20.5 seconds), and reported high overall satisfaction using Dusty (7-point Likert scale; 6.8 SD=0.6). Participants rated Dusty to be significantly easier to use than their own hands, asking family members, and using mechanical reachers (p < 0.03, paired t-tests). 14 of the 20 participants reported that they would prefer using Dusty over their current methods. PMID:22013888

In a demanding task, three-handed manipulation is preferred to two-handed manipulation

NASA Astrophysics Data System (ADS)

Abdi, Elahe; Burdet, Etienne; Bouri, Mohamed; Himidan, Sharifa; Bleuler, Hannes

2016-02-01

Equipped with a third hand under their direct control, surgeons may be able to perform certain surgical interventions alone; this would reduce the need for a human assistant and related coordination difficulties. However, does human performance improve with three hands compared to two hands? To evaluate this possibility, we carried out a behavioural study on the performance of naive adults catching objects with three virtual hands controlled by their two hands and right foot. The subjects could successfully control the virtual hands in a few trials. With this control strategy, the workspace of the hands was inversely correlated with the task velocity. The comparison of performance between the three and two hands control revealed no significant difference of success in catching falling objects and in average effort during the tasks. Subjects preferred the three handed control strategy, found it easier, with less physical and mental burden. Although the coordination of the foot with the natural hands increased trial after trial, about two minutes of practice was not sufficient to develop a sense of ownership towards the third arm.

In a demanding task, three-handed manipulation is preferred to two-handed manipulation.

PubMed

Abdi, Elahe; Burdet, Etienne; Bouri, Mohamed; Himidan, Sharifa; Bleuler, Hannes

2016-02-25

Equipped with a third hand under their direct control, surgeons may be able to perform certain surgical interventions alone; this would reduce the need for a human assistant and related coordination difficulties. However, does human performance improve with three hands compared to two hands? To evaluate this possibility, we carried out a behavioural study on the performance of naive adults catching objects with three virtual hands controlled by their two hands and right foot. The subjects could successfully control the virtual hands in a few trials. With this control strategy, the workspace of the hands was inversely correlated with the task velocity. The comparison of performance between the three and two hands control revealed no significant difference of success in catching falling objects and in average effort during the tasks. Subjects preferred the three handed control strategy, found it easier, with less physical and mental burden. Although the coordination of the foot with the natural hands increased trial after trial, about two minutes of practice was not sufficient to develop a sense of ownership towards the third arm.

Effects of lesions to the left lateral prefrontal cortex on task-specific top-down biases and response strategies in blocked-cyclic naming.

PubMed

Belke, Eva

Anders, Riès, van Maanen and Alario put forward evidence accumulation modelling of object naming times as an alternative to neural network models of lexical retrieval. The authors exemplify their approach using data from the blocked-cyclic naming paradigm, requiring speakers to repeatedly name small sets of related or unrelated objects. The effects observed with this paradigm are understood reasonably well within the tradition of neural network modelling. However, implemented neural network models do not specify interfaces for task-specific top-down influences and response strategies that are likely to play a role in the blocked-cyclic naming paradigm, distinguishing it from continuous, non-cyclic manipulations of the naming context. I argue that the evidence accumulation approach falls short on this account as well, as it does not specify the potential contribution of task-specific top-down processes and strategic facilitation effects to the response time distributions. Future endeavours to model or fit data from blocked-cyclic naming experiments should strive to do so by simultaneously considering data from continuous context manipulations.

Simulation-based intelligent robotic agent for Space Station Freedom

NASA Technical Reports Server (NTRS)

Biegl, Csaba A.; Springfield, James F.; Cook, George E.; Fernandez, Kenneth R.

1990-01-01

A robot control package is described which utilizes on-line structural simulation of robot manipulators and objects in their workspace. The model-based controller is interfaced with a high level agent-independent planner, which is responsible for the task-level planning of the robot's actions. Commands received from the agent-independent planner are refined and executed in the simulated workspace, and upon successful completion, they are transferred to the real manipulators.

Child–Adult Differences in Using Dual-Task Paradigms to Measure Listening Effort

PubMed Central

Charles, Lauren M.; Ricketts, Todd A.

2017-01-01

Purpose The purpose of the project was to investigate the effects modifying the secondary task in a dual-task paradigm to measure objective listening effort. To be specific, the complexity and depth of processing were increased relative to a simple secondary task. Method Three dual-task paradigms were developed for school-age children. The primary task was word recognition. The secondary task was a physical response to a visual probe (simple task), a physical response to a complex probe (increased complexity), or word categorization (increased depth of processing). Sixteen adults (22–32 years, M = 25.4) and 22 children (9–17 years, M = 13.2) were tested using the 3 paradigms in quiet and noise. Results For both groups, manipulations of the secondary task did not affect word recognition performance. For adults, increasing depth of processing increased the calculated effect of noise; however, for children, results with the deep secondary task were the least stable. Conclusions Manipulations of the secondary task differentially affected adults and children. Consistent with previous findings, increased depth of processing enhanced paradigm sensitivity for adults. However, younger participants were more likely to demonstrate the expected effects of noise on listening effort using a secondary task that did not require deep processing. PMID:28346816

Inverting the planning gradient: adjustment of grasps to late segments of multi-step object manipulations.

PubMed

Mathew, Hanna; Kunde, Wilfried; Herbort, Oliver

2017-05-01

When someone grasps an object, the grasp depends on the intended object manipulation and usually facilitates it. If several object manipulation steps are planned, the first step has been reported to primarily determine the grasp selection. We address whether the grasp can be aligned to the second step, if the second step's requirements exceed those of the first step. Participants grasped and rotated a dial first by a small extent and then by various extents in the opposite direction, without releasing the dial. On average, when the requirements of the first and the second step were similar, participants mostly aligned the grasp to the first step. When the requirements of the second step were considerably higher, participants aligned the grasp to the second step, even though the first step still had a considerable impact. Participants employed two different strategies. One subgroup initially aligned the grasp to the first step and then ceased adjusting the grasp to either step. Another group also initially aligned the grasp to the first step and then switched to aligning it primarily to the second step. The data suggest that participants are more likely to switch to the latter strategy when they experienced more awkward arm postures. In summary, grasp selections for multi-step object manipulations can be aligned to the second object manipulation step, if the requirements of this step clearly exceed those of the first step and if participants have some experience with the task.

Scene Configuration and Object Reliability Affect the Use of Allocentric Information for Memory-Guided Reaching

PubMed Central

Klinghammer, Mathias; Blohm, Gunnar; Fiehler, Katja

2017-01-01

Previous research has shown that egocentric and allocentric information is used for coding target locations for memory-guided reaching movements. Especially, task-relevance determines the use of objects as allocentric cues. Here, we investigated the influence of scene configuration and object reliability as a function of task-relevance on allocentric coding for memory-guided reaching. For that purpose, we presented participants images of a naturalistic breakfast scene with five objects on a table and six objects in the background. Six of these objects served as potential reach-targets (= task-relevant objects). Participants explored the scene and after a short delay, a test scene appeared with one of the task-relevant objects missing, indicating the location of the reach target. After the test scene vanished, participants performed a memory-guided reaching movement toward the target location. Besides removing one object from the test scene, we also shifted the remaining task-relevant and/or task-irrelevant objects left- or rightwards either coherently in the same direction or incoherently in opposite directions. By varying object coherence, we manipulated the reliability of task-relevant and task-irrelevant objects in the scene. In order to examine the influence of scene configuration (distributed vs. grouped arrangement of task-relevant objects) on allocentric coding, we compared the present data with our previously published data set (Klinghammer et al., 2015). We found that reaching errors systematically deviated in the direction of object shifts, but only when the objects were task-relevant and their reliability was high. However, this effect was substantially reduced when task-relevant objects were distributed across the scene leading to a larger target-cue distance compared to a grouped configuration. No deviations of reach endpoints were observed in conditions with shifts of only task-irrelevant objects or with low object reliability irrespective of task-relevancy. Moreover, when solely task-relevant objects were shifted incoherently, the variability of reaching endpoints increased compared to coherent shifts of task-relevant objects. Our results suggest that the use of allocentric information for coding targets for memory-guided reaching depends on the scene configuration, in particular the average distance of the reach target to task-relevant objects, and the reliability of task-relevant allocentric information. PMID:28450826

Scene Configuration and Object Reliability Affect the Use of Allocentric Information for Memory-Guided Reaching.

PubMed

Klinghammer, Mathias; Blohm, Gunnar; Fiehler, Katja

2017-01-01

Previous research has shown that egocentric and allocentric information is used for coding target locations for memory-guided reaching movements. Especially, task-relevance determines the use of objects as allocentric cues. Here, we investigated the influence of scene configuration and object reliability as a function of task-relevance on allocentric coding for memory-guided reaching. For that purpose, we presented participants images of a naturalistic breakfast scene with five objects on a table and six objects in the background. Six of these objects served as potential reach-targets (= task-relevant objects). Participants explored the scene and after a short delay, a test scene appeared with one of the task-relevant objects missing, indicating the location of the reach target. After the test scene vanished, participants performed a memory-guided reaching movement toward the target location. Besides removing one object from the test scene, we also shifted the remaining task-relevant and/or task-irrelevant objects left- or rightwards either coherently in the same direction or incoherently in opposite directions. By varying object coherence, we manipulated the reliability of task-relevant and task-irrelevant objects in the scene. In order to examine the influence of scene configuration (distributed vs. grouped arrangement of task-relevant objects) on allocentric coding, we compared the present data with our previously published data set (Klinghammer et al., 2015). We found that reaching errors systematically deviated in the direction of object shifts, but only when the objects were task-relevant and their reliability was high. However, this effect was substantially reduced when task-relevant objects were distributed across the scene leading to a larger target-cue distance compared to a grouped configuration. No deviations of reach endpoints were observed in conditions with shifts of only task-irrelevant objects or with low object reliability irrespective of task-relevancy. Moreover, when solely task-relevant objects were shifted incoherently, the variability of reaching endpoints increased compared to coherent shifts of task-relevant objects. Our results suggest that the use of allocentric information for coding targets for memory-guided reaching depends on the scene configuration, in particular the average distance of the reach target to task-relevant objects, and the reliability of task-relevant allocentric information.

High School Students' Forming 3D Objects Using Technological and Non-Technological Tools

ERIC Educational Resources Information Center

Okumus, Samet; Hollebrands, Karen

2016-01-01

We analyzed the ways in which two high school students formed 3D objects from the rotation of 2D figures. The students participated in a task-based interview using paper-and-pencil, manipulatives, and Cabri 3D. The results indicated that they had difficulty using paper-and-pencil to rotate 2D figures to form 3D objects. Their difficulty stemmed…

Cortical Circuit for Binding Object Identity and Location During Multiple-Object Tracking

PubMed Central

Nummenmaa, Lauri; Oksama, Lauri; Glerean, Erico; Hyönä, Jukka

2017-01-01

Abstract Sustained multifocal attention for moving targets requires binding object identities with their locations. The brain mechanisms of identity-location binding during attentive tracking have remained unresolved. In 2 functional magnetic resonance imaging experiments, we measured participants’ hemodynamic activity during attentive tracking of multiple objects with equivalent (multiple-object tracking) versus distinct (multiple identity tracking, MIT) identities. Task load was manipulated parametrically. Both tasks activated large frontoparietal circuits. MIT led to significantly increased activity in frontoparietal and temporal systems subserving object recognition and working memory. These effects were replicated when eye movements were prohibited. MIT was associated with significantly increased functional connectivity between lateral temporal and frontal and parietal regions. We propose that coordinated activity of this network subserves identity-location binding during attentive tracking. PMID:27913430

An involuntary stereotypical grasp tendency pervades voluntary dynamic multifinger manipulation

PubMed Central

Rácz, Kornelius; Brown, Daniel

2012-01-01

We used a novel apparatus with three hinged finger pads to characterize collaborative multifinger interactions during dynamic manipulation requiring individuated control of fingertip motions and forces. Subjects placed the thumb, index, and middle fingertips on each hinged finger pad and held it—unsupported—with constant total grasp force while voluntarily oscillating the thumb's pad. This task combines the need to 1) hold the object against gravity while 2) dynamically reconfiguring the grasp. Fingertip force variability in this combined motion and force task exhibited strong synchrony among normal (i.e., grasp) forces. Mechanical analysis and simulation show that such synchronous variability is unnecessary and cannot be explained solely by signal-dependent noise. Surprisingly, such variability also pervaded control tasks requiring different individuated fingertip motions and forces, but not tasks without finger individuation such as static grasp. These results critically extend notions of finger force variability by exposing and quantifying a pervasive challenge to dynamic multifinger manipulation: the need for the neural controller to carefully and continuously overlay individuated finger actions over mechanically unnecessary synchronous interactions. This is compatible with—and may explain—the phenomenology of strong coupling of hand muscles when this delicate balance is not yet developed, as in early childhood, or when disrupted, as in brain injury. We conclude that the control of healthy multifinger dynamic manipulation has barely enough neuromechanical degrees of freedom to meet the multiple demands of ecological tasks and critically depends on the continuous inhibition of synchronous grasp tendencies, which we speculate may be of vestigial evolutionary origin. PMID:22956798

Detecting Target Objects by Natural Language Instructions Using an RGB-D Camera

PubMed Central

Bao, Jiatong; Jia, Yunyi; Cheng, Yu; Tang, Hongru; Xi, Ning

2016-01-01

Controlling robots by natural language (NL) is increasingly attracting attention for its versatility, convenience and no need of extensive training for users. Grounding is a crucial challenge of this problem to enable robots to understand NL instructions from humans. This paper mainly explores the object grounding problem and concretely studies how to detect target objects by the NL instructions using an RGB-D camera in robotic manipulation applications. In particular, a simple yet robust vision algorithm is applied to segment objects of interest. With the metric information of all segmented objects, the object attributes and relations between objects are further extracted. The NL instructions that incorporate multiple cues for object specifications are parsed into domain-specific annotations. The annotations from NL and extracted information from the RGB-D camera are matched in a computational state estimation framework to search all possible object grounding states. The final grounding is accomplished by selecting the states which have the maximum probabilities. An RGB-D scene dataset associated with different groups of NL instructions based on different cognition levels of the robot are collected. Quantitative evaluations on the dataset illustrate the advantages of the proposed method. The experiments of NL controlled object manipulation and NL-based task programming using a mobile manipulator show its effectiveness and practicability in robotic applications. PMID:27983604

Generating Complaint Motion of Objects with an Articulated Hand

DTIC Science & Technology

1985-06-01

we consider the motions of rigid objects as the solhtions to a con- straint problem. We will examine the task of manipulation in the context of...describe the motion of a rigid object is equivalent to specifying sufficient constraint equations on these unknowns such that they are uniquely...assumption of rigidity . When a rigid object is constrained by a set of contacts, its motion must be consistent with those of the contacts, i.e. its

The validation of procedures to assess prevocational task preferences in retarded adults.

PubMed

Mithaug, D E; Hanawalt, D A

1978-01-01

Three severely retarded young adults between the ages of 19 and 21 years participated in a prevocational training program, and worked regularly on six different tasks during the scheduled six-hour day. The study attempted to assess each subject's preferences for the six tasks: collating, stuffing, sorting, pulley assembly, flour-sifter assembly, and circuit-board stuffing. In Phase I, the procedure consisted of randomly pairing each task with all other tasks in a two-choice situation that required the subjects to select one task from each pair combination to work for a seven-minute period. The selection procedure consisted of presenting two representative task objects on a tray and requesting the subject to pick up one object and place it on the work table. The object selected represented the task worked for that period. The 15 possible pair combinations were presented randomly every two days for a period of 34 days to determine the preferences. During the validation phase (Phase II), each subject's least- and most-preferred tasks were paired separately with moderately-preferred tasks. As expected, these manipulations confirmed the baseline data, as choices for the moderately-preferred tasks decreased when consistently paired with the preferred tasks and increased when consistently paired with the least-preferred tasks.

Feature bindings endure without attention: evidence from an explicit recall task.

PubMed

Gajewski, Daniel A; Brockmole, James R

2006-08-01

Are integrated objects the unit of capacity of visual working memory, or is continued attention needed to maintain bindings between independently stored features? In a delayed recall task, participants reported the color and shape of a probed item from a memory array. During the delay, attention was manipulated with an exogenous cue. Recall was elevated at validly cued positions, indicating that the cue affected item memory. On invalid trials, participants most frequently recalled either both features (perfect object memory) or neither of the two features (no object memory); the frequency with which only one feature was recalled was significantly lower than predicted by feature independence as determined in a single-feature recall task. These data do not support the view that features are remembered independently when attention is withdrawn. Instead, integrated objects are stored in visual working memory without need for continued attention.

User Manual for the Data-Series Interface of the Gr Application Software

USGS Publications Warehouse

Donovan, John M.

2009-01-01

This manual describes the data-series interface for the Gr Application software. Basic tasks such as plotting, editing, manipulating, and printing data series are presented. The properties of the various types of data objects and graphical objects used within the application, and the relationships between them also are presented. Descriptions of compatible data-series file formats are provided.

Motion-Capture-Enabled Software for Gestural Control of 3D Models

NASA Technical Reports Server (NTRS)

Norris, Jeffrey S.; Luo, Victor; Crockett, Thomas M.; Shams, Khawaja S.; Powell, Mark W.; Valderrama, Anthony

2012-01-01

Current state-of-the-art systems use general-purpose input devices such as a keyboard, mouse, or joystick that map to tasks in unintuitive ways. This software enables a person to control intuitively the position, size, and orientation of synthetic objects in a 3D virtual environment. It makes possible the simultaneous control of the 3D position, scale, and orientation of 3D objects using natural gestures. Enabling the control of 3D objects using a commercial motion-capture system allows for natural mapping of the many degrees of freedom of the human body to the manipulation of the 3D objects. It reduces training time for this kind of task, and eliminates the need to create an expensive, special-purpose controller.

Task-oriented training with computer gaming in people with rheumatoid arthritisor osteoarthritis of the hand: study protocol of a randomized controlled pilot trial.

PubMed

Srikesavan, Cynthia Swarnalatha; Shay, Barbara; Robinson, David B; Szturm, Tony

2013-03-09

Significant restriction in the ability to participate in home, work and community life results from pain, fatigue, joint damage, stiffness and reduced joint range of motion and muscle strength in people with rheumatoid arthritis or osteoarthritis of the hand. With modest evidence on the therapeutic effectiveness of conventional hand exercises, a task-oriented training program via real life object manipulations has been developed for people with arthritis. An innovative, computer-based gaming platform that allows a broad range of common objects to be seamlessly transformed into therapeutic input devices through instrumentation with a motion-sense mouse has also been designed. Personalized objects are selected to target specific training goals such as graded finger mobility, strength, endurance or fine/gross dexterous functions. The movements and object manipulation tasks that replicate common situations in everyday living will then be used to control and play any computer game, making practice challenging and engaging. The ongoing study is a 6-week, single-center, parallel-group, equally allocated and assessor-blinded pilot randomized controlled trial. Thirty people with rheumatoid arthritis or osteoarthritis affecting the hand will be randomized to receive either conventional hand exercises or the task-oriented training. The purpose is to determine a preliminary estimation of therapeutic effectiveness and feasibility of the task-oriented training program. Performance based and self-reported hand function, and exercise compliance are the study outcomes. Changes in outcomes (pre to post intervention) within each group will be assessed by paired Student t test or Wilcoxon signed-rank test and between groups (control versus experimental) post intervention using unpaired Student t test or Mann-Whitney U test. The study findings will inform decisions on the feasibility, safety and completion rate and will also provide preliminary data on the treatment effects of the task-oriented training compared with conventional hand exercises in people with rheumatoid arthritis or osteoarthritis of the hand. ClinicalTrials.gov: NCT01635582.

Safety margins in older adults increase with improved control of a dynamic object

PubMed Central

Hasson, Christopher J.; Sternad, Dagmar

2014-01-01

Older adults face decreasing motor capabilities due to pervasive neuromuscular degradations. As a consequence, errors in movement control increase. Thus, older individuals should maintain larger safety margins than younger adults. While this has been shown for object manipulation tasks, several reports on whole-body activities, such as posture and locomotion, demonstrate age-related reductions in safety margins. This is despite increased costs for control errors, such as a fall. We posit that this paradox could be explained by the dynamic challenge presented by the body or also an external object, and that age-related reductions in safety margins are in part due to a decreased ability to control dynamics. To test this conjecture we used a virtual ball-in-cup task that had challenging dynamics, yet afforded an explicit rendering of the physics and safety margin. The hypotheses were: (1) When manipulating an object with challenging dynamics, older adults have smaller safety margins than younger adults. (2) Older adults increase their safety margins with practice. Nine young and 10 healthy older adults practiced moving the virtual ball-in-cup to a target location in exactly 2 s. The accuracy and precision of the timing error quantified skill, and the ball energy relative to an escape threshold quantified the safety margin. Compared to the young adults, older adults had increased timing errors, greater variability, and decreased safety margins. With practice, both young and older adults improved their ability to control the object with decreased timing errors and variability, and increased their safety margins. These results suggest that safety margins are related to the ability to control dynamics, and may explain why in tasks with simple dynamics older adults use adequate safety margins, but in more complex tasks, safety margins may be inadequate. Further, the results indicate that task-specific training may improve safety margins in older adults. PMID:25071566

Experiments in Nonlinear Adaptive Control of Multi-Manipulator, Free-Flying Space Robots

NASA Technical Reports Server (NTRS)

Chen, Vincent Wei-Kang

1992-01-01

Sophisticated robots can greatly enhance the role of humans in space by relieving astronauts of low level, tedious assembly and maintenance chores and allowing them to concentrate on higher level tasks. Robots and astronauts can work together efficiently, as a team; but the robot must be capable of accomplishing complex operations and yet be easy to use. Multiple cooperating manipulators are essential to dexterity and can broaden greatly the types of activities the robot can achieve; adding adaptive control can ease greatly robot usage by allowing the robot to change its own controller actions, without human intervention, in response to changes in its environment. Previous work in the Aerospace Robotics Laboratory (ARL) have shown the usefulness of a space robot with cooperating manipulators. The research presented in this dissertation extends that work by adding adaptive control. To help achieve this high level of robot sophistication, this research made several advances to the field of nonlinear adaptive control of robotic systems. A nonlinear adaptive control algorithm developed originally for control of robots, but requiring joint positions as inputs, was extended here to handle the much more general case of manipulator endpoint-position commands. A new system modelling technique, called system concatenation was developed to simplify the generation of a system model for complicated systems, such as a free-flying multiple-manipulator robot system. Finally, the task-space concept was introduced wherein the operator's inputs specify only the robot's task. The robot's subsequent autonomous performance of each task still involves, of course, endpoint positions and joint configurations as subsets. The combination of these developments resulted in a new adaptive control framework that is capable of continuously providing full adaptation capability to the complex space-robot system in all modes of operation. The new adaptive control algorithm easily handles free-flying systems with multiple, interacting manipulators, and extends naturally to even larger systems. The new adaptive controller was experimentally demonstrated on an ideal testbed in the ARL-A first-ever experimental model of a multi-manipulator, free-flying space robot that is capable of capturing and manipulating free-floating objects without requiring human assistance. A graphical user interface enhanced the robot usability: it enabled an operator situated at a remote location to issue high-level task description commands to the robot, and to monitor robot activities as it then carried out each assignment autonomously.

Learned Manipulation at Unconstrained Contacts Does Not Transfer across Hands

PubMed Central

Fu, Qiushi; Choi, Jason Y.; Gordon, Andrew M.; Jesunathadas, Mark; Santello, Marco

2014-01-01

Recent studies about sensorimotor control of the human hand have focused on how dexterous manipulation is learned and generalized. Here we address this question by testing the extent to which learned manipulation can be transferred when the contralateral hand is used and/or object orientation is reversed. We asked subjects to use a precision grip to lift a grip device with an asymmetrical mass distribution while minimizing object roll during lifting by generating a compensatory torque. Subjects were allowed to grasp anywhere on the object’s vertical surfaces, and were therefore able to modulate both digit positions and forces. After every block of eight trials performed in one manipulation context (i.e., using the right hand and at a given object orientation), subjects had to lift the same object in the second context for one trial (transfer trial). Context changes were made by asking subjects to switch the hand used to lift the object and/or rotate the object 180° about a vertical axis. Therefore, three transfer conditions, hand switch (HS), object rotation (OR), and both hand switch and object rotation (HS+OR), were tested and compared with hand matched control groups who did not experience context changes. We found that subjects in all transfer conditions adapted digit positions across multiple transfer trials similar to the learning of control groups, regardless of different changes of contexts. Moreover, subjects in both HS and HS+OR group also adapted digit forces similar to the control group, suggesting independent learning of the left hand. In contrast, the OR group showed significant negative transfer of the compensatory torque due to an inability to adapt digit forces. Our results indicate that internal representations of dexterous manipulation tasks may be primarily built through the hand used for learning and cannot be transferred across hands. PMID:25233091

Intelligent control of neurosurgical robot MM-3 using dynamic motion scaling.

PubMed

Ko, Sunho; Nakazawa, Atsushi; Kurose, Yusuke; Harada, Kanako; Mitsuishi, Mamoru; Sora, Shigeo; Shono, Naoyuki; Nakatomi, Hirofumi; Saito, Nobuhito; Morita, Akio

2017-05-01

OBJECTIVE Advanced and intelligent robotic control is necessary for neurosurgical robots, which require great accuracy and precision. In this article, the authors propose methods for dynamically and automatically controlling the motion-scaling ratio of a master-slave neurosurgical robotic system to reduce the task completion time. METHODS Three dynamic motion-scaling modes were proposed and compared with the conventional fixed motion-scaling mode. These 3 modes were defined as follows: 1) the distance between a target point and the tip of the slave manipulator, 2) the distance between the tips of the slave manipulators, and 3) the velocity of the master manipulator. Five test subjects, 2 of whom were neurosurgeons, sutured 0.3-mm artificial blood vessels using the MM-3 neurosurgical robot in each mode. RESULTS The task time, total path length, and helpfulness score were evaluated. Although no statistically significant differences were observed, the mode using the distance between the tips of the slave manipulators improves the suturing performance. CONCLUSIONS Dynamic motion scaling has great potential for the intelligent and accurate control of neurosurgical robots.

Coordinating complex problem-solving among distributed intelligent agents

NASA Technical Reports Server (NTRS)

Adler, Richard M.

1992-01-01

A process-oriented control model is described for distributed problem solving. The model coordinates the transfer and manipulation of information across independent networked applications, both intelligent and conventional. The model was implemented using SOCIAL, a set of object-oriented tools for distributing computing. Complex sequences of distributed tasks are specified in terms of high level scripts. Scripts are executed by SOCIAL objects called Manager Agents, which realize an intelligent coordination model that routes individual tasks to suitable server applications across the network. These tools are illustrated in a prototype distributed system for decision support of ground operations for NASA's Space Shuttle fleet.

Mapping of the Underlying Neural Mechanisms of Maintenance and Manipulation in Visuo-Spatial Working Memory Using An n-back Mental Rotation Task: A Functional Magnetic Resonance Imaging Study.

PubMed

Lamp, Gemma; Alexander, Bonnie; Laycock, Robin; Crewther, David P; Crewther, Sheila G

2016-01-01

Mapping of the underlying neural mechanisms of visuo-spatial working memory (WM) has been shown to consistently elicit activity in right hemisphere dominant fronto-parietal networks. However to date, the bulk of neuroimaging literature has focused largely on the maintenance aspect of visuo-spatial WM, with a scarcity of research into the aspects of WM involving manipulation of information. Thus, this study aimed to compare maintenance-only with maintenance and manipulation of visuo-spatial stimuli (3D cube shapes) utilizing a 1-back task while functional magnetic resonance imaging (fMRI) scans were acquired. Sixteen healthy participants (9 women, M = 23.94 years, SD = 2.49) were required to perform the 1-back task with or without mentally rotating the shapes 90° on a vertical axis. When no rotation was required (maintenance-only condition), a right hemispheric lateralization was revealed across fronto-parietal areas. However, when the task involved maintaining and manipulating the same stimuli through 90° rotation, activation was primarily seen in the bilateral parietal lobe and left fusiform gyrus. The findings confirm that the well-established right lateralized fronto-parietal networks are likely to underlie simple maintenance of visuo-spatial stimuli. The results also suggest that the added demand of manipulation of information maintained online appears to require further neural recruitment of functionally related areas. In particular mental rotation of visuospatial stimuli required bilateral parietal areas, and the left fusiform gyrus potentially to maintain a categorical or object representation. It can be concluded that WM is a complex neural process involving the interaction of an increasingly large network.

Mapping of the Underlying Neural Mechanisms of Maintenance and Manipulation in Visuo-Spatial Working Memory Using An n-back Mental Rotation Task: A Functional Magnetic Resonance Imaging Study

PubMed Central

Lamp, Gemma; Alexander, Bonnie; Laycock, Robin; Crewther, David P.; Crewther, Sheila G.

2016-01-01

Mapping of the underlying neural mechanisms of visuo-spatial working memory (WM) has been shown to consistently elicit activity in right hemisphere dominant fronto-parietal networks. However to date, the bulk of neuroimaging literature has focused largely on the maintenance aspect of visuo-spatial WM, with a scarcity of research into the aspects of WM involving manipulation of information. Thus, this study aimed to compare maintenance-only with maintenance and manipulation of visuo-spatial stimuli (3D cube shapes) utilizing a 1-back task while functional magnetic resonance imaging (fMRI) scans were acquired. Sixteen healthy participants (9 women, M = 23.94 years, SD = 2.49) were required to perform the 1-back task with or without mentally rotating the shapes 90° on a vertical axis. When no rotation was required (maintenance-only condition), a right hemispheric lateralization was revealed across fronto-parietal areas. However, when the task involved maintaining and manipulating the same stimuli through 90° rotation, activation was primarily seen in the bilateral parietal lobe and left fusiform gyrus. The findings confirm that the well-established right lateralized fronto-parietal networks are likely to underlie simple maintenance of visuo-spatial stimuli. The results also suggest that the added demand of manipulation of information maintained online appears to require further neural recruitment of functionally related areas. In particular mental rotation of visuospatial stimuli required bilateral parietal areas, and the left fusiform gyrus potentially to maintain a categorical or object representation. It can be concluded that WM is a complex neural process involving the interaction of an increasingly large network. PMID:27199694

Effects of paired-object affordance in search tasks across the adult lifespan.

PubMed

Wulff, Melanie; Stainton, Alexandra; Rotshtein, Pia

2016-06-01

The study investigated the processes underlying the retrieval of action information about functional object pairs, focusing on the contribution of procedural and semantic knowledge. We further assessed whether the retrieval of action knowledge is affected by task demands and age. The contribution of procedural knowledge was examined by the way objects were selected, specifically whether active objects were selected before passive objects. The contribution of semantic knowledge was examined by manipulating the relation between targets and distracters. A touchscreen-based search task was used testing young, middle-aged, and elderly participants. Participants had to select by touching two targets among distracters using two search tasks. In an explicit action search task, participants had to select two objects which afforded a mutual action (e.g., functional pair: hammer-nail). Implicit affordance perception was tested using a visual color-matching search task; participants had to select two objects with the same colored frame. In both tasks, half of the colored targets also afforded an action. Overall, middle-aged participants performed better than young and elderly participants, specifically in the action task. Across participants in the action task, accuracy was increased when the distracters were semantically unrelated to the functional pair, while the opposite pattern was observed in the color task. This effect was enhanced with increased age. In the action task all participants utilized procedural knowledge, i.e., selected the active object before the passive object. This result supports the dual-route account from vision to action. Semantic knowledge contributed to both the action and the color task, but procedural knowledge associated with the direct route was primarily retrieved when the task was action-relevant. Across the adulthood lifespan, the data show inverted U-shaped effects of age on the retrieval of action knowledge. Age also linearly increased the involvement of the indirect (semantic) route and the integration of information of the direct and the indirect routes in selection processes. Copyright © 2016 Elsevier Inc. All rights reserved.

Development of a theoretically based treatment for sentence comprehension deficits in individuals with aphasia.

PubMed

Kiran, Swathi; Caplan, David; Sandberg, Chaleece; Levy, Joshua; Berardino, Alex; Ascenso, Elsa; Villard, Sarah; Tripodis, Yorghos

2012-05-01

Two new treatments, 1 based on sentence to picture matching (SPM) and the other on object manipulation (OM), that train participants on the thematic roles of sentences using pictures or by manipulating objects were piloted. Using a single-subject multiple-baseline design, sentence comprehension was trained on the affected sentence type in 1 task-related protocol in 15 participants with aphasia. The 2 tasks were SPM and OM; the treatment stimuli were object relatives, object clefts, passives, and unaccusatives, as well as two control structures-object relatives with a complex noun phrase (NP) and active sentences with three NPs. The criteria for efficacious treatment was an increase in the level of performance from the pretreatment probes to the posttreatment probes for the treated structure such that accuracy rose from at or below chance to above chance and either (a) accuracy rose by 33% or (b) the effect size was 2.6. Based on these criteria, the success rate for training the target structure was 2/6 participants in the SPM condition and 4/7 participants in the OM condition. The outcome of this study illustrates the utility of this theoretically motivated and efficacious treatment for sentence comprehension deficits in individuals with aphasia.

Short Term Memory, Working Memory, and Syntactic Comprehension in Aphasia

PubMed Central

Caplan, David; Michaud, Jennifer; Hufford, Rebecca

2013-01-01

Sixty one people with aphasia were tested on ten tests of short term memory (STM) and for the ability to use syntactic structure to determine the meanings of eleven types of sentences in three tasks – object manipulation, picture matching and picture matching with self-paced listening. Multilevel models showed relationships between measures of the ability to retain and manipulate item and order information in STM and accuracy and RT, and a greater relationship between these STM measures and accuracy and RT for several more complex sentence types in individual tasks. There were no effects of measures of STM that reflect the use of phonological codes or rehearsal on comprehension. There was only one effect of STM measures on self-paced listening times. There were double dissociations between performance on STM and individual comprehension tasks, indicating that normal STM is not necessary to perform normally on these tasks. The results are most easily related to the view that STM plays a facilitatory role in supporting the use of the products of the comprehension process to accomplish operations related to tasks. PMID:23865692

Redundant arm control in a supervisory and shared control system

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Long, Mark K.

1992-01-01

The Extended Task Space Control approach to robotic operations based on manipulator behaviors derived from task requirements is described. No differentiation between redundant and non-redundant robots is made at the task level. The manipulation task behaviors are combined into a single set of motion commands. The manipulator kinematics are used subsequently in mapping motion commands into actuator commands. Extended Task Space Control is applied to a Robotics Research K-1207 seven degree-of-freedom manipulator in a supervisory telerobot system as an example.

Hyperactivity in boys with attention deficit/hyperactivity disorder (ADHD): the association between deficient behavioral inhibition, attentional processes, and objectively measured activity.

PubMed

Alderson, R Matt; Rapport, Mark D; Kasper, Lisa J; Sarver, Dustin E; Kofler, Michael J

2012-01-01

Contemporary models of ADHD hypothesize that hyperactivity reflects a byproduct of inhibition deficits. The current study investigated the relationship between children's motor activity and behavioral inhibition by experimentally manipulating demands placed on the limited-resource inhibition system. Twenty-two boys (ADHD = 11, TD = 11) between the ages of 8 and 12 years completed a conventional stop-signal task, two choice-task variants (no-tone, ignore-tone), and control tasks while their motor activity was measured objectively by actigraphs placed on their nondominant wrist and ankles. All children exhibited significantly higher activity rates under all three experimental tasks relative to control conditions, and children with ADHD moved significantly more than typically developing children across conditions. No differences in activity level were observed between the inhibition and noninhibition experimental tasks for either group, indicating that activity level was primarily associated with basic attentional rather than behavioral inhibition processes.

Two-Thumbed Robot Hand

NASA Technical Reports Server (NTRS)

Lee, Sukhan

1989-01-01

Robot hand includes thumblike members on left and right sides and fingerlike member at middle. Configuration of digits enables hand to adapt to variously shaped objects, grasp them robustly and reliably, and manipulate them. Reduces complexity of control mechanisms and provides kinesthetic perception of shapes of grasped objects. Mechanical hand with two thumbs and middle finger made from commercially available components. With specially designed dc motors and assemblies of gears, size of hand reduced considerably. Suited to handling objects in industrial tasks.

Domain-Specific Control of Selective Attention

PubMed Central

Lin, Szu-Hung; Yeh, Yei-Yu

2014-01-01

Previous research has shown that loading information on working memory affects selective attention. However, whether the load effect on selective attention is domain-general or domain-specific remains unresolved. The domain-general effect refers to the findings that load in one content (e.g. phonological) domain in working memory influences processing in another content (e.g., visuospatial) domain. Attentional control supervises selection regardless of information domain. The domain-specific effect refers to the constraint of influence only when maintenance and processing operate in the same domain. Selective attention operates in a specific content domain. This study is designed to resolve this controversy. Across three experiments, we manipulated the type of representation maintained in working memory and the type of representation upon which the participants must exert control to resolve conflict and select a target into the focus of attention. In Experiments 1a and 1b, participants maintained digits and nonverbalized objects, respectively, in working memory while selecting a target in a letter array. In Experiment 2, we presented auditory digits with a letter flanker task to exclude the involvement of resource competition within the same input modality. In Experiments 3a and 3b, we replaced the letter flanker task with an object flanker task while manipulating the memory load on object and digit representation, respectively. The results consistently showed that memory load modulated distractibility only when the stimuli of the two tasks were represented in the same domain. The magnitude of distractor interference was larger under high load than under low load, reflecting a lower efficacy of information prioritization. When the stimuli of the two tasks were represented in different domains, memory load did not modulate distractibility. Control of processing priority in selective attention demands domain-specific resources. PMID:24866977

Abstract Representations of Object-Directed Action in the Left Inferior Parietal Lobule.

PubMed

Chen, Quanjing; Garcea, Frank E; Jacobs, Robert A; Mahon, Bradford Z

2018-06-01

Prior neuroimaging and neuropsychological research indicates that the left inferior parietal lobule in the human brain is a critical substrate for representing object manipulation knowledge. In the present functional MRI study we used multivoxel pattern analyses to test whether action similarity among objects can be decoded in the inferior parietal lobule independent of the task applied to objects (identification or pantomime) and stimulus format in which stimuli are presented (pictures or printed words). Participants pantomimed the use of objects, cued by printed words, or identified pictures of objects. Classifiers were trained and tested across task (e.g., training data: pantomime; testing data: identification), stimulus format (e.g., training data: word format; testing format: picture) and specific objects (e.g., training data: scissors vs. corkscrew; testing data: pliers vs. screwdriver). The only brain region in which action relations among objects could be decoded across task, stimulus format and objects was the inferior parietal lobule. By contrast, medial aspects of the ventral surface of the left temporal lobe represented object function, albeit not at the same level of abstractness as actions in the inferior parietal lobule. These results suggest compulsory access to abstract action information in the inferior parietal lobe even when simply identifying objects.

Admittance model for the shuttle remote manipulator system in four configurations. M.S. Thesis

NASA Technical Reports Server (NTRS)

Papadopoulos, Loukas; Tolson, Robert H.

1993-01-01

A possible scenario for robot task performance in space is to mount two small, dexterous arms to the end of the Shuttle Remote Manipulator System (SRMS). As these small robots perform tasks, the flexibility of the SRMS may cause unsuccessful task executions. In order to simulate the dynamic coupling between the SRMS and the arms, admittance models of the SRMS in four brakes locked configurations were developed. The admittance model permits calculation of the SRMS end-effector response due to end-effector disturbing forces. The model will then be used in conjunction with a Stewart Platform, a vehicle emulation system. An application of the admittance model was shown by simulating the disturbing forces using two SRMS payloads, the Dextrous Orbital Servicing System (DOSS) manipulator and DOSS carrying a 1000 lb. cylinder. Mode by mode comparisons were conducted to determine the minimum number of modes required in the admittance model while retaining dynamic fidelity. It was determined that for all four SRMS configurations studied, between 4 and 6 modes of the SRMS structure (depending on the excitation loads) were sufficient to retain tolerance of 0.01 inches and 0.01 deg. These tolerances correspond to the DOSS manipulator carrying no object. When the DOSS carries the 1000 lb. cylinder, between 15 and 20 modes were sufficient, approximately three or four times as many modes as for the unloaded case.

Neural Mechanisms of Episodic Retrieval Support Divergent Creative Thinking.

PubMed

Madore, Kevin P; Thakral, Preston P; Beaty, Roger E; Addis, Donna Rose; Schacter, Daniel L

2017-11-17

Prior research has indicated that brain regions and networks that support semantic memory, top-down and bottom-up attention, and cognitive control are all involved in divergent creative thinking. Kernels of evidence suggest that neural processes supporting episodic memory-the retrieval of particular elements of prior experiences-may also be involved in divergent thinking, but such processes have typically been characterized as not very relevant for, or even a hindrance to, creative output. In the present study, we combine functional magnetic resonance imaging with an experimental manipulation to test formally, for the first time, episodic memory's involvement in divergent thinking. Following a manipulation that facilitates detailed episodic retrieval, we observed greater neural activity in the hippocampus and stronger connectivity between a core brain network linked to episodic processing and a frontoparietal brain network linked to cognitive control during divergent thinking relative to an object association control task that requires little divergent thinking. Stronger coupling following the retrieval manipulation extended to a subsequent resting-state scan. Neural effects of the episodic manipulation were consistent with behavioral effects of enhanced idea production on divergent thinking but not object association. The results indicate that conceptual frameworks should accommodate the idea that episodic retrieval can function as a component process of creative idea generation, and highlight how the brain flexibly utilizes the retrieval of episodic details for tasks beyond simple remembering. © The Author 2017. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

Study to design and develop remote manipulator system. [computer simulation of human performance

NASA Technical Reports Server (NTRS)

Hill, J. W.; Mcgovern, D. E.; Sword, A. J.

1974-01-01

Modeling of human performance in remote manipulation tasks is reported by automated procedures using computers to analyze and count motions during a manipulation task. Performance is monitored by an on-line computer capable of measuring the joint angles of both master and slave and in some cases the trajectory and velocity of the hand itself. In this way the operator's strategies with different transmission delays, displays, tasks, and manipulators can be analyzed in detail for comparison. Some progress is described in obtaining a set of standard tasks and difficulty measures for evaluating manipulator performance.

Performance Enhancements Under Dual-task Conditions

NASA Technical Reports Server (NTRS)

Kramer, A. F.; Wickens, C. D.; Donchin, E.

1984-01-01

Research on dual-task performance has been concerned with delineating the antecedent conditions which lead to dual-task decrements. Capacity models of attention, which propose that a hypothetical resource structure underlies performance, have been employed as predictive devices. These models predict that tasks which require different processing resources can be more successfully time shared than tasks which require common resources. The conditions under which such dual-task integrality can be fostered were assessed in a study in which three factors likely to influence the integrality between tasks were manipulated: inter-task redundancy, the physical proximity of tasks and the task relevant objects. Twelve subjects participated in three experimental sessions in which they performed both single and dual-tasks. The primary task was a pursuit step tracking task. The secondary tasks required the discrimination between different intensities or different spatial positions of a stimulus. The results are discussed in terms of a model of dual-task integrality.

The neural basis of visual dominance in the context of audio-visual object processing.

PubMed

Schmid, Carmen; Büchel, Christian; Rose, Michael

2011-03-01

Visual dominance refers to the observation that in bimodal environments vision often has an advantage over other senses in human. Therefore, a better memory performance for visual compared to, e.g., auditory material is assumed. However, the reason for this preferential processing and the relation to the memory formation is largely unknown. In this fMRI experiment, we manipulated cross-modal competition and attention, two factors that both modulate bimodal stimulus processing and can affect memory formation. Pictures and sounds of objects were presented simultaneously in two levels of recognisability, thus manipulating the amount of cross-modal competition. Attention was manipulated via task instruction and directed either to the visual or the auditory modality. The factorial design allowed a direct comparison of the effects between both modalities. The resulting memory performance showed that visual dominance was limited to a distinct task setting. Visual was superior to auditory object memory only when allocating attention towards the competing modality. During encoding, cross-modal competition and attention towards the opponent domain reduced fMRI signals in both neural systems, but cross-modal competition was more pronounced in the auditory system and only in auditory cortex this competition was further modulated by attention. Furthermore, neural activity reduction in auditory cortex during encoding was closely related to the behavioural auditory memory impairment. These results indicate that visual dominance emerges from a less pronounced vulnerability of the visual system against competition from the auditory domain. Copyright © 2010 Elsevier Inc. All rights reserved.

Human machine interaction via the transfer of power and information signals

NASA Technical Reports Server (NTRS)

Kazerooni, H.; Foslien, W. K.; Anderson, B. J.; Hessburg, T. M.

1989-01-01

Robot manipulators are designed to perform tasks which would otherwise be executed by a human operator. No manipulator can even approach the speed and accuracy with which humans execute these tasks. But manipulators have the capability to exceed human ability in one particular area: strength. Through any reasonable observation and experience, the human's ability to perform a variety of physical tasks is limited not by his intelligence, but by his physical strength. If, in the appropriate environment, we can more closely integrate the mechanical power of a machine with intellectually driven human hand under the supervisory control of the human's intellect, we will then have a system which is superior to a loosely-integrated combination of a human and his fully automated robot as in the present day robotic systems. We must therefore develop a fundamental approach to the problem of this extending human mechanical power in certain environments. Extenders will be a class of robots worn by humans to increase human mechanical ability, while the wearer's intellect remains the central intelligent control system for manipulating the extender. The human body, in physical contact with the extender, exchanges information signals and power with the extender. Commands are transferred to the extender via the contact forces between the wearer and the extender as opposed to use of joystick (master arm), push-button or key-board to execute such commands that were used in previous man amplifiers. Instead, the operator becomes an integral part of the extender while executing the task. In this unique configuration the mechanical power transfer between the human and extender occurs in addition to information signal transfer. When the wearer uses the extender to touch and manipulate an object, the extender transfers to the wearer's hand, in feedback fashion, a scaled-down value of the actual external load which the extender is manipulating. This natural feedback force on the wearer's hand allows him to feel the scaled-down value of the external forces in the manipulations. Extenders can be utilized to maneuver very heavy loads in factories, shipyards, airports, and construction sites. In some instances, for example, extenders can replace forklifts. The experimental results for a prototype extender are discussed.

Performance Evaluation of a Mobile Touchscreen Interface for Assistive Robotic Manipulators: A Pilot Study.

PubMed

Chung, Cheng-Shiu; Ka, Hyun W; Wang, Hongu; Ding, Dan; Kelleher, Annmarie; Cooper, Rory A

2017-01-01

Background: Assistive robotic manipulators (ARMs) have been developed to provide enhanced assistance and independence in performance of daily activities among people with spinal cord injury when a caregiver is not on site. However, the current commercial ARM user interfaces (UIs) may be difficult to learn and control. A touchscreen mobile UI was developed to overcome these challenges. Objective: The object of this study was to evaluate the performance between 2 ARM UIs, touchscreen and the original joystick, using an ARM evaluation tool (ARMET). Methods: This is a pilot study of people with upper extremity impairments ( N = 8). Participants were trained on 2 UIs, and then they chose one to use when performing 3 tasks on the ARMET: flipping a toggle switch, pushing down a door handle, and turning a knob. Task completion time, mean velocity, and open interviews were the main outcome measurements. Results: Among 8 novice participants, 7 chose the touchscreen UI and 1 chose the joystick UI. All participants could complete the ARMET tasks independently. Use of the touchscreen UI resulted in enhanced ARMET performance (higher mean moving speed and faster task completion). Conclusions: Mobile ARM UIs demonstrated easier learning experience, less physical effort, and better ARMET performance. The improved performance, the accessibility, and lower physical effort suggested that the touchscreen UI might be an efficient tool for the ARM users.

Inattentional blindness: A combination of a relational set and a feature inhibition set?

PubMed

Goldstein, Rebecca R; Beck, Melissa R

2016-07-01

Two experiments were conducted to directly test the feature set hypothesis and the relational set hypothesis in an inattentional blindness task. The feature set hypothesis predicts that unexpected objects that match the to-be-attended stimuli will be reported most. The relational set hypothesis predicts that unexpected objects that match the relationship between the to-be-attended and the to-be-ignored stimuli will be reported the most. Experiment 1 manipulated the luminance of the stimuli. Participants were instructed to monitor the gray letter shapes and to ignore either black or white letter shapes. The unexpected objects that exhibited the luminance relation of the to-be-attended to the to-be-ignored stimuli were reported by participants the most. Experiment 2 manipulated the color of the stimuli. Participants were instructed to monitor the yellower orange or the redder orange letter shapes and to ignore the redder orange or yellower letter shapes. The unexpected objects that exhibited the color relation of the to-be-attended to the to-be-ignored stimuli were reported the most. The results do not support the use of a feature set to accomplish the task and instead support the use of a relational set. In addition, the results point to the concurrent use of multiple attentional sets that are both excitatory and inhibitory.

Age-related differences in the use of spatial and categorical relationships in a visuo-spatial working memory task.

PubMed

Dai, Ruizhi; Thomas, Ayanna K; Taylor, Holly A

2018-01-30

Research examining object identity and location processing in visuo-spatial working memory (VSWM) has yielded inconsistent results on whether age differences exist in VSWM. The present study investigated whether these inconsistencies may stem from age-related differences in VSWM sub-processes, and whether processing of component VSWM information can be facilitated. In two experiments, younger and older adults studied 5 × 5 grids containing five objects in separate locations. In a continuous recognition paradigm, participants were tested on memory for object identity, location, or identity and location information combined. Spatial and categorical relationships were manipulated within grids to provide trial-level facilitation. In Experiment 1, randomizing trial types (location, identity, combination) assured that participants could not predict the information that would be queried. In Experiment 2, blocking trials by type encouraged strategic processing. Thus, we manipulated the nature of the task through object categorical relationship and spatial organization, and trial blocking. Our findings support age-related declines in VSWM. Additionally, grid organizations (categorical and spatial relationships), and trial blocking differentially affected younger and older adults. Younger adults used spatial organizations more effectively whereas older adults demonstrated an association bias. Our finding also suggests that older adults may be less efficient than younger adults in strategically engaging information processing.

The role of action representations in thematic object relations

PubMed Central

Tsagkaridis, Konstantinos; Watson, Christine E.; Jax, Steven A.; Buxbaum, Laurel J.

2014-01-01

A number of studies have explored the role of associative/event-based (thematic) and categorical (taxonomic) relations in the organization of object representations. Recent evidence suggests that thematic information may be particularly important in determining relationships between manipulable artifacts. However, although sensorimotor information is on many accounts an important component of manipulable artifact representations, little is known about the role that action may play during the processing of semantic relationships (particularly thematic relationships) between multiple objects. In this study, we assessed healthy and left hemisphere stroke participants to explore three questions relevant to object relationship processing. First, we assessed whether participants tended to favor thematic relations including action (Th+A, e.g., wine bottle—corkscrew), thematic relationships without action (Th-A, e.g., wine bottle—cheese), or taxonomic relationships (Tax, e.g., wine bottle—water bottle) when choosing between them in an association judgment task with manipulable artifacts. Second, we assessed whether the underlying constructs of event relatedness, action relatedness, and categorical relatedness determined the choices that participants made. Third, we assessed the hypothesis that degraded action knowledge and/or damage to temporo-parietal cortex, a region of the brain associated with the representation of action knowledge, would reduce the influence of action on the choice task. Experiment 1 showed that explicit ratings of event, action, and categorical relatedness were differentially predictive of healthy participants' choices, with action relatedness determining choices between Th+A and Th-A associations above and beyond event and categorical ratings. Experiment 2 focused more specifically on these Th+A vs. Th-A choices and demonstrated that participants with left temporo-parietal lesions, a brain region known to be involved in sensorimotor processing, were less likely than controls and tended to be less likely than patients with lesions sparing that region to use action relatedness in determining their choices. These data indicate that action knowledge plays a critical role in processing of thematic relations for manipulable artifacts. PMID:24672461

The role of action representations in thematic object relations.

PubMed

Tsagkaridis, Konstantinos; Watson, Christine E; Jax, Steven A; Buxbaum, Laurel J

2014-01-01

A number of studies have explored the role of associative/event-based (thematic) and categorical (taxonomic) relations in the organization of object representations. Recent evidence suggests that thematic information may be particularly important in determining relationships between manipulable artifacts. However, although sensorimotor information is on many accounts an important component of manipulable artifact representations, little is known about the role that action may play during the processing of semantic relationships (particularly thematic relationships) between multiple objects. In this study, we assessed healthy and left hemisphere stroke participants to explore three questions relevant to object relationship processing. First, we assessed whether participants tended to favor thematic relations including action (Th+A, e.g., wine bottle-corkscrew), thematic relationships without action (Th-A, e.g., wine bottle-cheese), or taxonomic relationships (Tax, e.g., wine bottle-water bottle) when choosing between them in an association judgment task with manipulable artifacts. Second, we assessed whether the underlying constructs of event relatedness, action relatedness, and categorical relatedness determined the choices that participants made. Third, we assessed the hypothesis that degraded action knowledge and/or damage to temporo-parietal cortex, a region of the brain associated with the representation of action knowledge, would reduce the influence of action on the choice task. Experiment 1 showed that explicit ratings of event, action, and categorical relatedness were differentially predictive of healthy participants' choices, with action relatedness determining choices between Th+A and Th-A associations above and beyond event and categorical ratings. Experiment 2 focused more specifically on these Th+A vs. Th-A choices and demonstrated that participants with left temporo-parietal lesions, a brain region known to be involved in sensorimotor processing, were less likely than controls and tended to be less likely than patients with lesions sparing that region to use action relatedness in determining their choices. These data indicate that action knowledge plays a critical role in processing of thematic relations for manipulable artifacts.

Task Decomposition Module For Telerobot Trajectory Generation

NASA Astrophysics Data System (ADS)

Wavering, Albert J.; Lumia, Ron

1988-10-01

A major consideration in the design of trajectory generation software for a Flight Telerobotic Servicer (FTS) is that the FTS will be called upon to perform tasks which require a diverse range of manipulator behaviors and capabilities. In a hierarchical control system where tasks are decomposed into simpler and simpler subtasks, the task decomposition module which performs trajectory planning and execution should therefore be able to accommodate a wide range of algorithms. In some cases, it will be desirable to plan a trajectory for an entire motion before manipulator motion commences, as when optimizing over the entire trajectory. Many FTS motions, however, will be highly sensory-interactive, such as moving to attain a desired position relative to a non-stationary object whose position is periodically updated by a vision system. In this case, the time-varying nature of the trajectory may be handled either by frequent replanning using updated sensor information, or by using an algorithm which creates a less specific state-dependent plan that determines the manipulator path as the trajectory is executed (rather than a priori). This paper discusses a number of trajectory generation techniques from these categories and how they may be implemented in a task decompo-sition module of a hierarchical control system. The structure, function, and interfaces of the proposed trajectory gener-ation module are briefly described, followed by several examples of how different algorithms may be performed by the module. The proposed task decomposition module provides a logical structure for trajectory planning and execution, and supports a large number of published trajectory generation techniques.

Effectiveness and Efficiency of Different Shapes of Food Guides

ERIC Educational Resources Information Center

Hess, Rebecca; Visschers, Vivianne H. M.; Siegrist, Michael

2012-01-01

Objective: To compare the influence of a food guide's shape on its effectiveness and efficiency to convey nutritional information. Methods: A between-subjects experiment was conducted by manipulating the graph's shape (circle, pyramid, or rainbow). Nutrition tasks were used to assess the effectiveness and eye-movement data (number/duration of…

Increasing The Dexterity Of Redundant Robots

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1990-01-01

Redundant coordinates used to define additional tasks. Configuration control emerging as effective way to control motions of robot having more degrees of freedom than necessary to define trajectory of end effector and/or of object to be manipulated. Extra or redundant degrees of freedom used to give robot humanlike dexterity and versatility.

Motor resources in peripersonal space are intrinsic to spatial encoding: evidence from motor interference.

PubMed

Iachini, Tina; Ruggiero, Gennaro; Ruotolo, Francesco; Vinciguerra, Michela

2014-11-01

The aim of this study was to explore the role of motor resources in peripersonal space encoding: are they intrinsic to spatial processes or due to action potentiality of objects? To answer this question, we disentangled the effects of motor resources on object manipulability and spatial processing in peripersonal and extrapersonal spaces. Participants had to localize manipulable and non-manipulable 3-D stimuli presented within peripersonal or extrapersonal spaces of an immersive virtual reality scenario. To assess the contribution of motor resources to the spatial task a motor interference paradigm was used. In Experiment 1, localization judgments were provided with the left hand while the right dominant arm could be free or blocked. Results showed that participants were faster and more accurate in localizing both manipulable and non-manipulable stimuli in peripersonal space with their arms free. On the other hand, in extrapersonal space there was no significant effect of motor interference. Experiment 2 replicated these results by using alternatively both hands to give the response and controlling the possible effect of the orientation of object handles. Overall, the pattern of results suggests that the encoding of peripersonal space involves motor processes per se, and not because of the presence of manipulable stimuli. It is argued that this motor grounding reflects the adaptive need of anticipating what may happen near the body and preparing to react in time. Copyright © 2014. Published by Elsevier B.V.

Distinctions between manipulation and function knowledge of objects: evidence from functional magnetic resonance imaging.

PubMed

Boronat, Consuelo B; Buxbaum, Laurel J; Coslett, H Branch; Tang, Kathy; Saffran, Eleanor M; Kimberg, Daniel Y; Detre, John A

2005-05-01

A prominent account of conceptual knowledge proposes that information is distributed over visual, tactile, auditory, motor and verbal-declarative attribute domains to the degree to which these features were activated when the knowledge was acquired [D.A. Allport, Distributed memory, modular subsystems and dysphagia, In: S.K. Newman, R. Epstein (Eds.), Current perspectives in dysphagia, Churchill Livingstone, Edinburgh, 1985, pp. 32-60]. A corollary is that when drawing upon this knowledge (e.g., to answer questions), particular aspects of this distributed information is re-activated as a function of the requirements of the task at hand [L.J. Buxbaum, E.M. Saffran, Knowledge of object manipulation and object function: dissociations in apraxic and non-apraxic subjects. Brain and Language, 82 (2002) 179-199; L.J. Buxbaum, T. Veramonti, M.F. Schwartz, Function and manipulation tool knowledge in apraxia: knowing 'what for' but not 'how', Neurocase, 6 (2000) 83-97; W. Simmons, L. Barsalou, The similarity-in-topography principle: Reconciling theories of conceptual deficits, Cognitive Neuropsychology, 20 (2003) 451-486]. This account predicts that answering questions about object manipulation should activate brain regions previously identified as components of the distributed sensory-motor system involved in object use, whereas answering questions about object function (that is, the purpose that it serves) should activate regions identified as components of the systems supporting verbal-declarative features. These predictions were tested in a functional magnetic resonance imaging (fMRI) study in which 15 participants viewed picture or word pairs denoting manipulable objects and determined whether the objects are manipulated similarly (M condition) or serve the same function (F condition). Significantly greater and more extensive activations in the left inferior parietal lobe bordering the intraparietal sulcus were seen in the M condition with pictures and, to a lesser degree, words. These findings are consistent with the known role of this region in skilled object use [K.M. Heilman, L.J. Gonzalez Rothi, Apraxia, In: K.M. Heilman, E. Valenstein (Eds.), Clinical Neuropsychology, Oxford University Press, New York, 1993, pp. 141-150] as well as previous fMRI results [M. Kellenbach, M. Brett, K. Patterson, Actions speak louder than functions: the importance of manipulability and action in tool representation, Journal of Cognitive Neuroscience, 15 (2003) 30-46] and behavioral findings in brain-lesion patients [L.J. Buxbaum, E.M. Saffran, Knowledge of object manipulation and object function: dissociations in apraxic and non-apraxic subjects, Brain and Language, 82 (2002) 179-199]. No brain regions were significantly more activated in the F than M condition. These data suggest that brain regions specialized for sensory-motor function are a critical component of distributed representations of manipulable objects.

Study of modeling and evaluation of remote manipulation tasks with force feedback

NASA Technical Reports Server (NTRS)

Hill, J. W.

1979-01-01

The use of time and motion study methods to evaluate force feedback in remote manipulation tasks are described. Several systems of time measurement derived for industrial workers were studied and adapted for manipulator use. A task board incorporating a set of basic motions was designed and built. Results obtained from two subjects in three manipulation situations for each are reported: a force-reflective manipulator, a unilateral manipulator, and the unaided human hand. The results indicate that: (1) a time-and-motion study techniques are applicable to manipulation; and that (2) force feedback facilitates some motions (notably fitting), but not others (such as positioning).

Experiments in autonomous robotics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hamel, W.R.

1987-01-01

The Center for Engineering Systems Advanced Research (CESAR) is performing basic research in autonomous robotics for energy-related applications in hazardous environments. The CESAR research agenda includes a strong experimental component to assure practical evaluation of new concepts and theories. An evolutionary sequence of mobile research robots has been planned to support research in robot navigation, world sensing, and object manipulation. A number of experiments have been performed in studying robot navigation and path planning with planar sonar sensing. Future experiments will address more complex tasks involving three-dimensional sensing, dexterous manipulation, and human-scale operations.

Towards control of dexterous hand manipulations using a silicon Pattern Generator.

PubMed

Russell, Alexander; Tenore, Francesco; Singhal, Girish; Thakor, Nitish; Etienne-Cummings, Ralph

2008-01-01

This work demonstrates how an in silico Pattern Generator (PG) can be used as a low power control system for rhythmic hand movements in an upper-limb prosthesis. Neural spike patterns, which encode rotation of a cylindrical object, were implemented in a custom Very Large Scale Integration chip. PG control was tested by using the decoded control signals to actuate the fingers of a virtual prosthetic arm. This system provides a framework for prototyping and controlling dexterous hand manipulation tasks in a compact and efficient solution.

Evaluation of the Display of Cognitive State Feedback to Drive Adaptive Task Sharing

PubMed Central

Dorneich, Michael C.; Passinger, Břetislav; Hamblin, Christopher; Keinrath, Claudia; Vašek, Jiři; Whitlow, Stephen D.; Beekhuyzen, Martijn

2017-01-01

This paper presents an adaptive system intended to address workload imbalances between pilots in future flight decks. Team performance can be maximized when task demands are balanced within crew capabilities and resources. Good communication skills enable teams to adapt to changes in workload, and include the balancing of workload between team members This work addresses human factors priorities in the aviation domain with the goal to develop concepts that balance operator workload, support future operator roles and responsibilities, and support new task requirements, while allowing operators to focus on the most safety critical tasks. A traditional closed-loop adaptive system includes the decision logic to turn automated adaptations on and off. This work takes a novel approach of replacing the decision logic, normally performed by the automation, with human decisions. The Crew Workload Manager (CWLM) was developed to objectively display the workload between pilots and recommend task sharing; it is then the pilots who “close the loop” by deciding how to best mitigate unbalanced workload. The workload was manipulated by the Shared Aviation Task Battery (SAT-B), which was developed to provide opportunities for pilots to mitigate imbalances in workload between crew members. Participants were put in situations of high and low workload (i.e., workload was manipulated as opposed to being measured), the workload was then displayed to pilots, and pilots were allowed to decide how to mitigate the situation. An evaluation was performed that utilized the SAT-B to manipulate workload and create workload imbalances. Overall, the CWLM reduced the time spent in unbalanced workload and improved the crew coordination in task sharing while not negatively impacting concurrent task performance. Balancing workload has the potential to improve crew resource management and task performance over time, and reduce errors and fatigue. Paired with a real-time workload measurement system, the CWLM could help teams manage their own task load distribution. PMID:28400716

Evaluation of the Display of Cognitive State Feedback to Drive Adaptive Task Sharing.

PubMed

Dorneich, Michael C; Passinger, Břetislav; Hamblin, Christopher; Keinrath, Claudia; Vašek, Jiři; Whitlow, Stephen D; Beekhuyzen, Martijn

2017-01-01

This paper presents an adaptive system intended to address workload imbalances between pilots in future flight decks. Team performance can be maximized when task demands are balanced within crew capabilities and resources. Good communication skills enable teams to adapt to changes in workload, and include the balancing of workload between team members This work addresses human factors priorities in the aviation domain with the goal to develop concepts that balance operator workload, support future operator roles and responsibilities, and support new task requirements, while allowing operators to focus on the most safety critical tasks. A traditional closed-loop adaptive system includes the decision logic to turn automated adaptations on and off. This work takes a novel approach of replacing the decision logic, normally performed by the automation, with human decisions. The Crew Workload Manager (CWLM) was developed to objectively display the workload between pilots and recommend task sharing; it is then the pilots who "close the loop" by deciding how to best mitigate unbalanced workload. The workload was manipulated by the Shared Aviation Task Battery (SAT-B), which was developed to provide opportunities for pilots to mitigate imbalances in workload between crew members. Participants were put in situations of high and low workload (i.e., workload was manipulated as opposed to being measured), the workload was then displayed to pilots, and pilots were allowed to decide how to mitigate the situation. An evaluation was performed that utilized the SAT-B to manipulate workload and create workload imbalances. Overall, the CWLM reduced the time spent in unbalanced workload and improved the crew coordination in task sharing while not negatively impacting concurrent task performance. Balancing workload has the potential to improve crew resource management and task performance over time, and reduce errors and fatigue. Paired with a real-time workload measurement system, the CWLM could help teams manage their own task load distribution.

The Impact of Motivation and Task Difficulty on Resource Engagement: Differential Influences on Cardiovascular Responses of Young and Older Adults

PubMed Central

Smith, Brian T.; Hess, Thomas M.

2018-01-01

This study examined whether the level of cognitive engagement older adults were willing to invest is disproportionately influenced by the personal implications of the task, as suggested by Selective Engagement Theory. We experimentally altered the personal implications of the task by manipulating participants accountability for their performance. Young (N = 50) and older (N = 50) adults performed a memory-search task of moderate difficulty but within the capabilities of both age groups. Both physiological (systolic blood pressure responsivity; SBP-R) and subjective (NASA-TLX) measures of cognitive effort were assessed across all difficulty levels. The results replicated findings from previous research that indicated older adults must exert more effort than younger adults to achieve the same level of objective performance. Most importantly, our results showed that older adults were especially sensitive to our accountability manipulation, with the difference in SBP-R between accountability conditions being greater for older than for young adults. Finally, we found that there was little relation between subjective measures of workload and our physiological measures of task engagement. Together, the results of this study provide continued support for the Selective Engagement Theory. PMID:29670932

3-D-Gaze-Based Robotic Grasping Through Mimicking Human Visuomotor Function for People With Motion Impairments.

PubMed

Li, Songpo; Zhang, Xiaoli; Webb, Jeremy D

2017-12-01

The goal of this paper is to achieve a novel 3-D-gaze-based human-robot-interaction modality, with which a user with motion impairment can intuitively express what tasks he/she wants the robot to do by directly looking at the object of interest in the real world. Toward this goal, we investigate 1) the technology to accurately sense where a person is looking in real environments and 2) the method to interpret the human gaze and convert it into an effective interaction modality. Looking at a specific object reflects what a person is thinking related to that object, and the gaze location contains essential information for object manipulation. A novel gaze vector method is developed to accurately estimate the 3-D coordinates of the object being looked at in real environments, and a novel interpretation framework that mimics human visuomotor functions is designed to increase the control capability of gaze in object grasping tasks. High tracking accuracy was achieved using the gaze vector method. Participants successfully controlled a robotic arm for object grasping by directly looking at the target object. Human 3-D gaze can be effectively employed as an intuitive interaction modality for robotic object manipulation. It is the first time that 3-D gaze is utilized in a real environment to command a robot for a practical application. Three-dimensional gaze tracking is promising as an intuitive alternative for human-robot interaction especially for disabled and elderly people who cannot handle the conventional interaction modalities.

How verbal and spatial manipulation networks contribute to calculation: an fMRI study.

PubMed

Zago, Laure; Petit, Laurent; Turbelin, Marie-Renée; Andersson, Frédéric; Vigneau, Mathieu; Tzourio-Mazoyer, Nathalie

2008-01-01

The manipulation of numbers required during calculation is known to rely on working memory (WM) resources. Here, we investigated the respective contributions of verbal and/or spatial WM manipulation brain networks during the addition of four numbers performed by adults, using functional magnetic resonance imaging (fMRI). Both manipulation and maintenance tasks were proposed with syllables, locations, or two-digit numbers. As compared to their maintenance, numbers manipulation (addition) elicited increased activation within a widespread cortical network including inferior temporal, parietal, and prefrontal regions. Our results demonstrate that mastery of arithmetic calculation requires the cooperation of three WM manipulation systems: an executive manipulation system conjointly recruited by the three manipulation tasks, including the anterior cingulate cortex (ACC), the orbital part of the inferior frontal gyrus, and the caudate nuclei; a left-lateralized, language-related, inferior fronto-temporal system elicited by numbers and syllables manipulation tasks required for retrieval, selection, and association of symbolic information; and a right superior and posterior fronto-parietal system elicited by numbers and locations manipulation tasks for spatial WM and attentional processes. Our results provide new information that the anterior intraparietal sulcus (IPS) is involved in tasks requiring a magnitude processing with symbolic (numbers) and nonsymbolic (locations) stimuli. Furthermore, the specificity of arithmetic processing is mediated by a left-hemispheric specialization of the anterior and posterior parts of the IPS as compared to a spatial task involving magnitude processing with nonsymbolic material.

Consistent Performance Differences between Children and Adults Despite Manipulation of Cue-Target Variables

PubMed Central

Bauer, Jessie-Raye; Martinez, Joel E.; Roe, Mary Abbe; Church, Jessica A.

2017-01-01

Two behavioral experiments assessed the plasticity and short-term improvement of task switching in 215 children and adults. Specifically, we studied manipulations of cued attention to different features of a target stimulus as a way to assess the development of cognitive flexibility. Each experiment had multiple levels of difficulty via manipulation of number of cued features (2–4) and number of response options (2 or 4). Working memory demand was manipulated across the two experiments. Impact of memory demand and task level manipulations on task accuracy and response times were measured. There were three overall goals: First, these task manipulations (number of cued features, response choices, and working memory load) were tested to assess the stability of group differences in performance between children ages 6–16 years and adults 18–27 years, with the goal of reducing age group differences. Second, age-related transitions to adult-level performance were examined within subgroups of the child sample. Third, short-term improvement from the beginning to the end of the study session was measured to probe whether children can improve with task experience. Attempts to use task manipulations to reduce age differences in cued task switching performance were unsuccessful: children performed consistently worse and were more susceptible to task manipulations than adults. However, across both studies, adult-like performance was observed around mid-adolescence, by ages 13-16 years. Certain task manipulations, especially increasing number of response options when working memory demand was low, produced differences from adults even in the oldest children. Interestingly, there was similar performance improvement with practice for both child and adult groups. The higher memory demand version of the task (Experiment 2) prompted greater short-term improvement in accuracy and response times than the lower memory demand version (Experiment 1). These results reveal stable differences in cued switching performance over development, but also relative flexibility within a given individual over time. PMID:28824489

Ultra Rapid Object Categorization: Effects of Level, Animacy and Context

PubMed Central

Praß, Maren; Grimsen, Cathleen; König, Martina; Fahle, Manfred

2013-01-01

It is widely agreed that in object categorization bottom-up and top-down influences interact. How top-down processes affect categorization has been primarily investigated in isolation, with only one higher level process at a time being manipulated. Here, we investigate the combination of different top-down influences (by varying the level of category, the animacy and the background of the object) and their effect on rapid object categorization. Subjects participated in a two-alternative forced choice rapid categorization task, while we measured accuracy and reaction times. Subjects had to categorize objects on the superordinate, basic or subordinate level. Objects belonged to the category animal or vehicle and each object was presented on a gray, congruent (upright) or incongruent (inverted) background. The results show that each top-down manipulation impacts object categorization and that they interact strongly. The best categorization was achieved on the superordinate level, providing no advantage for basic level in rapid categorization. Categorization between vehicles was faster than between animals on the basic level and vice versa on the subordinate level. Objects in homogenous gray background (context) yielded better overall performance than objects embedded in complex scenes, an effect most prominent on the subordinate level. An inverted background had no negative effect on object categorization compared to upright scenes. These results show how different top-down manipulations, such as category level, category type and background information, are related. We discuss the implications of top-down interactions on the interpretation of categorization results. PMID:23840810

Ultra rapid object categorization: effects of level, animacy and context.

PubMed

Praß, Maren; Grimsen, Cathleen; König, Martina; Fahle, Manfred

2013-01-01

It is widely agreed that in object categorization bottom-up and top-down influences interact. How top-down processes affect categorization has been primarily investigated in isolation, with only one higher level process at a time being manipulated. Here, we investigate the combination of different top-down influences (by varying the level of category, the animacy and the background of the object) and their effect on rapid object categorization. Subjects participated in a two-alternative forced choice rapid categorization task, while we measured accuracy and reaction times. Subjects had to categorize objects on the superordinate, basic or subordinate level. Objects belonged to the category animal or vehicle and each object was presented on a gray, congruent (upright) or incongruent (inverted) background. The results show that each top-down manipulation impacts object categorization and that they interact strongly. The best categorization was achieved on the superordinate level, providing no advantage for basic level in rapid categorization. Categorization between vehicles was faster than between animals on the basic level and vice versa on the subordinate level. Objects in homogenous gray background (context) yielded better overall performance than objects embedded in complex scenes, an effect most prominent on the subordinate level. An inverted background had no negative effect on object categorization compared to upright scenes. These results show how different top-down manipulations, such as category level, category type and background information, are related. We discuss the implications of top-down interactions on the interpretation of categorization results.

Linnehan on EVA 2 - during Expedition 16 / STS-123 Joint Operations

NASA Image and Video Library

2008-03-16

S123-E-006790 (15/16 March 2008) --- Astronauts Mike Foreman and Rick Linnehan (partially out of frame), both STS-123 mission specialists, participate in the mission's second scheduled session of extravehicular activity (EVA) as construction and maintenance continue on the International Space Station. During the 7-hour, 8-minute spacewalk, Linnehan and Foreman, assembled the stick-figure-shaped Dextre, also known as the Special Purpose Dextrous Manipulator (SPDM), a task that included attaching its two arms. Designed for station maintenance and service, Dextre is capable of sensing forces and movement of objects it is manipulating. It can automatically compensate for those forces and movements to ensure an object is moved smoothly. Dextre is the final element of the station's Mobile Servicing System.

Linnehan and Foreman on EVA 2 - during Expedition 16 / STS-123 Joint Operations

NASA Image and Video Library

2008-03-16

S123-E-006788 (15/16 March 2008) --- Astronauts Mike Foreman (left) and Rick Linnehan, both STS-123 mission specialists, participate in the mission's second scheduled session of extravehicular activity (EVA) as construction and maintenance continue on the International Space Station. During the 7-hour, 8-minute spacewalk, Linnehan and Foreman, assembled the stick-figure-shaped Dextre, also known as the Special Purpose Dextrous Manipulator (SPDM), a task that included attaching its two arms. Designed for station maintenance and service, Dextre is capable of sensing forces and movement of objects it is manipulating. It can automatically compensate for those forces and movements to ensure an object is moved smoothly. Dextre is the final element of the station's Mobile Servicing System.

Linnehan and Foreman on EVA 2 - during Expedition 16 / STS-123 Joint Operations

NASA Image and Video Library

2008-03-16

S123-E-006781 (15/16 March 2008) --- Astronauts Rick Linnehan (right) and Mike Foreman, both STS-123 mission specialists, participate in the mission's second scheduled session of extravehicular activity (EVA) as construction and maintenance continue on the International Space Station. During the 7-hour, 8-minute spacewalk, Linnehan and Foreman, assembled the stick-figure-shaped Dextre, also known as the Special Purpose Dextrous Manipulator (SPDM), a task that included attaching its two arms. Designed for station maintenance and service, Dextre is capable of sensing forces and movement of objects it is manipulating. It can automatically compensate for those forces and movements to ensure an object is moved smoothly. Dextre is the final element of the station's Mobile Servicing System.

Human memory manipulated: dissociating factors contributing to MTL activity, an fMRI study.

PubMed

Pustina, Dorian; Gizewski, Elke; Forsting, Michael; Daum, Irene; Suchan, Boris

2012-04-01

Memory processes are mainly studied with subjective rating procedures. We used a morphing procedure to objectively manipulate the similarity of target stimuli. While undergoing functional magnetic resonance imaging, nineteen subjects performed a encoding and recognition task on face and scene stimuli, varying the degree of manipulation of previously studied targets at 0%, 20%, 40% or 60%. Analyses were performed with parametric modulations for objective stimulus status (morphing level), subjective memory (confidence rating), and reaction times (RTs). Results showed that medial temporal lobe (MTL) activity can be best explained by a combination of subjective and objective factors. Memory success is associated with activity modulation in the hippocampus both for faces and for scenes. Memory failures correlated with lower hippocampal activity for scenes, but not for faces. Activity changed during retrieval on similar areas activated during encoding. There was a considerable impact of RTs on memory-related areas. Objective perceptual identity correlated with activity in the left MTL, while subjective memory experience correlated with activity in the right MTL for both types of material. Overall, the results indicate that MTL activity is heterogeneous, showing both linear and non-linear activity, depending on the factor analyzed. Copyright © 2011 Elsevier B.V. All rights reserved.

Speech versus manual control of camera functions during a telerobotic task

NASA Technical Reports Server (NTRS)

Bierschwale, John M.; Sampaio, Carlos E.; Stuart, Mark A.; Smith, Randy L.

1989-01-01

Voice input for control of camera functions was investigated in this study. Objective were to (1) assess the feasibility of a voice-commanded camera control system, and (2) identify factors that differ between voice and manual control of camera functions. Subjects participated in a remote manipulation task that required extensive camera-aided viewing. Each subject was exposed to two conditions, voice and manual input, with a counterbalanced administration order. Voice input was found to be significantly slower than manual input for this task. However, in terms of remote manipulator performance errors and subject preference, there was no difference between modalities. Voice control of continuous camera functions is not recommended. It is believed that the use of voice input for discrete functions, such as multiplexing or camera switching, could aid performance. Hybrid mixes of voice and manual input may provide the best use of both modalities. This report contributes to a better understanding of the issues that affect the design of an efficient human/telerobot interface.

Exploring the impact of positive and negative emotions on cooperative behaviour in a Prisoner’s Dilemma Game

PubMed Central

Thompson, Sam

2013-01-01

Objective. To explore the influences of discrete positive and negative emotions on cooperation in the context of a social dilemma game. Design. Two controlled studies were undertaken. In Study 1, 69 participants were randomly assigned to an essay emotion manipulation task designed to induce either guilt, joy or no strong emotion. In Study 2, 95 participants were randomly assigned to one of the same three tasks, and the impact of emotional condition on cooperation was explored using a repeated Prisoner’s Dilemma Game. Results. Study 1 established that the manipulation task was successful in inducing the specified emotions. The analysis from Study 2 revealed no significant main effects for emotions, in contrast to previous research. However, there was a significant effect for participants’ pre-existing tendency to cooperate (social value orientation; SVO). Conclusion. Methodological explanations for the result are explored, including the possible impact of trial-and-error strategies, different cooperation games and endogenous vs exogenous emotions. PMID:24432196

Feasibility of remotely manipulated welding in space: A step in the development of novel joining technologies

NASA Technical Reports Server (NTRS)

Masubuchi, K.; Agapakis, J. E.; Debiccari, A.; Vonalt, C.

1985-01-01

A six month research program entitled Feasibility of Remotely Manipulated Welding in Space - A Step in the Development of Novel Joining Technologies is performed at the Massachusetts Institute of Technology for the Office of Space Science and Applications, NASA, under Contract No. NASW-3740. The work is performed as a part of the Innovative Utilization of the Space Station Program. The final report from M.I.T. was issued in September 1983. This paper presents a summary of the work performed under this contract. The objective of this research program is to initiate research for the development of packaged, remotely controlled welding systems for space construction and repair. The research effort includes the following tasks: (1) identification of probable joining tasks in space; (2) identification of required levels of automation in space welding tasks; (3) development of novel space welding concepts; (4) development of recommended future studies; and (5) preparation of the final report.

A master manipulator with a remote-center-of-motion kinematic structure for a minimally invasive robotic surgical system.

PubMed

Lee, Hyunyoung; Cheon, Byungsik; Hwang, Minho; Kang, Donghoon; Kwon, Dong-Soo

2018-02-01

In robotic surgical systems, commercial master devices have limitations owing to insufficient workspace and lack of intuitiveness. To overcome these limitations, a remote-center-of-motion (RCM) master manipulator was proposed. The feasibility of the proposed RCM structure was evaluated through kinematic analysis using a conventional serial structure. Two performance comparison experiments (peg transfer task and objective transfer task) were conducted for the developed master and Phantom Omni. The kinematic analysis results showed that compared with the serial structure, the proposed RCM structure has better performance in terms of design efficiency (19%) and workspace quality (59.08%). Further, in comparison with Phantom Omni, the developed master significantly increased task efficiency and significantly decreased workload in both experiments. The comparatively better performance in terms of intuitiveness, design efficiency, and operability of the proposed master for a robotic system for minimally invasive surgery was confirmed through kinematic and experimental analysis. Copyright © 2017 John Wiley & Sons, Ltd.

Exploring the impact of positive and negative emotions on cooperative behaviour in a Prisoner's Dilemma Game.

PubMed

Kjell, Oscar N E; Thompson, Sam

2013-12-19

Objective. To explore the influences of discrete positive and negative emotions on cooperation in the context of a social dilemma game. Design. Two controlled studies were undertaken. In Study 1, 69 participants were randomly assigned to an essay emotion manipulation task designed to induce either guilt, joy or no strong emotion. In Study 2, 95 participants were randomly assigned to one of the same three tasks, and the impact of emotional condition on cooperation was explored using a repeated Prisoner's Dilemma Game. Results. Study 1 established that the manipulation task was successful in inducing the specified emotions. The analysis from Study 2 revealed no significant main effects for emotions, in contrast to previous research. However, there was a significant effect for participants' pre-existing tendency to cooperate (social value orientation; SVO). Conclusion. Methodological explanations for the result are explored, including the possible impact of trial-and-error strategies, different cooperation games and endogenous vs exogenous emotions.

Two measures of performance in a peg-in-hole manipulation task with force feedback

NASA Technical Reports Server (NTRS)

Hill, J. W.

1977-01-01

The results are described from two manipulators on a peg-in-hole task, which is part of a continued effort to develop models for human performance with remote manipulators. Task difficulty is varied by changing the diameter of the peg to be inserted in a 50 mm diameter hole. An automatic measuring system records the distance between the tool being held by the manipulator and the receptacle into which it is to be inserted. The data from repeated insertions are processed by computer to determine task times, accumulated distances, and trajectories. Experiments with both the MA-11 cable-connected master-slave manipulator common to hot cell work and the MA-23 servo-controlled manipulator (with and without force feedback) are described. Comparison of these results with previous results of the Ames Manipulator shows that force feedback provides a consistent advantage.

What’s New? Children Prefer Novelty in Referent Selection

PubMed Central

Horst, Jessica S.; Samuelson, Larissa K.; Kucker, Sarah C.; McMurray, Bob

2010-01-01

Determining the referent of a novel name is a critical task for young language learners. The majority of studies on children’s referent selection focus on manipulating the sources of information (linguistic, contextual and pragmatic) that children can use to solve the referent mapping problem. Here, we take a step back and explore how children’s endogenous biases towards novelty and their own familiarity with novel objects influence their performance in such a task. We familiarized 2-year-old children with previously novel objects. Then, on novel name referent selection trials children were asked to select the referent from three novel objects: two previously seen and one completely novel object. Children demonstrated a clear bias to select the most novel object. A second experiment controls for pragmatic responding and replicates this finding. We conclude, therefore, that children’s referent selection is biased by previous exposure and children’s endogenous bias to novelty. PMID:21092945

Improving Cognitive Skills of the Industrial Robot

NASA Astrophysics Data System (ADS)

Bezák, Pavol

2015-08-01

At present, there are plenty of industrial robots that are programmed to do the same repetitive task all the time. Industrial robots doing such kind of job are not able to understand whether the action is correct, effective or good. Object detection, manipulation and grasping is challenging due to the hand and object modeling uncertainties, unknown contact type and object stiffness properties. In this paper, the proposal of an intelligent humanoid hand object detection and grasping model is presented assuming that the object properties are known. The control is simulated in the Matlab Simulink/ SimMechanics, Neural Network Toolbox and Computer Vision System Toolbox.

Task-oriented training with computer gaming in people with rheumatoid arthritisor osteoarthritis of the hand: study protocol of a randomized controlled pilot trial

PubMed Central

2013-01-01

Background Significant restriction in the ability to participate in home, work and community life results from pain, fatigue, joint damage, stiffness and reduced joint range of motion and muscle strength in people with rheumatoid arthritis or osteoarthritis of the hand. With modest evidence on the therapeutic effectiveness of conventional hand exercises, a task-oriented training program via real life object manipulations has been developed for people with arthritis. An innovative, computer-based gaming platform that allows a broad range of common objects to be seamlessly transformed into therapeutic input devices through instrumentation with a motion-sense mouse has also been designed. Personalized objects are selected to target specific training goals such as graded finger mobility, strength, endurance or fine/gross dexterous functions. The movements and object manipulation tasks that replicate common situations in everyday living will then be used to control and play any computer game, making practice challenging and engaging. Methods/Design The ongoing study is a 6-week, single-center, parallel-group, equally allocated and assessor-blinded pilot randomized controlled trial. Thirty people with rheumatoid arthritis or osteoarthritis affecting the hand will be randomized to receive either conventional hand exercises or the task-oriented training. The purpose is to determine a preliminary estimation of therapeutic effectiveness and feasibility of the task-oriented training program. Performance based and self-reported hand function, and exercise compliance are the study outcomes. Changes in outcomes (pre to post intervention) within each group will be assessed by paired Student t test or Wilcoxon signed-rank test and between groups (control versus experimental) post intervention using unpaired Student t test or Mann–Whitney U test. Discussion The study findings will inform decisions on the feasibility, safety and completion rate and will also provide preliminary data on the treatment effects of the task-oriented training compared with conventional hand exercises in people with rheumatoid arthritis or osteoarthritis of the hand. Trial registration ClinicalTrials.gov: NCT01635582 PMID:23497529

Data base manipulation for assessment of multiresource suitability and land change

NASA Technical Reports Server (NTRS)

Colwell, J.; Sanders, P.; Davis, G.; Thomson, F. (Principal Investigator)

1981-01-01

Progress is reported in three tasks which support the overall objectives of renewable resources inventory task of the AgRISTARS program. In the first task, the geometric correction algorithms of the Master Data Processor were investigated to determine the utility of data corrected by this processor for U.S. Forest Service uses. The second task involved investigation of logic to form blobs as a precursor step to automatic change detection involving two dates of LANDSAT data. Some routine procedures for selecting BLOB (spatial averaging) parameters were developed. In the third task, a major effort was made to develop land suitability modeling approches for timber, grazing, and wildlife habitat in support of resource planning efforts on the San Juan National Forest.

Seeing Spots and Developing Multiplicative Sense Making

ERIC Educational Resources Information Center

Matney, Gabriel T.; Daugherty, Brooke N.

2013-01-01

Dot arrays provide opportunities for students to notice structures like commutativity and distributivity, giving these properties an image that can be manipulated and explored. These images also connect to ways that we organize discrete objects in everyday life. This article describes how the authors developed an array of dot tasks that have been…

Stimulus Type, Level of Categorization, and Spatial-Frequencies Utilization: Implications for Perceptual Categorization Hierarchies

ERIC Educational Resources Information Center

Harel, Assaf; Bentin, Shlomo

2009-01-01

The type of visual information needed for categorizing faces and nonface objects was investigated by manipulating spatial frequency scales available in the image during a category verification task addressing basic and subordinate levels. Spatial filtering had opposite effects on faces and airplanes that were modulated by categorization level. The…

How low can you go? Changing the resolution of novel complex objects in visual working memory according to task demands

PubMed Central

Allon, Ayala S.; Balaban, Halely; Luria, Roy

2014-01-01

In three experiments we manipulated the resolution of novel complex objects in visual working memory (WM) by changing task demands. Previous studies that investigated the trade-off between quantity and resolution in visual WM yielded mixed results for simple familiar stimuli. We used the contralateral delay activity as an electrophysiological marker to directly track the deployment of visual WM resources while participants preformed a change-detection task. Across three experiments we presented the same novel complex items but changed the task demands. In Experiment 1 we induced a medium resolution task by using change trials in which a random polygon changed to a different type of polygon and replicated previous findings showing that novel complex objects are represented with higher resolution relative to simple familiar objects. In Experiment 2 we induced a low resolution task that required distinguishing between polygons and other types of stimulus categories, but we failed in finding a corresponding decrease in the resolution of the represented item. Finally, in Experiment 3 we induced a high resolution task that required discriminating between highly similar polygons with somewhat different contours. This time, we observed an increase in the item’s resolution. Our findings indicate that the resolution for novel complex objects can be increased but not decreased according to task demands, suggesting that minimal resolution is required in order to maintain these items in visual WM. These findings support studies claiming that capacity and resolution in visual WM reflect different mechanisms. PMID:24734026

Shadow-driven 4D haptic visualization.

PubMed

Zhang, Hui; Hanson, Andrew

2007-01-01

Just as we can work with two-dimensional floor plans to communicate 3D architectural design, we can exploit reduced-dimension shadows to manipulate the higher-dimensional objects generating the shadows. In particular, by taking advantage of physically reactive 3D shadow-space controllers, we can transform the task of interacting with 4D objects to a new level of physical reality. We begin with a teaching tool that uses 2D knot diagrams to manipulate the geometry of 3D mathematical knots via their projections; our unique 2D haptic interface allows the user to become familiar with sketching, editing, exploration, and manipulation of 3D knots rendered as projected imageson a 2D shadow space. By combining graphics and collision-sensing haptics, we can enhance the 2D shadow-driven editing protocol to successfully leverage 2D pen-and-paper or blackboard skills. Building on the reduced-dimension 2D editing tool for manipulating 3D shapes, we develop the natural analogy to produce a reduced-dimension 3D tool for manipulating 4D shapes. By physically modeling the correct properties of 4D surfaces, their bending forces, and their collisions in the 3D haptic controller interface, we can support full-featured physical exploration of 4D mathematical objects in a manner that is otherwise far beyond the experience accessible to human beings. As far as we are aware, this paper reports the first interactive system with force-feedback that provides "4D haptic visualization" permitting the user to model and interact with 4D cloth-like objects.

The effects of cognitive load on strategic self-handicapping.

PubMed

Silvera, D H

2000-03-01

Past research has demonstrated that observers tend to underestimate the importance of situational determinants (e.g. task difficulty) of the performances of others. This tendency is particularly pronounced when observers are unmotivated, distracted or otherwise 'cognitively busy' while making attributional judgments. The objective of the present research was to determine whether a similar tendency exists when actors are given the opportunity to choose the tasks they will undertake in a self-presentational situation. Sixty-one participants were given a choice between a difficult and a simple task, with cognitive busyness being manipulated while this choice was being made. Cognitively busy participants were significantly more likely to choose the simple task than their non-busy counterparts.

Assessing the use of immersive virtual reality, mouse and touchscreen in pointing and dragging-and-dropping tasks among young, middle-aged and older adults.

PubMed

Chen, Jiayin; Or, Calvin

2017-11-01

This study assessed the use of an immersive virtual reality (VR), a mouse and a touchscreen for one-directional pointing, multi-directional pointing, and dragging-and-dropping tasks involving targets of smaller and larger widths by young (n = 18; 18-30 years), middle-aged (n = 18; 40-55 years) and older adults (n = 18; 65-75 years). A three-way, mixed-factorial design was used for data collection. The dependent variables were the movement time required and the error rate. Our main findings were that the participants took more time and made more errors in using the VR input interface than in using the mouse or the touchscreen. This pattern applied in all three age groups in all tasks, except for multi-directional pointing with a larger target width among the older group. Overall, older adults took longer to complete the tasks and made more errors than young or middle-aged adults. Larger target widths yielded shorter movement times and lower error rates in pointing tasks, but larger targets yielded higher rates of error in dragging-and-dropping tasks. Our study indicated that any other virtual environments that are similar to those we tested may be more suitable for displaying scenes than for manipulating objects that are small and require fine control. Although interacting with VR is relatively difficult, especially for older adults, there is still potential for older adults to adapt to that interface. Furthermore, adjusting the width of objects according to the type of manipulation required might be an effective way to promote performance. Copyright © 2017 Elsevier Ltd. All rights reserved.

Human-robot skills transfer interfaces for a flexible surgical robot.

PubMed

Calinon, Sylvain; Bruno, Danilo; Malekzadeh, Milad S; Nanayakkara, Thrishantha; Caldwell, Darwin G

2014-09-01

In minimally invasive surgery, tools go through narrow openings and manipulate soft organs to perform surgical tasks. There are limitations in current robot-assisted surgical systems due to the rigidity of robot tools. The aim of the STIFF-FLOP European project is to develop a soft robotic arm to perform surgical tasks. The flexibility of the robot allows the surgeon to move within organs to reach remote areas inside the body and perform challenging procedures in laparoscopy. This article addresses the problem of designing learning interfaces enabling the transfer of skills from human demonstration. Robot programming by demonstration encompasses a wide range of learning strategies, from simple mimicking of the demonstrator's actions to the higher level imitation of the underlying intent extracted from the demonstrations. By focusing on this last form, we study the problem of extracting an objective function explaining the demonstrations from an over-specified set of candidate reward functions, and using this information for self-refinement of the skill. In contrast to inverse reinforcement learning strategies that attempt to explain the observations with reward functions defined for the entire task (or a set of pre-defined reward profiles active for different parts of the task), the proposed approach is based on context-dependent reward-weighted learning, where the robot can learn the relevance of candidate objective functions with respect to the current phase of the task or encountered situation. The robot then exploits this information for skills refinement in the policy parameters space. The proposed approach is tested in simulation with a cutting task performed by the STIFF-FLOP flexible robot, using kinesthetic demonstrations from a Barrett WAM manipulator. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

Study to design and develop remote manipulator system

NASA Technical Reports Server (NTRS)

Hill, J. W.; Sword, A. J.

1973-01-01

Human performance measurement techniques for remote manipulation tasks and remote sensing techniques for manipulators are described for common manipulation tasks, performance is monitored by means of an on-line computer capable of measuring the joint angles of both master and slave arms as a function of time. The computer programs allow measurements of the operator's strategy and physical quantities such as task time and power consumed. The results are printed out after a test run to compare different experimental conditions. For tracking tasks, we describe a method of displaying errors in three dimensions and measuring the end-effector position in three dimensions.

Early Life Manipulations Alter Learning and Memory in Rats

PubMed Central

Kosten, Therese A; Kim, Jeansok J; Lee, Hongjoo J.

2012-01-01

Much research shows early life manipulations have enduring behavioral, neural, and hormonal effects. However, findings of learning and memory performance vary widely across studies. We reviewed studies in which pre-weaning rat pups were exposed to stressors and tested on learning and memory tasks in adulthood. Tasks were classified as aversive conditioning, inhibitory learning, or spatial/relational memory. Variables of duration, type, and timing of neonatal manipulation and sex and strain of animals were examined to determine if any predict enhanced or impaired performance. Brief separations enhanced and prolonged separations impaired performance on spatial/relational tasks. Performance was impaired in aversive conditioning and enhanced in inhibitory learning tasks regardless of manipulation duration. Opposing effects on performance for spatial/relational memory also depended upon timing of manipulation. Enhanced performance was likely if the manipulation occurred during postnatal week 3 but performance was impaired if it was confined to the first two postnatal weeks. Thus, the relationship between early life experiences and adulthood learning and memory performance is multifaceted and decidedly task-dependent. PMID:22819985

Knowledge of Previous Tasks: Task Similarity Influences Bias in Task Duration Predictions

PubMed Central

Thomas, Kevin E.; König, Cornelius J.

2018-01-01

Bias in predictions of task duration has been attributed to misremembering previous task duration and using previous task duration as a basis for predictions. This research sought to further examine how previous task information affects prediction bias by manipulating task similarity and assessing the role of previous task duration feedback. Task similarity was examined through participants performing two tasks 1 week apart that were the same or different. Duration feedback was provided to all participants (Experiment 1), its recall was manipulated (Experiment 2), and its provision was manipulated (Experiment 3). In all experiments, task similarity influenced bias on the second task, with predictions being less biased when the first task was the same task. However, duration feedback did not influence bias. The findings highlight the pivotal role of knowledge about previous tasks in task duration prediction and are discussed in relation to the theoretical accounts of task duration prediction bias. PMID:29881362

Second-order motor planning in children: insights from a cup-manipulation-task.

PubMed

Wunsch, Kathrin; Weiss, Daniel J; Schack, Thomas; Weigelt, Matthias

2015-07-01

The present study examined the development of anticipatory motor planning in an object manipulation task that has been used to successfully demonstrate motor planning in non-human primates (Weiss et al. in Psychol Sci 18:1063-1068, 2007). Seventy-five participants from four different age groups participated in a cup-manipulation task. One group was preschool children (average age of 5.1 years), two groups were primary school children (7.7 and 9.8 years old respectively) and the final group was comprised of adults. The experimental task entailed reaching for a plastic cup that was vertically suspended in an apparatus in either upright or inverted orientation, removing the cup by its stem and then retrieving a small toy from the inside of the cup. When the cup was inverted in the apparatus, evidence for anticipatory motor planning could be achieved by initially gripping the stem using an inverted (thumb-down) grip posture. We found that when the cup was in upright orientation, all participants reached for the cup using an upright grip (i.e., thumb-up posture). However, when the cup was inverted in the apparatus, only adults consistently used an inverted grasping posture, though the percentage of inverted grips among participants did increase with age. These results suggest a protracted development for anticipatory motor planning abilities in children. Surprisingly, the performance of adults on this task more closely resembles the performance of several nonhuman primate species as opposed to children even at approximately 10 years of age. We discuss how morphological constraints on flexibility may help account for these findings.

Domestic Robots for Older Adults: Attitudes, Preferences, and Potential

PubMed Central

Mitzner, Tracy L.; Beer, Jenay M.; Prakash, Akanksha; Chen, Tiffany L.; Kemp, Charles C.; Rogers, Wendy A.

2014-01-01

The population of older adults in America is expected to reach an unprecedented level in the near future. Some of them have difficulties with performing daily tasks and caregivers may not be able to match pace with the increasing need for assistance. Robots, especially mobile manipulators, have the potential for assisting older adults with daily tasks enabling them to live independently in their homes. However, little is known about their views of robot assistance in the home. Twenty-one independently living older Americans (65–93 years old) were asked about their preferences for and attitudes toward robot assistance via a structured group interview and questionnaires. In the group interview, they generated a diverse set of 121 tasks they would want a robot to assist them with in their homes. These data, along with their questionnaire responses, suggest that the older adults were generally open to robot assistance but were discriminating in their acceptance of assistance for different tasks. They preferred robot assistance over human assistance for tasks related to chores, manipulating objects, and information management. In contrast, they preferred human assistance to robot assistance for tasks related to personal care and leisure activities. Our study provides insights into older adults' attitudes and preferences for robot assistance with everyday living tasks in the home which may inform the design of robots that will be more likely accepted by older adults. PMID:25152779

Domestic Robots for Older Adults: Attitudes, Preferences, and Potential.

PubMed

Smarr, Cory-Ann; Mitzner, Tracy L; Beer, Jenay M; Prakash, Akanksha; Chen, Tiffany L; Kemp, Charles C; Rogers, Wendy A

2014-04-01

The population of older adults in America is expected to reach an unprecedented level in the near future. Some of them have difficulties with performing daily tasks and caregivers may not be able to match pace with the increasing need for assistance. Robots, especially mobile manipulators, have the potential for assisting older adults with daily tasks enabling them to live independently in their homes. However, little is known about their views of robot assistance in the home. Twenty-one independently living older Americans (65-93 years old) were asked about their preferences for and attitudes toward robot assistance via a structured group interview and questionnaires. In the group interview, they generated a diverse set of 121 tasks they would want a robot to assist them with in their homes. These data, along with their questionnaire responses, suggest that the older adults were generally open to robot assistance but were discriminating in their acceptance of assistance for different tasks. They preferred robot assistance over human assistance for tasks related to chores, manipulating objects, and information management. In contrast, they preferred human assistance to robot assistance for tasks related to personal care and leisure activities. Our study provides insights into older adults' attitudes and preferences for robot assistance with everyday living tasks in the home which may inform the design of robots that will be more likely accepted by older adults.

An octopus-bioinspired solution to movement and manipulation for soft robots.

PubMed

Calisti, M; Giorelli, M; Levy, G; Mazzolai, B; Hochner, B; Laschi, C; Dario, P

2011-09-01

Soft robotics is a challenging and promising branch of robotics. It can drive significant improvements across various fields of traditional robotics, and contribute solutions to basic problems such as locomotion and manipulation in unstructured environments. A challenging task for soft robotics is to build and control soft robots able to exert effective forces. In recent years, biology has inspired several solutions to such complex problems. This study aims at investigating the smart solution that the Octopus vulgaris adopts to perform a crawling movement, with the same limbs used for grasping and manipulation. An ad hoc robot was designed and built taking as a reference a biological hypothesis on crawling. A silicone arm with cables embedded to replicate the functionality of the arm muscles of the octopus was built. This novel arm is capable of pushing-based locomotion and object grasping, mimicking the movements that octopuses adopt when crawling. The results support the biological observations and clearly show a suitable way to build a more complex soft robot that, with minimum control, can perform diverse tasks.

A new approach to global control of redundant manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

A new and simple approach to configuration control of redundant manipulators is presented. In this approach, the redundancy is utilized to control the manipulator configuration directly in task space, where the task will be performed. A number of kinematic functions are defined to reflect the desirable configuration that will be achieved for a given end-effector position. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. An adaptive scheme is then utilized to globally control the configuration variables so as to achieve tracking of some desired reference trajectories. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The control law is simple and computationally very fast, and does not require the complex manipulator dynamic model.

Expertise Effects in Face-Selective Areas are Robust to Clutter and Diverted Attention, but not to Competition

PubMed Central

McGugin, Rankin Williams; Van Gulick, Ana E.; Tamber-Rosenau, Benjamin J.; Ross, David A.; Gauthier, Isabel

2015-01-01

Expertise effects for nonface objects in face-selective brain areas may reflect stable aspects of neuronal selectivity that determine how observers perceive objects. However, bottom-up (e.g., clutter from irrelevant objects) and top-down manipulations (e.g., attentional selection) can influence activity, affecting the link between category selectivity and individual performance. We test the prediction that individual differences expressed as neural expertise effects for cars in face-selective areas are sufficiently stable to survive clutter and manipulations of attention. Additionally, behavioral work and work using event related potentials suggest that expertise effects may not survive competition; we investigate this using functional magnetic resonance imaging. Subjects varying in expertise with cars made 1-back decisions about cars, faces, and objects in displays containing one or 2 objects, with only one category attended. Univariate analyses suggest car expertise effects are robust to clutter, dampened by reducing attention to cars, but nonetheless more robust to manipulations of attention than competition. While univariate expertise effects are severely abolished by competition between cars and faces, multivariate analyses reveal new information related to car expertise. These results demonstrate that signals in face-selective areas predict expertise effects for nonface objects in a variety of conditions, although individual differences may be expressed in different dependent measures depending on task and instructions. PMID:24682187

Supervisory manipulation based on the concepts of absolute vs relative and fixed vs moving tasks

NASA Technical Reports Server (NTRS)

Brooks, T. L.

1980-01-01

If a machine is to perform a given subtask autonomously, it will require an internal model which, combined with operator and environmental inputs, can be used to generate the manipulator functions necessary to complete the task. This paper will advance a technique based on linear transformations by which short, supervised periods of manipulation can be accomplished. To achieve this end a distinction will be made between tasks which can be completely defined during the training period, and tasks which can be only partially defined prior to the moment of execution. A further distinction will be made between tasks which have a fixed relationship to the manipulator base throughout the execution period, and tasks which have a continuously changing task/base relationship during execution. Finally, through a rudimentary analysis of the methods developed in this paper, some of the practical aspects of implementing a supervisory system will be illustrated

Body ownership and agency: task-dependent effects of the virtual hand illusion on proprioceptive drift.

PubMed

Shibuya, Satoshi; Unenaka, Satoshi; Ohki, Yukari

2017-01-01

Body ownership and agency are fundamental to self-consciousness. These bodily experiences have been intensively investigated using the rubber hand illusion, wherein participants perceive a fake hand as their own. After presentation of the illusion, the position of the participant's hand then shifts toward the location of the fake hand (proprioceptive drift). However, it remains controversial whether proprioceptive drift is able to provide an objective measurement of body ownership, and whether agency also affects drift. Using the virtual hand illusion (VHI), the current study examined the effects of body ownership and agency on proprioceptive drift, with three different visuo-motor tasks. Twenty healthy adults (29.6 ± 9.2 years old) completed VH manipulations using their right hand under a 2 × 2 factorial design (active vs. passive manipulation, and congruent vs. incongruent virtual hand). Prior to and after VH manipulation, three different tasks were performed to assess proprioceptive drift, in which participants were unable to see their real hands. The effects of the VHI on proprioceptive drift were task-dependent. When participants were required to judge the position of their right hand using a ruler, or by reaching toward a visual target, both body ownership and agency modulated proprioceptive drift. Comparatively, when participants aligned both hands, drift was influenced by ownership but not agency. These results suggest that body ownership and agency might differentially modulate various body representations in the brain.

Linnehan and Foreman on EVA 2 - during Expedition 16 / STS-123 Joint Operations

NASA Image and Video Library

2008-03-16

S123-E-006787 (15/16 March 2008) --- Astronauts Mike Foreman and Rick Linnehan (partially out of frame), both STS-123 mission specialists, participate in the mission's second scheduled session of extravehicular activity (EVA) as construction and maintenance continue on the International Space Station. During the 7-hour, 8-minute spacewalk, Linnehan and Foreman, assembled the stick-figure-shaped Dextre, also known as the Special Purpose Dextrous Manipulator (SPDM), a task that included attaching its two arms. Designed for station maintenance and service, Dextre is capable of sensing forces and movement of objects it is manipulating. It can automatically compensate for those forces and movements to ensure an object is moved smoothly. Dextre is the final element of the station's Mobile Servicing System.

Frames of reference in action plan recall: influence of hand and handedness.

PubMed

Seegelke, Christian; Hughes, Charmayne M L; Wunsch, Kathrin; van der Wel, Robrecht; Weigelt, Matthias

2015-10-01

Evidence suggests that people are more likely to recall features of previous plans and use them for subsequent movements, rather than generating action plans from scratch for each movement. The information used for plan recall during object manipulation tasks is stored in extrinsic (object-centered) rather than intrinsic (body-centered) coordinates. The present study examined whether action plan recall processes are influenced by manual asymmetries. Right-handed (Experiment 1) and left-handed (Experiment 2) participants grasped a plunger from a home position using either the dominant or the non-dominant hand and placed it at one of the three target positions located at varying heights (home-to-target moves). Subsequently, they stepped sideways down from a podium (step-down podium), onto a podium (step-up podium), or without any podium present (no podium), before returning the plunger to the home platform using the same hand (target-back-to-home moves). The data show that, regardless of hand and handedness, participants grasped the plunger at similar heights during the home-to-target and target-back-to-home moves, even if they had to adopt quite different arm postures to do so. Thus, these findings indicate that the information used for plan recall processes in sequential object manipulation tasks is stored in extrinsic coordinates and in an effector-independent manner.

Task oriented nonlinear control laws for telerobotic assembly operations

NASA Technical Reports Server (NTRS)

Walker, R. A.; Ward, L. S.; Elia, C. F.

1987-01-01

The goal of this research is to achieve very intelligent telerobotic controllers which are capable of receiving high-level commands from the human operator and implementing them in an adaptive manner in the object/task/manipulator workspace. Initiatives by the authors at Integrated Systems, Inc. to identify and develop the key technologies necessary to create such a flexible, highly programmable, telerobotic controller are presented. The focus of the discussion is on the modeling of insertion tasks in three dimensions and nonlinear implicit force feedback control laws which incorporate tool/workspace constraints. Preliminary experiments with dual arm beam assembly in 2-D are presented.

Hippocampus is required for paired associate memory with neither delay nor trial uniqueness

PubMed Central

Yoon, Jinah; Seo, Yeran; Kim, Jangjin; Lee, Inah

2012-01-01

Cued retrieval of memory is typically examined with delay when testing hippocampal functions, as in delayed matching-to-sample tasks. Equally emphasized in the literature, on the other hand, is the hippocampal involvement in making arbitrary associations. Paired associate memory tasks are widely used for examining this function. However, the two variables (i.e., delay and paired association) were often mixed in paired associate tasks, and this makes it difficult to localize the cognitive source of deficits with hippocampal perturbation. Specifically, a few studies have recently shown that rats can learn arbitrary paired associations between certain locations and nonspatial items (e.g., object or flavor) and later can retrieve the paired location when cued by the item remotely. Such tasks involve both (1) delay between sampling the cue and retrieving the target location and (2) arbitrary association between the cueing object and its paired location. Here, we tested whether delay was necessary in a cued paired associate task by using a task in which no delay existed between object cueing and the choice of its paired associate. Moreover, fixed associative relationships between the cueing objects and their paired locations were repeatedly used, thus involving no trial-unique association. Nevertheless, inactivations of the dorsal hippocampus with muscimol severely disrupted retrieval of paired associates, whereas the same manipulations did not affect discriminating individual objects or locations. The results powerfully demonstrate that the hippocampus is inherently required for retrieving paired associations between objects and places, and that delay and trial uniqueness of the paired associates are not necessarily required. PMID:22174309

Augmented Reality versus Virtual Reality for 3D Object Manipulation.

PubMed

Krichenbauer, Max; Yamamoto, Goshiro; Taketom, Takafumi; Sandor, Christian; Kato, Hirokazu

2018-02-01

Virtual Reality (VR) Head-Mounted Displays (HMDs) are on the verge of becoming commodity hardware available to the average user and feasible to use as a tool for 3D work. Some HMDs include front-facing cameras, enabling Augmented Reality (AR) functionality. Apart from avoiding collisions with the environment, interaction with virtual objects may also be affected by seeing the real environment. However, whether these effects are positive or negative has not yet been studied extensively. For most tasks it is unknown whether AR has any advantage over VR. In this work we present the results of a user study in which we compared user performance measured in task completion time on a 9 degrees of freedom object selection and transformation task performed either in AR or VR, both with a 3D input device and a mouse. Our results show faster task completion time in AR over VR. When using a 3D input device, a purely VR environment increased task completion time by 22.5 percent on average compared to AR ( ). Surprisingly, a similar effect occurred when using a mouse: users were about 17.3 percent slower in VR than in AR ( ). Mouse and 3D input device produced similar task completion times in each condition (AR or VR) respectively. We further found no differences in reported comfort.

Telerobotic control of a dextrous manipulator using master and six-DOF hand-controllers for space assembly and servicing tasks

NASA Technical Reports Server (NTRS)

O'Hara, John M.

1987-01-01

Two studies were conducted evaluating methods of controlling a telerobot; bilateral force reflecting master controllers and proportional rate six degrees of freedom (DOF) hand controllers. The first study compared the controllers on performance of single manipulator arm tasks, a peg-in-the-hole task, and simulated satellite orbital replacement unit changeout. The second study, a Space Station truss assembly task, required simultaneous operation of both manipulator arms (all 12 DOFs) and complex multiaxis slave arm movements. Task times were significantly longer and fewer errors were committed with the hand controllers. The hand controllers were also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers were rated significantly higher in physical workload. There were no significant differences in ratings of manipulator control quality.

User Control and Task Authenticity for Spatial Learning in 3D Environments

ERIC Educational Resources Information Center

Dalgarno, Barney; Harper, Barry

2004-01-01

This paper describes two empirical studies which investigated the importance for spatial learning of view control and object manipulation within 3D environments. A 3D virtual chemistry laboratory was used as the research instrument. Subjects, who were university undergraduate students (34 in the first study and 80 in the second study), undertook…

Exploring How Children Use Their Hands to Think: An Embodied Interactional Analysis

ERIC Educational Resources Information Center

Antle, Alissa N.

2013-01-01

In order to better understand how to design hands-on child-computer interaction, we explore how different styles of interaction facilitate children's thinking while they use their hands to manipulate objects. We present an exploratory study of children solving a spatial puzzle task. We investigate how the affordances of physical, graphical…

Recognizing User Identity by Touch on Tabletop Displays: An Interactive Authentication Method

ERIC Educational Resources Information Center

Torres Peralta, Raquel

2012-01-01

Multi-touch tablets allow users to interact with computers through intuitive, natural gestures and direct manipulation of digital objects. One advantage of these devices is that they can offer a large, collaborative space where several users can work on a task at the same time. However the lack of privacy in these situations makes standard…

Dynamics modelling and Hybrid Suppression Control of space robots performing cooperative object manipulation

NASA Astrophysics Data System (ADS)

Zarafshan, P.; Moosavian, S. Ali A.

2013-10-01

Dynamics modelling and control of multi-body space robotic systems composed of rigid and flexible elements is elaborated here. Control of such systems is highly complicated due to severe under-actuated condition caused by flexible elements, and an inherent uneven nonlinear dynamics. Therefore, developing a compact dynamics model with the requirement of limited computations is extremely useful for controller design, also to develop simulation studies in support of design improvement, and finally for practical implementations. In this paper, the Rigid-Flexible Interactive dynamics Modelling (RFIM) approach is introduced as a combination of Lagrange and Newton-Euler methods, in which the motion equations of rigid and flexible members are separately developed in an explicit closed form. These equations are then assembled and solved simultaneously at each time step by considering the mutual interaction and constraint forces. The proposed approach yields a compact model rather than common accumulation approach that leads to a massive set of equations in which the dynamics of flexible elements is united with the dynamics equations of rigid members. To reveal such merits of this new approach, a Hybrid Suppression Control (HSC) for a cooperative object manipulation task will be proposed, and applied to usual space systems. A Wheeled Mobile Robotic (WMR) system with flexible appendages as a typical space rover is considered which contains a rigid main body equipped with two manipulating arms and two flexible solar panels, and next a Space Free Flying Robotic system (SFFR) with flexible members is studied. Modelling verification of these complicated systems is vigorously performed using ANSYS and ADAMS programs, while the limited computations of RFIM approach provides an efficient tool for the proposed controller design. Furthermore, it will be shown that the vibrations of the flexible solar panels results in disturbing forces on the base which may produce undesirable errors and perturb the object manipulation task. So, it is shown that these effects can be significantly eliminated by the proposed Hybrid Suppression Control algorithm.

An instrumented glove for grasp specification in virtual-reality-based point-and-direct telerobotics.

PubMed

Yun, M H; Cannon, D; Freivalds, A; Thomas, G

1997-10-01

Hand posture and force, which define aspects of the way an object is grasped, are features of robotic manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system will be used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct (VR-PAD) robotics implementation. Here, an operator gives directives to a robot in the same natural way that human may direct another. Phrases such as "put that there" cause the robot to define a grasping strategy and motion strategy to complete the task on its own. In the VR-PAD concept, pointing is done using virtual tools such that an operator can appear to graphically grasp real items in live video. Rather than requiring full duplication of forces and kinesthetic movement throughout a task as is required in manual telemanipulation, hand posture and force are now specified only once. The grasp parameters then become object flavors. The robot maintains the specified force and hand posture flavors for an object throughout the task in handling the real workpiece or item of interest. In the Computer integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with Force-Sensitive Resistor (FSR) (pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufacturing, space operations and other flexible robotics applications. In each case, the VR-PAD approach will finesse the computational and delay problems of real-time multiple-degree-of-freedom force feedback telemanipulation.

The synergic control of multi-finger force production: Stability of explicit and implicit task components

PubMed Central

Reschechtko, Sasha; Zatsiorsky, Vladimir M.; Latash, Mark L.

2016-01-01

Manipulating objects with the hands requires the accurate production of resultant forces including shear forces; effective control of these shear forces also requires the production of internal forces normal to the surface of the object(s) being manipulated. In the present study, we investigated multi-finger synergies stabilizing shear and normal components of force, as well as drifts in both components of force, during isometric pressing tasks requiring a specific magnitude of shear force production. We hypothesized that shear and normal forces would evolve similarly in time, and also show similar stability properties as assessed by the decomposition of inter-trial variance within the uncontrolled manifold hypothesis. Healthy subjects were required to accurately produce total shear and total normal forces with four fingers of the hand during a steady-state force task (with and without visual feedback) and a self-paced force pulse task. The two force components showed similar time profiles during both shear force pulse production and unintentional drift induced by turning the visual feedback off. Only the explicitly instructed components of force, however, were stabilized with multi-finger synergies. No force-stabilizing synergies and no anticipatory synergy adjustments were seen for the normal force in shear force production trials. These unexpected qualitative differences in the control of the two force components – which are produced by some of the same muscles and show high degree of temporal coupling – are interpreted within the theory of control with referent coordinates for salient variables. These observations suggest the existence of two classes of neural variables: one that translates into shifts of referent coordinates and defines changes in magnitude of salient variables, and the other controlling gains in back-coupling loops that define stability of the salient variables. Only the former are shared between the explicit and implicit task components. PMID:27601252

Failure tolerance strategy of space manipulator for large load carrying tasks

NASA Astrophysics Data System (ADS)

Chen, Gang; Yuan, Bonan; Jia, Qingxuan; Sun, Hanxu; Guo, Wen

2018-07-01

During the execution of large load carrying tasks in long term service, there is a notable risk of space manipulator suffering from locked-joint failure, thus space manipulator should be with enough failure tolerance performance. A research on evaluating failure tolerance performance and re-planning feasible task trajectory for space manipulator performing large load carrying tasks is conducted in this paper. The effects of locked-joint failure on critical performance(reachability and load carrying capacity) of space manipulator are analyzed at first. According to the requirements of load carrying tasks, we further propose a new concept of failure tolerance workspace with load carrying capacity(FTWLCC) to evaluate failure tolerance performance, and improve the classic A* algorithm to search the feasible task trajectory. Through the normalized FTWLCC and the improved A* algorithm, the reachability and load carrying capacity of the degraded space manipulator are evaluated, and the reachable and capable trajectory can be obtained. The establishment of FTWLCC provides a novel idea that combines mathematical statistics with failure tolerance performance to illustrate the distribution of load carrying capacity in three-dimensional space, so multiple performance indices can be analyzed simultaneously and visually. And the full consideration of all possible failure situations and motion states makes FTWLCC and improved A* algorithm be universal and effective enough to be appropriate for random joint failure and variety of requirement of large load carrying tasks, so they can be extended to other types of manipulators.

Tool-use in the brown bear (Ursus arctos).

PubMed

Deecke, Volker B

2012-07-01

This is the first report of tool-using behaviour in a wild brown bear (Ursus arctos). Whereas the use of tools is comparatively common among primates and has also been documented in several species of birds, fishes and invertebrates, tool-using behaviours have so far been observed in only four species of non-primate mammal. The observation was made and photographed while studying the behaviour of a subadult brown bear in south-eastern Alaska. The animal repeatedly picked up barnacle-encrusted rocks in shallow water, manipulated and re-oriented them in its forepaws, and used them to rub its neck and muzzle. The behaviour probably served to relieve irritated skin or to remove food-remains from the fur. Bears habitually rub against stationary objects and overturn rocks and boulders during foraging and such rubbing behaviour could have been transferred to a freely movable object to classify as tool-use. The bear exhibited considerable motor skills when manipulating the rocks, which clearly shows that these animals possess the advanced motor learning necessary for tool-use. Advanced spatial cognition and motor skills for object manipulation during feeding and tool-use provide a possible explanation for why bears have the largest brains relative to body size of all carnivores. Systematic research into the cognitive abilities of bears, both in captivity and in the wild, is clearly warranted to fully understand their motor-learning skills and physical intelligence related to tool-use and other object manipulation tasks.

Applying Behavior-Based Robotics Concepts to Telerobotic Use of Power Tooling

DOE Office of Scientific and Technical Information (OSTI.GOV)

Noakes, Mark W; Hamel, Dr. William R.

While it has long been recognized that telerobotics has potential advantages to reduce operator fatigue, to permit lower skilled operators to function as if they had higher skill levels, and to protect tools and manipulators from excessive forces during operation, relatively little laboratory research in telerobotics has actually been implemented in fielded systems. Much of this has to do with the complexity of the implementation and its lack of ability to operate in complex unstructured remote systems environments. One possible solution is to approach the tooling task using an adaptation of behavior-based techniques to facilitate task decomposition to a simplermore » perspective and to provide sensor registration to the task target object in the field. An approach derived from behavior-based concepts has been implemented to provide automated tool operation for a teleoperated manipulator system. The generic approach is adaptable to a wide range of typical remote tools used in hot-cell and decontamination and dismantlement-type operations. Two tasks are used in this work to test the validity of the concept. First, a reciprocating saw is used to cut a pipe. The second task is bolt removal from mockup process equipment. This paper explains the technique, its implementation, and covers experimental data, analysis of results, and suggestions for implementation on fielded systems.« less

Task probability and report of feature information: what you know about what you 'see' depends on what you expect to need.

PubMed

Pilling, Michael; Gellatly, Angus

2013-07-01

We investigated the influence of dimensional set on report of object feature information using an immediate memory probe task. Participants viewed displays containing up to 36 coloured geometric shapes which were presented for several hundred milliseconds before one item was abruptly occluded by a probe. A cue presented simultaneously with the probe instructed participants to report either about the colour or shape of the probe item. A dimensional set towards the colour or shape of the presented items was induced by manipulating task probability - the relative probability with which the two feature dimensions required report. This was done across two participant groups: One group was given trials where there was a higher report probability of colour, the other a higher report probability of shape. Two experiments showed that features were reported most accurately when they were of high task probability, though in both cases the effect was largely driven by the colour dimension. Importantly the task probability effect did not interact with display set size. This is interpreted as tentative evidence that this manipulation influences feature processing in a global manner and at a stage prior to visual short term memory. Copyright © 2013 Elsevier B.V. All rights reserved.

Dynamics and control of robot for capturing objects in space

NASA Astrophysics Data System (ADS)

Huang, Panfeng

Space robots are expected to perform intricate tasks in future space services, such as satellite maintenance, refueling, and replacing the orbital replacement unit (ORU). To realize these missions, the capturing operation may not be avoided. Such operations will encounter some challenges because space robots have some unique characteristics unfound on ground-based robots, such as, dynamic singularities, dynamic coupling between manipulator and space base, limited energy supply and working without a fixed base, and so on. In addition, since contacts and impacts may not be avoided during capturing operation. Therefore, dynamics and control problems of space robot for capturing objects are significant research topics if the robots are to be deployed for the space services. A typical servicing operation mainly includes three phases: capturing the object, berthing and docking the object, then repairing the target. Therefore, this thesis will focus on resolving some challenging problems during capturing the object, berthing and docking, and so on. In this thesis, I study and analyze the dynamics and control problems of space robot for capturing objects. This work has potential impact in space robotic applications. I first study the contact and impact dynamics of space robot and objects. I specifically focus on analyzing the impact dynamics and mapping the relationship of influence and speed. Then, I develop the fundamental theory for planning the minimum-collision based trajectory of space robot and designing the configuration of space robot at the moment of capture. To compensate for the attitude of the space base during the capturing approach operation, a new balance control concept which can effectively balance the attitude of the space base using the dynamic couplings is developed. The developed balance control concept helps to understand of the nature of space dynamic coupling, and can be readily applied to compensate or minimize the disturbance to the space base. After capturing the object, the space robot must complete the following two tasks: one is to berth the object, and the other is to re-orientate the attitude of the whole robot system for communication and power supply. Therefore, I propose a method to accomplish these two tasks simultaneously using manipulator motion only. The ultimate goal of space services is to realize the capture and manipulation autonomously. Therefore, I propose an affective approach based on learning human skill to track and capture the objects automatically in space. With human-teaching demonstration, the space robot is able to learn and abstract human tracking and capturing skill using an efficient neural-network learning architecture that combines flexible Cascade Neural Networks with Node Decoupled Extended Kalman Filtering (CNN-NDEKF). The simulation results attest that this approach is useful and feasible in tracking trajectory planning and capturing of space robot. Finally I propose a novel approach based on Genetic Algorithms (GAs) to optimize the approach trajectory of space robots in order to realize effective and stable operations. I complete the minimum-torque path planning in order to save the limited energy in space, and design the minimum jerk trajectory for the stabilization of the space manipulator and its space base. These optimal algorithms are very important and useful for the application of space robot.

Does evaluative learning rely on the perception of contingency?: manipulating contingency and US density during evaluative conditioning.

PubMed

Kattner, Florian; Ellermeier, Wolfgang

2011-01-01

An experiment is reported studying the impact of objective contingency and contingency judgments on cross-modal evaluative conditioning (EC). Both contingency judgments and evaluative responses were measured after a contingency learning task in which previously neutral sounds served as either weak or strong predictors of affective pictures. Experimental manipulations of contingency and US density were shown to affect contingency judgments. Stronger contingencies were perceived with high contingency and with low US density. The contingency learning task also produced a reliable EC effect. The magnitude of this effect was influenced by an interaction of statistical contingency and US density. Furthermore, the magnitude of EC was correlated with the subjective contingency judgments. Taken together, the results imply that propositional knowledge about the CS-US relationship, as reflected in contingency judgments, moderates evaluative learning. The data are discussed with respect to different accounts of EC.

Predictability and Robustness in the Manipulation of Dynamically Complex Objects

PubMed Central

Hasson, Christopher J.

2017-01-01

Manipulation of complex objects and tools is a hallmark of many activities of daily living, but how the human neuromotor control system interacts with such objects is not well understood. Even the seemingly simple task of transporting a cup of coffee without spilling creates complex interaction forces that humans need to compensate for. Predicting the behavior of an underactuated object with nonlinear fluid dynamics based on an internal model appears daunting. Hence, this research tests the hypothesis that humans learn strategies that make interactions predictable and robust to inaccuracies in neural representations of object dynamics. The task of moving a cup of coffee is modeled with a cart-and-pendulum system that is rendered in a virtual environment, where subjects interact with a virtual cup with a rolling ball inside using a robotic manipulandum. To gain insight into human control strategies, we operationalize predictability and robustness to permit quantitative theory-based assessment. Predictability is quantified by the mutual information between the applied force and the object dynamics; robustness is quantified by the energy margin away from failure. Three studies are reviewed that show how with practice subjects develop movement strategies that are predictable and robust. Alternative criteria, common for free movement, such as maximization of smoothness and minimization of force, do not account for the observed data. As manual dexterity is compromised in many individuals with neurological disorders, the experimental paradigm and its analyses are a promising platform to gain insights into neurological diseases, such as dystonia and multiple sclerosis, as well as healthy aging. PMID:28035560

Inhibitory Control, but Not Prolonged Object-Related Experience Appears to Affect Physical Problem-Solving Performance of Pet Dogs.

PubMed

Müller, Corsin A; Riemer, Stefanie; Virányi, Zsófia; Huber, Ludwig; Range, Friederike

2016-01-01

Human infants develop an understanding of their physical environment through playful interactions with objects. Similar processes may influence also the performance of non-human animals in physical problem-solving tasks, but to date there is little empirical data to evaluate this hypothesis. In addition or alternatively to prior experiences, inhibitory control has been suggested as a factor underlying the considerable individual differences in performance reported for many species. Here we report a study in which we manipulated the extent of object-related experience for a cohort of dogs (Canis familiaris) of the breed Border Collie over a period of 18 months, and assessed their level of inhibitory control, prior to testing them in a series of four physical problem-solving tasks. We found no evidence that differences in object-related experience explain variability in performance in these tasks. It thus appears that dogs do not transfer knowledge about physical rules from one physical problem-solving task to another, but rather approach each task as a novel problem. Our results, however, suggest that individual performance in these tasks is influenced in a complex way by the subject's level of inhibitory control. Depending on the task, inhibitory control had a positive or a negative effect on performance and different aspects of inhibitory control turned out to be the best predictors of individual performance in the different tasks. Therefore, studying the interplay between inhibitory control and problem-solving performance will make an important contribution to our understanding of individual and species differences in physical problem-solving performance.

Inhibitory Control, but Not Prolonged Object-Related Experience Appears to Affect Physical Problem-Solving Performance of Pet Dogs

PubMed Central

Müller, Corsin A.; Riemer, Stefanie; Virányi, Zsófia; Huber, Ludwig; Range, Friederike

2016-01-01

Human infants develop an understanding of their physical environment through playful interactions with objects. Similar processes may influence also the performance of non-human animals in physical problem-solving tasks, but to date there is little empirical data to evaluate this hypothesis. In addition or alternatively to prior experiences, inhibitory control has been suggested as a factor underlying the considerable individual differences in performance reported for many species. Here we report a study in which we manipulated the extent of object-related experience for a cohort of dogs (Canis familiaris) of the breed Border Collie over a period of 18 months, and assessed their level of inhibitory control, prior to testing them in a series of four physical problem-solving tasks. We found no evidence that differences in object-related experience explain variability in performance in these tasks. It thus appears that dogs do not transfer knowledge about physical rules from one physical problem-solving task to another, but rather approach each task as a novel problem. Our results, however, suggest that individual performance in these tasks is influenced in a complex way by the subject’s level of inhibitory control. Depending on the task, inhibitory control had a positive or a negative effect on performance and different aspects of inhibitory control turned out to be the best predictors of individual performance in the different tasks. Therefore, studying the interplay between inhibitory control and problem-solving performance will make an important contribution to our understanding of individual and species differences in physical problem-solving performance. PMID:26863141

FMRI-adaptation to highly-rendered color photographs of animals and manipulable artifacts during a classification task.

PubMed

Chouinard, Philippe A; Goodale, Melvyn A

2012-02-01

We used fMRI to identify brain areas that adapted to either animals or manipulable artifacts while participants classified highly-rendered color photographs into subcategories. Several key brain areas adapted more strongly to one class of objects compared to the other. Namely, we observed stronger adaptation for animals in the lingual gyrus bilaterally, which are known to analyze the color of objects, and in the right frontal operculum and in the anterior insular cortex bilaterally, which are known to process emotional content. In contrast, the left anterior intraparietal sulcus, which is important for configuring the hand to match the three-dimensional structure of objects during grasping, adapted more strongly to manipulable artifacts. Contrary to what a previous study has found using gray-scale photographs, we did not replicate categorical-specific adaptation in the lateral fusiform gyrus for animals and categorical-specific adaptation in the medial fusiform gyrus for manipulable artifacts. Both categories of objects adapted strongly in the fusiform gyrus without any clear preference in location along its medial-lateral axis. We think that this is because the fusiform gyrus has an important role to play in color processing and hence its responsiveness to color stimuli could be very different than its responsiveness to gray-scale photographs. Nevertheless, on the basis of what we found, we propose that the recognition and subsequent classification of animals may depend primarily on perceptual properties, such as their color, and on their emotional content whereas other factors, such as their function, may play a greater role for classifying manipulable artifacts. Copyright © 2011 Elsevier Inc. All rights reserved.

Note on hand use in the manipulation of joysticks by rhesus monkeys (Macaca mulatta) and chimpanzees (Pan troglodytes)

NASA Technical Reports Server (NTRS)

Hopkins, William D.; Washburn, David A.; Rumbaugh, Duane M.

1989-01-01

MacNeilage et al. (1987) have proposed that nonhuman primate handedness may be contingent on the specific task requirements, with visual-spatial tasks yielding left-hand preferences and fine-motor tasks producing right-hand preferences. This study reports hand preferences in the manipulation of joysticks by 2 rhesus monkeys and 3 chimpanzees. Reach data were also collected for comparison with preference data for manipulation of the joystick. The data indicated that all 5 subjects demonstrated significant right-hand preferences in manipulating the joystick. In contrast, no significant hand preferences were found for the reach data. Reaction-time data also indicated that the right hand could perform a perceptual-motor task better than the left hand in all 5 subjects. Overall, the data indicate that reach tasks may not be sensitive enough measures to produce reliable hand preferences, whereas tasks that assess fine-motor control produce significant hand preferences.

The effects of instruction and hand dominance on grip-to-load force coordination in manipulation tasks.

PubMed

Jin, Xin; Uygur, Mehmet; Getchell, Nancy; Hall, Susan J; Jaric, Slobodan

2011-10-31

The force applied upon a vertically oriented hand-held object could be decomposed into two orthogonal and highly coordinated components: the grip force (GF; the component perpendicular to the hand-object contact area that provides friction) and the load force (LF; the parallel component that can move the object or support the body). The aim of this study was to investigate the underexplored effects of task instruction and hand dominance on GF-LF coordination. Sixteen right-handed subjects performed bimanual manipulation against a horizontally oriented instrumented device under different sets of instructions. The tasks involved exertion of ramp-and-hold or oscillation patterns of LF performed symmetrically with two hands, while the instructions regarding individual actions were either similar (pull with both hands) or dissimilar (pull with one hand and hold with another). The results revealed that the instruction "to pull" leads to higher indices of GF-LF coordination than the instruction "to hold", as evidenced by a lower GF-LF ratio, higher GF-LF coupling, and higher GF modulation. The only effect of hand dominance was a moderate time lag of GF relative to LF changes observed in the non-dominant hand. We conclude that the instructions could play an important role in GF-LF coordination and, therefore, they should be taken into account when exploring or routinely testing hand function. Additionally, the results suggest that the neural control of GF of the non-dominant hand could involve some feedback mechanisms. Copyright © 2011 Elsevier Ireland Ltd. All rights reserved.

Stable and variable affordances are both automatic and flexible

PubMed Central

Borghi, Anna M.; Riggio, Lucia

2015-01-01

The mere observation of pictures or words referring to manipulable objects is sufficient to evoke their affordances since objects and their nouns elicit components of appropriate motor programs associated with object interaction. While nobody doubts that objects actually evoke motor information, the degree of automaticity of this activation has been recently disputed. Recent evidence has indeed revealed that affordances activation is flexibly modulated by the task and by the physical and social context. It is therefore crucial to understand whether these results challenge previous evidence showing that motor information is activated independently from the task. The context and the task can indeed act as an early or late filter. We will review recent data consistent with the notion that objects automatically elicit multiple affordances and that top-down processes select among them probably inhibiting motor information that is not consistent with behavior goals. We will therefore argue that automaticity and flexibility of affordances are not in conflict. We will also discuss how language can incorporate affordances showing similarities, but also differences, between the motor information elicited by vision and language. Finally we will show how the distinction between stable and variable affordances can accommodate all these effects. PMID:26150778

Are stimulus-response rules represented phonologically for task-set preparation and maintenance?

PubMed

van 't Wout, Félice; Lavric, Aureliu; Monsell, Stephen

2013-09-01

Accounts of task-set control generally assume that the current task's stimulus-response (S-R) rules must be elevated to a privileged state of activation. How are they represented in this state? In 3 task-cuing experiments, we tested the hypothesis that phonological working memory is used to represent S-R rules for task-set control by getting participants to switch between 2 sets of arbitrary S-R rules and manipulating the articulatory duration (Experiment 1) or phonological similarity (Experiments 2 and 3) of the names of the stimulus terms. The task cue specified which of 2 objects (Experiment 1) or consonants (Experiment 2) in a display to identify with a key press. In Experiment 3, participants switched between identifying an object/consonant and its color/visual texture. After practice, neither the duration nor the similarity of the stimulus terms had detectable effects on overall performance, task-switch cost, or its reduction with preparation. Only in the initial single-task training blocks was phonological similarity a significant handicap. Hence, beyond a very transient role, there is no evidence that (declarative) phonological working memory makes a functional contribution to representing S-R rules for task-set control, arguably because once learned, they are represented in nonlinguistic procedural working memory. PsycINFO Database Record (c) 2013 APA, all rights reserved.

Numerical consideration on trapping and guiding of nanoparticles in a flow using scattering field of laser light

NASA Astrophysics Data System (ADS)

Yokoi, Naomichi; Aizu, Yoshihisa

2017-04-01

Optical manipulation techniques proposed so far almost depend on carefully fabricated setups and samples. Similar conditions can be fixed in laboratories, however, it is still a challenging work to manipulate nanoparticles when the environment is not well controlled and is unknown in advance. Nonetheless, coherent light scattered by rough object generates speckles which are random interference patterns with well-defined statistical properties. In the present study, we numerically investigate the motion of a particle in a flow under the illumination of a speckle pattern that is at rest or in motion. Trajectory of the particle is simulated in relation to a flow velocity and a speckle contrast to confirm the feasibility of the present method for performing optical manipulation tasks such as trapping and guiding.

Numerical considerations on control of motion of nanoparticles using scattering field of laser light

NASA Astrophysics Data System (ADS)

Yokoi, Naomichi; Aizu, Yoshihisa

2017-05-01

Most of optical manipulation techniques proposed so far depend on carefully fabricated setups and samples. Similar conditions can be fixed in laboratories; however, it is still challenging to manipulate nanoparticles when the environment is not well controlled and is unknown in advance. Nonetheless, coherent light scattered by rough object generates a speckle pattern which consists of random interference speckle grains with well-defined statistical properties. In the present study, we numerically investigate the motion of a Brownian particle suspended in water under the illumination of a speckle pattern. Particle-captured time and size of particle-captured area are quantitatively estimated in relation to an optical force and a speckle diameter to confirm the feasibility of the present method for performing optical manipulation tasks such as trapping and guiding.

Bi-Stability of Movement Coordination as a Function of Skill Level and Task Difficulty

ERIC Educational Resources Information Center

Liu, Yeou-Teh; Mayer-Kress, Gottfried; Newell, Karl M.

2010-01-01

This study investigated whether the level of practice interacts with the initial conditions (here manipulated as preparatory movements) and task difficulty (ball angular velocity and friction) in determining the stability of movement coordination for a roller ball motor task. Practice level and task difficulty were manipulated as two control…

Linnehan and Foreman on EVA 2 - during Expedition 16 / STS-123 Joint Operations

NASA Image and Video Library

2008-03-16

S123-E-006786 (15/16 March 2008) --- Astronaut Rick Linnehan, STS-123 mission specialist, participates in the mission's second scheduled session of extravehicular activity (EVA) as construction and maintenance continue on the International Space Station. During the 7-hour, 8-minute spacewalk, Linnehan and astronaut Mike Foreman (out of frame), mission specialist, assembled the stick-figure-shaped Dextre, also known as the Special Purpose Dextrous Manipulator (SPDM), a task that included attaching its two arms. Designed for station maintenance and service, Dextre is capable of sensing forces and movement of objects it is manipulating. It can automatically compensate for those forces and movements to ensure an object is moved smoothly. Dextre is the final element of the station's Mobile Servicing System. The blackness of space and Earth's horizon provide the backdrop for the scene.

Linnehan and Foreman on EVA 2 during STS-123 / Expedition 16 Joint Operations

NASA Image and Video Library

2008-03-16

S123-E-006400 (15/16 March 2008) --- Astronauts Rick Linnehan and Mike Foreman, both STS-123 mission specialists, participate in the mission's second scheduled session of extravehicular activity (EVA) as construction and maintenance continue on the International Space Station. During the 7-hour, 8-minute spacewalk, Linnehan and Foreman, assembled the stick-figure-shaped Dextre, also known as the Special Purpose Dextrous Manipulator (SPDM), a task that included attaching its two arms. Designed for station maintenance and service, Dextre is capable of sensing forces and movement of objects it is manipulating. It can automatically compensate for those forces and movements to ensure an object is moved smoothly. Dextre is the final element of the station's Mobile Servicing System. The blackness of space and Earth's horizon provide the backdrop for the scene.

Linnehan and Foreman on EVA 2 during STS-123 / Expedition 16 Joint Operations

NASA Image and Video Library

2008-03-16

S123-E-006403 (15/16 March 2008) --- Astronauts Rick Linnehan and Mike Foreman, both STS-123 mission specialists, participate in the mission's second scheduled session of extravehicular activity (EVA) as construction and maintenance continue on the International Space Station. During the 7-hour, 8-minute spacewalk, Linnehan and Foreman, assembled the stick-figure-shaped Dextre, also known as the Special Purpose Dextrous Manipulator (SPDM), a task that included attaching its two arms. Designed for station maintenance and service, Dextre is capable of sensing forces and movement of objects it is manipulating. It can automatically compensate for those forces and movements to ensure an object is moved smoothly. Dextre is the final element of the station's Mobile Servicing System. The blackness of space and Earth's horizon provide the backdrop for the scene.

Superordinate Level Processing Has Priority Over Basic-Level Processing in Scene Gist Recognition

PubMed Central

Sun, Qi; Zheng, Yang; Sun, Mingxia; Zheng, Yuanjie

2016-01-01

By combining a perceptual discrimination task and a visuospatial working memory task, the present study examined the effects of visuospatial working memory load on the hierarchical processing of scene gist. In the perceptual discrimination task, two scene images from the same (manmade–manmade pairing or natural–natural pairing) or different superordinate level categories (manmade–natural pairing) were presented simultaneously, and participants were asked to judge whether these two images belonged to the same basic-level category (e.g., street–street pairing) or not (e.g., street–highway pairing). In the concurrent working memory task, spatial load (position-based load in Experiment 1) and object load (figure-based load in Experiment 2) were manipulated. The results were as follows: (a) spatial load and object load have stronger effects on discrimination of same basic-level scene pairing than same superordinate level scene pairing; (b) spatial load has a larger impact on the discrimination of scene pairings at early stages than at later stages; on the contrary, object information has a larger influence on at later stages than at early stages. It followed that superordinate level processing has priority over basic-level processing in scene gist recognition and spatial information contributes to the earlier and object information to the later stages in scene gist recognition. PMID:28382195

After-effects of TFT-LCD display polarity and display colour on the detection of low-contrast objects.

PubMed

Mayr, Susanne; Buchner, Axel

2010-07-01

Participants performed a word-non-word discrimination task within a car control display emulated on a thin film transistor liquid-crystal display (TFT-LCD). The task simulated an information read-out from a TFT-LCD-based instrument panel. Subsequently, participants performed a low-contrast object detection task that simulated the detection of objects during night-time driving. In experiment 1, words/non-words were presented black-on-white (positive polarity) or white-on-black (negative polarity). In experiments 2 and 3, display colour was additionally manipulated. A positive polarity advantage in the discrimination task was consistently observed. In contrast, positive displays interfered more than negative displays with subsequent detection. The detrimental after-effect of positive polarity displays was strong with white and blue, reduced with amber and absent with red displays. Subjective measures showed a preference for blue over red, but a slight advantage for amber over blue. Implications for TFT-LCD design are derived from the results. STATEMENT OF RELEVANCE: When using TFT-LCDs as car instrument panels, positive polarity red TFT-LCDs are very likely to lead to good instrument readability while at the same time minimising - relative to other colours - the negative effects of an illuminated display on low-contrast object detection during night-time driving.

The influence of the Japanese waving cat on the joint spatial compatibility effect: A replication and extension of Dolk, Hommel, Prinz, and Liepelt (2013).

PubMed

Puffe, Lydia; Dittrich, Kerstin; Klauer, Karl Christoph

2017-01-01

In a joint go/no-go Simon task, each of two participants is to respond to one of two non-spatial stimulus features by means of a spatially lateralized response. Stimulus position varies horizontally and responses are faster and more accurate when response side and stimulus position match (compatible trial) than when they mismatch (incompatible trial), defining the social Simon effect or joint spatial compatibility effect. This effect was originally explained in terms of action/task co-representation, assuming that the co-actor's action is automatically co-represented. Recent research by Dolk, Hommel, Prinz, and Liepelt (2013) challenged this account by demonstrating joint spatial compatibility effects in a task-setting in which non-social objects like a Japanese waving cat were present, but no real co-actor. They postulated that every sufficiently salient object induces joint spatial compatibility effects. However, what makes an object sufficiently salient is so far not well defined. To scrutinize this open question, the current study manipulated auditory and/or visual attention-attracting cues of a Japanese waving cat within an auditory (Experiment 1) and a visual joint go/no-go Simon task (Experiment 2). Results revealed that joint spatial compatibility effects only occurred in an auditory Simon task when the cat provided auditory cues while no joint spatial compatibility effects were found in a visual Simon task. This demonstrates that it is not the sufficiently salient object alone that leads to joint spatial compatibility effects but instead, a complex interaction between features of the object and the stimulus material of the joint go/no-go Simon task.

Expertise Effects in Face-Selective Areas are Robust to Clutter and Diverted Attention, but not to Competition.

PubMed

McGugin, Rankin Williams; Van Gulick, Ana E; Tamber-Rosenau, Benjamin J; Ross, David A; Gauthier, Isabel

2015-09-01

Expertise effects for nonface objects in face-selective brain areas may reflect stable aspects of neuronal selectivity that determine how observers perceive objects. However, bottom-up (e.g., clutter from irrelevant objects) and top-down manipulations (e.g., attentional selection) can influence activity, affecting the link between category selectivity and individual performance. We test the prediction that individual differences expressed as neural expertise effects for cars in face-selective areas are sufficiently stable to survive clutter and manipulations of attention. Additionally, behavioral work and work using event related potentials suggest that expertise effects may not survive competition; we investigate this using functional magnetic resonance imaging. Subjects varying in expertise with cars made 1-back decisions about cars, faces, and objects in displays containing one or 2 objects, with only one category attended. Univariate analyses suggest car expertise effects are robust to clutter, dampened by reducing attention to cars, but nonetheless more robust to manipulations of attention than competition. While univariate expertise effects are severely abolished by competition between cars and faces, multivariate analyses reveal new information related to car expertise. These results demonstrate that signals in face-selective areas predict expertise effects for nonface objects in a variety of conditions, although individual differences may be expressed in different dependent measures depending on task and instructions. © The Author 2014. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

Meta-T: TetrisⓇ as an experimental paradigm for cognitive skills research.

PubMed

Lindstedt, John K; Gray, Wayne D

2015-12-01

Studies of human performance in complex tasks using video games are an attractive prospect, but many existing games lack a comprehensive way to modify the game and track performance beyond basic levels of analysis. Meta-T provides experimenters a tool to study behavior in a dynamic task environment with time-stressed decision-making and strong perceptual-motor elements, offering a host of experimental manipulations with a robust and detailed logging system for all user events, system events, and screen objects. Its experimenter-friendly interface provides control over detailed parameters of the task environment without need for programming expertise. Support for eye-tracking and computational cognitive modeling extend the paradigm's scope.

Dissociations and Associations of Performance in Syntactic Comprehension in Aphasia and their Implications for the Nature of Aphasic Deficits

PubMed Central

Caplan, David; Michaud, Jennifer; Hufford, Rebecca

2013-01-01

Sixty one pwa were tested on syntactic comprehension in three tasks: sentence-picture matching, sentence-picture matching with auditory moving window presentation, and object manipulation. There were significant correlations of performances on sentences across tasks. First factors in unrotated factor analyses accounted for most of the variance on which all sentence types loaded in each task. Dissociations in performance between sentence types that differed minimally in their syntactic structures were not consistent across tasks. These results replicate previous results with smaller samples and provide important validation of basic aspects of aphasic performance in this area of language processing. They point to the role of a reduction in processing resources and of the interaction of task demands and parsing and interpretive abilities in the genesis of patient performance. PMID:24061104

Self-perception of intrinsic and extrinsic motivation: effects on institutionalized mentally retarded adolescents.

PubMed

Lee, D Y; Syrnyk, R

1977-01-01

Self-perception theory predicts that the introduction of extrinsic rewards for behavior that was intrinsically rewarding may decrease rather than enhance overall motivation. This hypothesis was tested on a group of institutionalized mentally retarded adolescents (34 boys, 10 girls). Intrinsic (high and low task interest) and extrinsic (high- and low-incentive objects) motivation were both manipulated as independent variables, and the dependent variable was task persistence during a free-play period. Results indicated that for a high intrinsically interesting task, the task persistence was greater under the external reward of low- rather than high-incentive value conditions. The opposite trend was revealed for the low intrinsically interesting task. The results provided some evidence that the greater the amount of the reward for an interesting activity, the greater the degree to which the intrinsic interest is undermined.

Motor learning from virtual reality to natural environments in individuals with Duchenne muscular dystrophy.

PubMed

Quadrado, Virgínia Helena; Silva, Talita Dias da; Favero, Francis Meire; Tonks, James; Massetti, Thais; Monteiro, Carlos Bandeira de Mello

2017-11-10

To examine whether performance improvements in the virtual environment generalize to the natural environment. we had 64 individuals, 32 of which were individuals with DMD and 32 were typically developing individuals. The groups practiced two coincidence timing tasks. In the more tangible button-press task, the individuals were required to 'intercept' a falling virtual object at the moment it reached the interception point by pressing a key on the computer. In the more abstract task, they were instructed to 'intercept' the virtual object by making a hand movement in a virtual environment using a webcam. For individuals with DMD, conducting a coincidence timing task in a virtual environment facilitated transfer to the real environment. However, we emphasize that a task practiced in a virtual environment should have higher rates of difficulties than a task practiced in a real environment. IMPLICATIONS FOR REHABILITATION Virtual environments can be used to promote improved performance in ?real-world? environments. Virtual environments offer the opportunity to create paradigms similar ?real-life? tasks, however task complexity and difficulty levels can be manipulated, graded and enhanced to increase likelihood of success in transfer of learning and performance. Individuals with DMD, in particular, showed immediate performance benefits after using virtual reality.

Supervisory Control of a Humanoid Robot in Microgravity for Manipulation Tasks

NASA Technical Reports Server (NTRS)

Farrell, Logan C.; Strawser, Phil; Hambuchen, Kimberly; Baker, Will; Badger, Julia

2017-01-01

Teleoperation is the dominant form of dexterous robotic tasks in the field. However, there are many use cases in which direct teleoperation is not feasible such as disaster areas with poor communication as posed in the DARPA Robotics Challenge, or robot operations on spacecraft a large distance from Earth with long communication delays. Presented is a solution that combines the Affordance Template Framework for object interaction with TaskForce for supervisory control in order to accomplish high level task objectives with basic autonomous behavior from the robot. TaskForce, is a new commanding infrastructure that allows for optimal development of task execution, clear feedback to the user to aid in off-nominal situations, and the capability to add autonomous verification and corrective actions. This framework has allowed the robot to take corrective actions before requesting assistance from the user. This framework is demonstrated with Robonaut 2 removing a Cargo Transfer Bag from a simulated logistics resupply vehicle for spaceflight using a single operator command. This was executed with 80% success with no human involvement, and 95% success with limited human interaction. This technology sets the stage to do any number of high level tasks using a similar framework, allowing the robot to accomplish tasks with minimal to no human interaction.

Spatial short-term memory is impaired in dependent betel quid chewers.

PubMed

Chiu, Meng-Chun; Shen, Bin; Li, Shuo-Heng; Ho, Ming-Chou

2016-08-01

Betel quid is regarded as a human carcinogen by the World Health Organization. It remains unknown whether chewing betel quid has a chronic effect on healthy betel quid chewers' memory. The present study aims to investigate whether chewing betel quid can affect short-term memory (STM). Three groups of participants (24 dependent chewers, 24 non-dependent chewers, and 24 non-chewers) were invited to carry out the matrix span task, the object span task, and the digit span task. All span tasks' results were adopted to assess spatial STM, visual STM, and verbal STM, respectively. Besides, there are three set sizes (small, medium, and large) in each span task. For the matrix span task, results showed that the dependent chewers had worse performances than the non-dependent chewers and the non-chewers at medium and large set sizes. For the object span task and digit span task, there were no differences in between groups. In each group, recognition performances were worse with the increasing set size and showing successful manipulation of memory load. The current study provided the first evidence that dependent betel quid chewing can selectively impair spatial STM rather than visual STM and verbal STM. Theoretical and practical implications of this result are discussed.

Hydraulic manipulator research at ORNL

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kress, R.L.; Jansen, J.F.; Love, L.J.

1997-03-01

Recently, task requirements have dictated that manipulator payload capacity increase to accommodate greater payloads, greater manipulator length, and larger environmental interaction forces. General tasks such as waste storage tank cleanup and facility dismantlement and decommissioning require manipulator life capacities in the range of hundreds of pounds rather than tens of pounds. To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned once again to hydraulics as a means of actuation. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem), sophisticated modeling, analysis, and control experiments are usually needed. Oak Ridge Nationalmore » Laboratory (ORNL) has a history of projects that incorporate hydraulics technology, including mobile robots, teleoperated manipulators, and full-scale construction equipment. In addition, to support the development and deployment of new hydraulic manipulators, ORNL has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The purpose of this article is to describe the past hydraulic manipulator developments and current hydraulic manipulator research capabilities at ORNL. Included are example experimental results from ORNL`s flexible/prismatic test stand.« less

Dynamic task allocation for a man-machine symbiotic system

NASA Technical Reports Server (NTRS)

Parker, L. E.; Pin, F. G.

1987-01-01

This report presents a methodological approach to the dynamic allocation of tasks in a man-machine symbiotic system in the context of dexterous manipulation and teleoperation. This report addresses a symbiotic system containing two symbiotic partners which work toward controlling a single manipulator arm for the execution of a series of sequential manipulation tasks. It is proposed that an automated task allocator use knowledge about the constraints/criteria of the problem, the available resources, the tasks to be performed, and the environment to dynamically allocate task recommendations for the man and the machine. The presentation of the methodology includes discussions concerning the interaction of the knowledge areas, the flow of control, the necessary communication links, and the replanning of the task allocation. Examples of task allocation are presented to illustrate the results of this methodolgy.

The Time-Course of Ultrarapid Categorization: The Influence of Scene Congruency and Top-Down Processing.

PubMed

Vanmarcke, Steven; Calders, Filip; Wagemans, Johan

2016-01-01

Although categorization can take place at different levels of abstraction, classic studies on semantic labeling identified the basic level, for example, dog, as entry point for categorization. Ultrarapid categorization tasks have contradicted these findings, indicating that participants are faster at detecting superordinate-level information, for example, animal, in a complex visual image. We argue that both seemingly contradictive findings can be reconciled within the framework of parallel distributed processing and its successor Leabra (Local, Error-driven and Associative, Biologically Realistic Algorithm). The current study aimed at verifying this prediction in an ultrarapid categorization task with a dynamically changing presentation time (PT) for each briefly presented object, followed by a perceptual mask. Furthermore, we manipulated two defining task variables: level of categorization (basic vs. superordinate categorization) and object presentation mode (object-in-isolation vs. object-in-context). In contradiction with previous ultrarapid categorization research, focusing on reaction time, we used accuracy as our main dependent variable. Results indicated a consistent superordinate processing advantage, coinciding with an overall improvement in performance with longer PT and a significantly more accurate detection of objects in isolation, compared with objects in context, at lower stimulus PT. This contextual disadvantage disappeared when PT increased, indicating that figure-ground separation with recurrent processing is vital for meaningful contextual processing to occur.

The Time-Course of Ultrarapid Categorization: The Influence of Scene Congruency and Top-Down Processing

PubMed Central

Calders, Filip; Wagemans, Johan

2016-01-01

Although categorization can take place at different levels of abstraction, classic studies on semantic labeling identified the basic level, for example, dog, as entry point for categorization. Ultrarapid categorization tasks have contradicted these findings, indicating that participants are faster at detecting superordinate-level information, for example, animal, in a complex visual image. We argue that both seemingly contradictive findings can be reconciled within the framework of parallel distributed processing and its successor Leabra (Local, Error-driven and Associative, Biologically Realistic Algorithm). The current study aimed at verifying this prediction in an ultrarapid categorization task with a dynamically changing presentation time (PT) for each briefly presented object, followed by a perceptual mask. Furthermore, we manipulated two defining task variables: level of categorization (basic vs. superordinate categorization) and object presentation mode (object-in-isolation vs. object-in-context). In contradiction with previous ultrarapid categorization research, focusing on reaction time, we used accuracy as our main dependent variable. Results indicated a consistent superordinate processing advantage, coinciding with an overall improvement in performance with longer PT and a significantly more accurate detection of objects in isolation, compared with objects in context, at lower stimulus PT. This contextual disadvantage disappeared when PT increased, indicating that figure-ground separation with recurrent processing is vital for meaningful contextual processing to occur. PMID:27803794

I saw where you have been--The topography of human demonstration affects dogs' search patterns and perseverative errors.

PubMed

Péter, András; Topál, József; Miklósi, Ádám; Pongrácz, Péter

2016-04-01

Performance in object search tasks is not only influenced by the subjects' object permanence ability. For example, ostensive cues of the human manipulating the target markedly affect dogs' choices. However, the interference between the target's location and the spatial cues of the human hiding the object is still unknown. In a five-location visible displacement task, the experimental groups differed in the hiding route of the experimenter. In the 'direct' condition he moved straight towards the actual location, hid the object and returned to the dog. In the 'indirect' conditions, he additionally walked behind each screen before returning. The two 'indirect' conditions differed from each other in that the human either visited the previously baited locations before (proactive interference) or after (retroactive interference) hiding the object. In the 'indirect' groups, dogs' performance was significantly lower than in the 'direct' group, demonstrating that for dogs, in an ostensive context, spatial cues of the hider are as important as the observed location of the target. Based on their incorrect choices, dogs were most attracted to the previously baited locations that the human visited after hiding the object in the actual trial. This underlines the importance of retroactive interference in multiple choice tasks. Copyright © 2016 Elsevier B.V. All rights reserved.

A manipulative instrument with simultaneous gesture and end-effector trajectory planning and controlling

NASA Astrophysics Data System (ADS)

Lin, Hsien-I.; Nguyen, Xuan-Anh

2017-05-01

To operate a redundant manipulator to accomplish the end-effector trajectory planning and simultaneously control its gesture in online programming, incorporating the human motion is a useful and flexible option. This paper focuses on a manipulative instrument that can simultaneously control its arm gesture and end-effector trajectory via human teleoperation. The instrument can be classified by two parts; first, for the human motion capture and data processing, marker systems are proposed to capture human gesture. Second, the manipulator kinematics control is implemented by an augmented multi-tasking method, and forward and backward reaching inverse kinematics, respectively. Especially, the local-solution and divergence problems of a multi-tasking method are resolved by the proposed augmented multi-tasking method. Computer simulations and experiments with a 7-DOF (degree of freedom) redundant manipulator were used to validate the proposed method. Comparison among the single-tasking, original multi-tasking, and augmented multi-tasking algorithms were performed and the result showed that the proposed augmented method had a good end-effector position accuracy and the most similar gesture to the human gesture. Additionally, the experimental results showed that the proposed instrument was realized online.

Self mobile space manipulator project

NASA Technical Reports Server (NTRS)

Brown, H. Ben; Friedman, Mark; Xu, Yangsheng; Kanade, Takeo

1992-01-01

A relatively simple, modular, low mass, low cost robot is being developed for space EVA that is large enough to be independently mobile on a space station or platform exterior, yet versatile enough to accomplish many vital tasks. The robot comprises two long flexible links connected by a rotary joint, with 2-DOF 'wrist' joints and grippers at each end. It walks by gripping pre-positioned attachment points, such as trusswork nodes, and alternately shifting its base of support from one foot (gripper) to the other. The robot can perform useful tasks such as visual inspection, material transport, and light assembly by manipulating objects with one gripper, while stabilizing itself with the other. At SOAR '90, we reported development of 1/3 scale robot hardware, modular trusswork to serve as a locomotion substrate, and a gravity compensation system to allow laboratory tests of locomotion strategies on the horizontal face of the trusswork. In this paper, we report on project progress including the development of: (1) adaptive control for automatic adjustment to loads; (2) enhanced manipulation capabilities; (3) machine vision, including the use of neural nets, to guide autonomous locomotion; (4) locomotion between orthogonal trusswork faces; and (5) improved facilities for gravity compensation and telerobotic control.

MIST VR. A laparoscopic surgery procedures trainer and evaluator.

PubMed

Sutton, C; McCloy, R; Middlebrook, A; Chater, P; Wilson, M; Stone, R

1997-01-01

The key bimanual instrument tasks involved in laparoscopic surgery have been abstracted for use in a virtual reality surgical skills evaluator and trainer. The trainer uses two laparoscopic instruments mounted on a frame with position sensors which provide instrument movement data that is translated into interactive real time graphics on a PC (P133, 16 Mb RAM, graphics acceleration card). An accurately scaled operating volume of 10 cm3 is represented by a 3D cube on the computer screen. "Camera" position and size of target objects can be varied for different skill levels. Targets appear randomly within the operating volume according to the skill task and can be grasped and manipulated with the instruments. Accuracy and errors during the tasks and time to completion are logged. Mist VR has tutorial, training, examination, analysis and configuration modes. Six tasks have been selected and include combinations of instrument approach, target acquisition, target manipulation and placement, transfer between instruments, target contact with optional diathermy, and controlled instrument withdrawal/replacement. Tasks can be configured for varying degrees of difficulty and the configurations saved to a library for reuse. Specific task configurations can be assigned to individual students. In the examination mode the supervisor can select the tasks, repetitions and order and save to a specific file for that trainee. Progress can be assessed and there is the option for playback of the training session or examination. Data analyses permit overall, including task, and right or left hand performances to be quantified. Mist VR represents a significant advance over the subjective assessment of training performances with existing "plastic box" basic trainers.

Conflict control in task conflict and response conflict.

PubMed

Braverman, Ami; Meiran, Nachshon

2015-03-01

Studies have suggested that conflict control can modulate conflict effects in response to differing levels of conflict context. The current study probed, in two experiments of proportion congruence, the relevance of both task conflict (between a currently relevant task and irrelevant task alternatives) and response conflict (between a currently relevant response and irrelevant response alternatives) to conflict control. In Experiment 1, proportion congruence between blocks was manipulated and in Experiment 2, proportion congruence was manipulated between items. The response conflict effect was smaller when proportion of incongruence was high, regardless if task conflict or response conflict proportions were manipulated. These findings suggest that both task conflict and response conflict are monitored but that only response conflict is being influenced by this monitoring process. Theoretical implications are discussed.

Exploring the Impact of Target Eccentricity and Task Difficulty on Covert Visual Spatial Attention and Its Implications for Brain Computer Interfacing

PubMed Central

Roijendijk, Linsey; Farquhar, Jason; van Gerven, Marcel; Jensen, Ole; Gielen, Stan

2013-01-01

Objective Covert visual spatial attention is a relatively new task used in brain computer interfaces (BCIs) and little is known about the characteristics which may affect performance in BCI tasks. We investigated whether eccentricity and task difficulty affect alpha lateralization and BCI performance. Approach We conducted a magnetoencephalography study with 14 participants who performed a covert orientation discrimination task at an easy or difficult stimulus contrast at either a near (3.5°) or far (7°) eccentricity. Task difficulty was manipulated block wise and subjects were aware of the difficulty level of each block. Main Results Grand average analyses revealed a significantly larger hemispheric lateralization of posterior alpha power in the difficult condition than in the easy condition, while surprisingly no difference was found for eccentricity. The difference between task difficulty levels was significant in the interval between 1.85 s and 2.25 s after cue onset and originated from a stronger decrease in the contralateral hemisphere. No significant effect of eccentricity was found. Additionally, single-trial classification analysis revealed a higher classification rate in the difficult (65.9%) than in the easy task condition (61.1%). No effect of eccentricity was found in classification rate. Significance Our results indicate that manipulating the difficulty of a task gives rise to variations in alpha lateralization and that using a more difficult task improves covert visual spatial attention BCI performance. The variations in the alpha lateralization could be caused by different factors such as an increased mental effort or a higher visual attentional demand. Further research is necessary to discriminate between them. We did not discover any effect of eccentricity in contrast to results of previous research. PMID:24312477

Grip Forces During Object Manipulation: Experiment, Mathematical Model & Validation

PubMed Central

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

2011-01-01

When people transport handheld objects, they change the grip force with the object movement. Circular movement patterns were tested within three planes at two different rates (1.0, 1.5 Hz), and two diameters (20, 40 cm). Subjects performed the task reasonably well, matching frequencies and dynamic ranges of accelerations within expectations. A mathematical model was designed to predict the applied normal forces from kinematic data. The model is based on two hypotheses: (a) the grip force changes during movements along complex trajectories can be represented as the sum of effects of two basic commands associated with the parallel and orthogonal manipulation, respectively; (b) different central commands are sent to the thumb and virtual finger (Vf- four fingers combined). The model predicted the actual normal forces with a total variance accounted for of better than 98%. The effects of the two components of acceleration—along the normal axis and the resultant acceleration within the shear plane—on the digit normal forces are additive. PMID:21735245

Choosing Actions

PubMed Central

Rosenbaum, David A.; Chapman, Kate M.; Coelho, Chase J.; Gong, Lanyun; Studenka, Breanna E.

2013-01-01

Actions that are chosen have properties that distinguish them from actions that are not. Of the nearly infinite possible actions that can achieve any given task, many of the unchosen actions are irrelevant, incorrect, or inappropriate. Others are relevant, correct, or appropriate but are disfavored for other reasons. Our research focuses on the question of what distinguishes actions that are chosen from actions that are possible but are not. We review studies that use simple preference methods to identify factors that contribute to action choices, especially for object-manipulation tasks. We can determine which factors are especially important through simple behavioral experiments. PMID:23761769

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

PubMed

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.

Real-time networked control of an industrial robot manipulator via discrete-time second-order sliding modes

NASA Astrophysics Data System (ADS)

Massimiliano Capisani, Luca; Facchinetti, Tullio; Ferrara, Antonella

2010-08-01

This article presents the networked control of a robotic anthropomorphic manipulator based on a second-order sliding mode technique, where the control objective is to track a desired trajectory for the manipulator. The adopted control scheme allows an easy and effective distribution of the control algorithm over two networked machines. While the predictability of real-time tasks execution is achieved by the Soft Hard Real-Time Kernel (S.Ha.R.K.) real-time operating system, the communication is established via a standard Ethernet network. The performances of the control system are evaluated under different experimental system configurations using, to perform the experiments, a COMAU SMART3-S2 industrial robot, and the results are analysed to put into evidence the robustness of the proposed approach against possible network delays, packet losses and unmodelled effects.

Short-term testosterone manipulations modulate visual recognition memory and some aspects of emotional reactivity in male rhesus monkeys.

PubMed

Lacreuse, Agnès; Gore, Heather E; Chang, Jeemin; Kaplan, Emily R

2012-05-15

The role of testosterone (T) in modulating cognitive function and emotion in men remains unclear. The paucity of animal studies has likely contributed to the slow progress in this area. In particular, studies in nonhuman primates have been lacking. Our laboratory has begun to address this issue by pharmacologically manipulating T levels in intact male rhesus monkeys, using blind, placebo-controlled, crossover designs. We previously found that T-suppressed monkeys receiving supraphysiological T for 4 weeks had lower visual recognition memory for long delays and enhanced attention to videos of negative social stimuli (Lacreuse et al., 2009, 2010) compared to when treated with oil. To further delineate the conditions under which T affects cognition and emotion, the present study focused on the short-term effects of physiological T. Six intact males were treated with the gonadotropin-releasing hormone antagonist degarelix (3 mg/kg) for 7 days and received one injection of T enanthate (5 mg/kg) followed by one injection of oil vehicle 7 days later (n=3), or the reverse treatment (n=3). Performance on two computerized tasks, the Delayed-non-matching-to-sample (DNMS) with random delays and the object-Delayed Recognition Span test (object-DRST) and one task of emotional reactivity, an approach/avoidance task of negative, familiar and novel objects, was examined at baseline and 3-5 days after treatment. DNMS performance was significantly better when monkeys were treated with T compared to oil, independently of the delay duration or the nature (emotional or neutral) of the stimuli. Performance on the object-DRST was unaffected. Interestingly, subtle changes in emotional reactivity were also observed: T administration was associated with fewer object contacts, especially on negative objects, without overt changes in anxious behaviors. These results may reflect increased vigilance and alertness with high T. Altogether, the data suggest that changes in general arousal may underlie the beneficial effects of T on DNMS performance. This hypothesis will require further study with objective measures of physiological arousal. Copyright © 2012 Elsevier Inc. All rights reserved.

When representations conflict with reality: the preschooler's problem with false beliefs and "false" photographs.

PubMed

Zaitchik, D

1990-04-01

It has been argued that young preschoolers cannot correctly attribute a false belief to a deceived actor (Wimmer & Perner, 1983). Some researchers claim that the problem lies in the child's inadequate epistemology (Chandler & Boyes, 1982; Wellman, 1988); as such, it is specific to the child's theory of mind and no such problem should appear in reasoning about nonmental representations. This prediction is tested below in the "false photograph" task: here an actor takes a photograph of an object in location X; the object is then moved to location Y. Preschool subjects are asked: "In the picture, where is the object?" Results indicate that photographs are no easier to reason about than are beliefs. Manipulations to boost performance on the photograph task proved ineffective. Further, an explanation of the failure as a processing limitation having nothing to do with the representational nature of beliefs or photographs was ruled out. It is argued that young children's failure on the false belief task is not due to an inadequate epistemology (though they may have one) and is symptomatic of a larger problem with representations.

[The role of sustained attention in shift-contingent change blindness].

PubMed

Nakashima, Ryoichi; Yokosawa, Kazuhiko

2015-02-01

Previous studies of change blindness have examined the effect of temporal factors (e.g., blank duration) on attention in change detection. This study examined the effect of spatial factors (i.e., whether the locations of original and changed objects are the same or different) on attention in change detection, using a shift-contingent change blindness task. We used a flicker paradigm in which the location of a to-be-judged target image was manipulated (shift, no-shift). In shift conditions, the image of an array of objects was spatially shifted so that all objects appeared in new locations; in no-shift conditions, all object images of an array appeared at the same location. The presence of visual stimuli (dots) in the blank display between the two images was.manipulated (dot, no-dot) under the assumption that abrupt onsets of these stimuli would capture attention. Results indicated that change detection performance was improved by exogenous attentional capture in the shift condition. Thus, we suggest that attention can play an important role in change detection during shift-contingent change blindness.

The effect of memory and context changes on color matches to real objects.

PubMed

Allred, Sarah R; Olkkonen, Maria

2015-07-01

Real-world color identification tasks often require matching the color of objects between contexts and after a temporal delay, thus placing demands on both perceptual and memory processes. Although the mechanisms of matching colors between different contexts have been widely studied under the rubric of color constancy, little research has investigated the role of long-term memory in such tasks or how memory interacts with color constancy. To investigate this relationship, observers made color matches to real study objects that spanned color space, and we independently manipulated the illumination impinging on the objects, the surfaces in which objects were embedded, and the delay between seeing the study object and selecting its color match. Adding a 10-min delay increased both the bias and variability of color matches compared to a baseline condition. These memory errors were well accounted for by modeling memory as a noisy but unbiased version of perception constrained by the matching methods. Surprisingly, we did not observe significant increases in errors when illumination and surround changes were added to the 10-minute delay, although the context changes alone did elicit significant errors.

Effects of Multiple Planning Constraints on the Development of Grasp Posture Planning in 6- to 10-Year-Old Children

ERIC Educational Resources Information Center

Stöckel, Tino; Hughes, Charmayne M. L.

2015-01-01

This experiment examined how multiple planning constraints affect grasp posture planning in 6- to 10-year-old children (n = 16 in each group) by manipulating the intended object end-orientation (left end-down, right end-down) and initial precision demands (standard, initial precision) of a bar transport task. Results indicated that grasp posture…

The Effect of Repetitive Rhythmic Precision Grip Task-Oriented Rehabilitation in Chronic Stroke Patients: A Pilot Study

ERIC Educational Resources Information Center

Dispa, Delphine; Lejeune, Thierry; Thonnard, Jean-Louis

2013-01-01

Most chronic stroke patients present with difficulty in the manipulation of objects. The aim of this study was to test whether an intensive program of precision grip training could improve hand functioning of patients at more than 6 months after a stroke. This was a cross-over study; hence, at inclusion, the patients were randomly divided into two…

Manipulating Cognitive Complexity across Task Types and Its Impact on Learners' Interaction during Oral Performance

ERIC Educational Resources Information Center

Gilabert, Roger; Baron, Julia; Llanes, Angels

2009-01-01

The goal of this study is to investigate the impact of manipulating the cognitive complexity of three different types of oral tasks on interaction. The study first considers the concepts of task complexity and interaction and then examines the specific studies that have looked at the effects of increasing task complexity on conversational…

Response-cue interval effects in extended-runs task switching: memory, or monitoring?

PubMed

Altmann, Erik M

2017-09-26

This study investigated effects of manipulating the response-cue interval (RCI) in the extended-runs task-switching procedure. In this procedure, a task cue is presented at the start of a run of trials and then withdrawn, such that the task has to be stored in memory to guide performance until the next task cue is presented. The effects of the RCI manipulation were not as predicted by an existing model of memory processes in task switching (Altmann and Gray, Psychol Rev 115:602-639, 2008), suggesting that either the model is incorrect or the RCI manipulation did not have the intended effect. The manipulation did produce a theoretically meaningful pattern, in the form of a main effect on response time that was not accompanied by a similar effect on the error rate. This pattern, which replicated across two experiments, is interpreted here in terms of a process that monitors for the next task cue, with a longer RCI acting as a stronger signal that a cue is about to appear. The results have implications for the human factors of dynamic task environments in which critical events occur unpredictably.

Design of a surgical robot with dynamic vision field control for Single Port Endoscopic Surgery.

PubMed

Kobayashi, Yo; Sekiguchi, Yuta; Tomono, Yu; Watanabe, Hiroki; Toyoda, Kazutaka; Konishi, Kozo; Tomikawa, Morimasa; Ieiri, Satoshi; Tanoue, Kazuo; Hashizume, Makoto; Fujie, Masaktsu G

2010-01-01

Recently, a robotic system was developed to assist Single Port Endoscopic Surgery (SPS). However, the existing system required a manual change of vision field, hindering the surgical task and increasing the degrees of freedom (DOFs) of the manipulator. We proposed a surgical robot for SPS with dynamic vision field control, the endoscope view being manipulated by a master controller. The prototype robot consisted of a positioning and sheath manipulator (6 DOF) for vision field control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF). Feasibility of the robot was demonstrated in vitro. The "cut and vision field control" (using tool manipulators) is suitable for precise cutting tasks in risky areas while a "cut by vision field control" (using a vision field control manipulator) is effective for rapid macro cutting of tissues. A resection task was accomplished using a combination of both methods.

Functional assessment and performance evaluation for assistive robotic manipulators: Literature review.

PubMed

Chung, Cheng-Shiu; Wang, Hongwu; Cooper, Rory A

2013-07-01

The user interface development of assistive robotic manipulators can be traced back to the 1960s. Studies include kinematic designs, cost-efficiency, user experience involvements, and performance evaluation. This paper is to review studies conducted with clinical trials using activities of daily living (ADLs) tasks to evaluate performance categorized using the International Classification of Functioning, Disability, and Health (ICF) frameworks, in order to give the scope of current research and provide suggestions for future studies. We conducted a literature search of assistive robotic manipulators from 1970 to 2012 in PubMed, Google Scholar, and University of Pittsburgh Library System - PITTCat. Twenty relevant studies were identified. Studies were separated into two broad categories: user task preferences and user-interface performance measurements of commercialized and developing assistive robotic manipulators. The outcome measures and ICF codes associated with the performance evaluations are reported. Suggestions for the future studies include (1) standardized ADL tasks for the quantitative and qualitative evaluation of task efficiency and performance to build comparable measures between research groups, (2) studies relevant to the tasks from user priority lists and ICF codes, and (3) appropriate clinical functional assessment tests with consideration of constraints in assistive robotic manipulator user interfaces. In addition, these outcome measures will help physicians and therapists build standardized tools while prescribing and assessing assistive robotic manipulators.

A computer simulation experiment of supervisory control of remote manipulation. M.S. Thesis

NASA Technical Reports Server (NTRS)

Mccandlish, S. G.

1966-01-01

A computer simulation of a remote manipulation task and a rate-controlled manipulator is described. Some low-level automatic decision making ability which could be used at the operator's discretion to augment his direct continuous control was built into the manipulator. Experiments were made on the effect of transmission delay, dynamic lag, and intermittent vision on human manipulative ability. Delay does not make remote manipulation impossible. Intermittent visual feedback, and the absence of rate information in the display presented to the operator do not seem to impair the operator's performance. A small-capacity visual feedback channel may be sufficient for remote manipulation tasks, or one channel might be time-shared between several operators. In other experiments the operator called in sequence various on-site automatic control programs of the machine, and thereby acted as a supervisor. The supervisory mode of operation has some advantages when the task to be performed is difficult for a human controlling directly.

Manipulation of Frontal Brain Asymmetry by Cognitive Tasks

ERIC Educational Resources Information Center

Papousek, Ilona; Schulter, Gunter

2004-01-01

The purpose of the present study was to evaluate whether verbal fluency tasks may specifically induce relatively greater left than right hemispheric activation in the dorsolateral prefrontal cortex. The effectiveness of the manipulation was evaluated by EEG, which was recorded during performance of the verbal fluency task and during two control…

Coherent Multimodal Sensory Information Allows Switching between Gravitoinertial Contexts

PubMed Central

Barbiero, Marie; Rousseau, Célia; Papaxanthis, Charalambos; White, Olivier

2017-01-01

Whether the central nervous system is capable to switch between contexts critically depends on experimental details. Motor control studies regularly adopt robotic devices to perturb the dynamics of a certain task. Other approaches investigate motor control by altering the gravitoinertial context itself as in parabolic flights and human centrifuges. In contrast to conventional robotic experiments, where only the hand is perturbed, these gravitoinertial or immersive settings coherently plunge participants into new environments. However, radically different they are, perfect adaptation of motor responses are commonly reported. In object manipulation tasks, this translates into a good matching of the grasping force or grip force to the destabilizing load force. One possible bias in these protocols is the predictability of the forthcoming dynamics. Here we test whether the successful switching and adaptation processes observed in immersive environments are a consequence of the fact that participants can predict the perturbation schedule. We used a short arm human centrifuge to decouple the effects of space and time on the dynamics of an object manipulation task by adding an unnatural explicit position-dependent force. We created different dynamical contexts by asking 20 participants to move the object at three different paces. These contextual sessions were interleaved such that we could simulate concurrent learning. We assessed adaptation by measuring how grip force was adjusted to this unnatural load force. We found that the motor system can switch between new unusual dynamical contexts, as reported by surprisingly well-adjusted grip forces, and that this capacity is not a mere consequence of the ability to predict the time course of the upcoming dynamics. We posit that a coherent flow of multimodal sensory information born in a homogeneous milieu allows switching between dynamical contexts. PMID:28553233

Manipulation based on sensor-directed control: An integrated end effector and touch sensing system

NASA Technical Reports Server (NTRS)

Hill, J. W.; Sword, A. J.

1973-01-01

A hand/touch sensing system is described that, when mounted on a position-controlled manipulator, greatly expands the kinds of automated manipulation tasks that can be undertaken. Because of the variety of coordinate conversions, control equations, and completion criteria, control is necessarily dependent upon a small digital computer. The sensing system is designed both to be rugged and to sense the necessary touch and force information required to execute a wide range of manipulation tasks. The system consists of a six-axis wrist sensor, external touch sensors, and a pair of matrix jaw sensors. Details of the construction of the particular sensors, the integration of the end effector into the sensor system, and the control algorithms for using the sensor outputs to perform manipulation tasks automatically are discussed.

Design and evaluation of a new ergonomic handle for instruments in minimally invasive surgery.

PubMed

Sancibrian, Ramon; Gutierrez-Diez, María C; Torre-Ferrero, Carlos; Benito-Gonzalez, Maria A; Redondo-Figuero, Carlos; Manuel-Palazuelos, Jose C

2014-05-01

Laparoscopic surgery techniques have been demonstrated to provide massive benefits to patients. However, surgeons are subjected to hardworking conditions because of the poor ergonomic design of the instruments. In this article, a new ergonomic handle design is presented. This handle is designed using ergonomic principles, trying to provide both more intuitive manipulation of the instrument and a shape that reduces the high-pressure zones in the contact with the surgeon's hand. The ergonomic characteristics of the new handle were evaluated using objective and subjective studies. The experimental evaluation was performed using 28 volunteers by means of the comparison of the new handle with the ring-handle (RH) concept in an instrument available on the market. The volunteers' muscle activation and motions of the hand, wrist, and arm were studied while they performed different tasks. The data measured in the experiment include electromyography and goniometry values. The results obtained from the subjective analysis reveal that most volunteers (64%) preferred the new prototype to the RH, reporting less pain and less difficulty to complete the tasks. The results from the objective study reveal that the hyperflexion of the wrist required for the manipulation of the instrument is strongly reduced. The new ergonomic handle not only provides important ergonomic advantages but also improves the efficiency when completing the tasks. Compared with RH instruments, the new prototype reduced the high-pressure areas and the extreme motions of the wrist. Copyright © 2014 Elsevier Inc. All rights reserved.

Pupillary dynamics reveal computational cost in sentence planning.

PubMed

Sevilla, Yamila; Maldonado, Mora; Shalóm, Diego E

2014-01-01

This study investigated the computational cost associated with grammatical planning in sentence production. We measured people's pupillary responses as they produced spoken descriptions of depicted events. We manipulated the syntactic structure of the target by training subjects to use different types of sentences following a colour cue. The results showed higher increase in pupil size for the production of passive and object dislocated sentences than for active canonical subject-verb-object sentences, indicating that more cognitive effort is associated with more complex noncanonical thematic order. We also manipulated the time at which the cue that triggered structure-building processes was presented. Differential increase in pupil diameter for more complex sentences was shown to rise earlier as the colour cue was presented earlier, suggesting that the observed pupillary changes are due to differential demands in relatively independent structure-building processes during grammatical planning. Task-evoked pupillary responses provide a reliable measure to study the cognitive processes involved in sentence production.

A comparison of position and rate control for telemanipulations with consideration of manipulator system dynamics

NASA Technical Reports Server (NTRS)

Kim, Won S.; Tendick, Frank; Stark, Lawrence W.; Ellis, Stephen R.

1987-01-01

Position and rate control are the two common manual control modes in teleoperations. Human operator performance using the two modes is evaluated and compared. Simulated three-axis pick-and-place operations are used as the primary task for evaluation. First, ideal position and rate control are compared by considering several factors, such as joystick gain, joystick type, display mode, task, and manipulator work space size. Then the effects of the manipulator system dynamics are investigated by varying the natural frequency and speed limit. Experimental results show that ideal position control is superior to ideal rate control, regardless of joystick type or display mode, when the manipulation work space is small or comparable to the human operator's control space. Results also show that when the manipulator system is slow, the superiority of position control disappears. Position control is recommended for small-work-space telemanipulation tasks, while rate control is recommended for slow wide-work-space telemanipulation tasks.

What is 3D good for? A review of human performance on stereoscopic 3D displays

NASA Astrophysics Data System (ADS)

McIntire, John P.; Havig, Paul R.; Geiselman, Eric E.

2012-06-01

This work reviews the human factors-related literature on the task performance implications of stereoscopic 3D displays, in order to point out the specific performance benefits (or lack thereof) one might reasonably expect to observe when utilizing these displays. What exactly is 3D good for? Relative to traditional 2D displays, stereoscopic displays have been shown to enhance performance on a variety of depth-related tasks. These tasks include judging absolute and relative distances, finding and identifying objects (by breaking camouflage and eliciting perceptual "pop-out"), performing spatial manipulations of objects (object positioning, orienting, and tracking), and navigating. More cognitively, stereoscopic displays can improve the spatial understanding of 3D scenes or objects, improve memory/recall of scenes or objects, and improve learning of spatial relationships and environments. However, for tasks that are relatively simple, that do not strictly require depth information for good performance, where other strong cues to depth can be utilized, or for depth tasks that lie outside the effective viewing volume of the display, the purported performance benefits of 3D may be small or altogether absent. Stereoscopic 3D displays come with a host of unique human factors problems including the simulator-sickness-type symptoms of eyestrain, headache, fatigue, disorientation, nausea, and malaise, which appear to effect large numbers of viewers (perhaps as many as 25% to 50% of the general population). Thus, 3D technology should be wielded delicately and applied carefully; and perhaps used only as is necessary to ensure good performance.

Direct manipulation of virtual objects

NASA Astrophysics Data System (ADS)

Nguyen, Long K.

Interacting with a Virtual Environment (VE) generally requires the user to correctly perceive the relative position and orientation of virtual objects. For applications requiring interaction in personal space, the user may also need to accurately judge the position of the virtual object relative to that of a real object, for example, a virtual button and the user's real hand. This is difficult since VEs generally only provide a subset of the cues experienced in the real world. Complicating matters further, VEs presented by currently available visual displays may be inaccurate or distorted due to technological limitations. Fundamental physiological and psychological aspects of vision as they pertain to the task of object manipulation were thoroughly reviewed. Other sensory modalities -- proprioception, haptics, and audition -- and their cross-interactions with each other and with vision are briefly discussed. Visual display technologies, the primary component of any VE, were canvassed and compared. Current applications and research were gathered and categorized by different VE types and object interaction techniques. While object interaction research abounds in the literature, pockets of research gaps remain. Direct, dexterous, manual interaction with virtual objects in Mixed Reality (MR), where the real, seen hand accurately and effectively interacts with virtual objects, has not yet been fully quantified. An experimental test bed was designed to provide the highest accuracy attainable for salient visual cues in personal space. Optical alignment and user calibration were carefully performed. The test bed accommodated the full continuum of VE types and sensory modalities for comprehensive comparison studies. Experimental designs included two sets, each measuring depth perception and object interaction. The first set addressed the extreme end points of the Reality-Virtuality (R-V) continuum -- Immersive Virtual Environment (IVE) and Reality Environment (RE). This validated, linked, and extended several previous research findings, using one common test bed and participant pool. The results provided a proven method and solid reference points for further research. The second set of experiments leveraged the first to explore the full R-V spectrum and included additional, relevant sensory modalities. It consisted of two full-factorial experiments providing for rich data and key insights into the effect of each type of environment and each modality on accuracy and timeliness of virtual object interaction. The empirical results clearly showed that mean depth perception error in personal space was less than four millimeters whether the stimuli presented were real, virtual, or mixed. Likewise, mean error for the simple task of pushing a button was less than four millimeters whether the button was real or virtual. Mean task completion time was less than one second. Key to the high accuracy and quick task performance time observed was the correct presentation of the visual cues, including occlusion, stereoscopy, accommodation, and convergence. With performance results already near optimal level with accurate visual cues presented, adding proprioception, audio, and haptic cues did not significantly improve performance. Recommendations for future research include enhancement of the visual display and further experiments with more complex tasks and additional control variables.

Task-relevant information is prioritized in spatiotemporal contextual cueing.

PubMed

Higuchi, Yoko; Ueda, Yoshiyuki; Ogawa, Hirokazu; Saiki, Jun

2016-11-01

Implicit learning of visual contexts facilitates search performance-a phenomenon known as contextual cueing; however, little is known about contextual cueing under situations in which multidimensional regularities exist simultaneously. In everyday vision, different information, such as object identity and location, appears simultaneously and interacts with each other. We tested the hypothesis that, in contextual cueing, when multiple regularities are present, the regularities that are most relevant to our behavioral goals would be prioritized. Previous studies of contextual cueing have commonly used the visual search paradigm. However, this paradigm is not suitable for directing participants' attention to a particular regularity. Therefore, we developed a new paradigm, the "spatiotemporal contextual cueing paradigm," and manipulated task-relevant and task-irrelevant regularities. In four experiments, we demonstrated that task-relevant regularities were more responsible for search facilitation than task-irrelevant regularities. This finding suggests our visual behavior is focused on regularities that are relevant to our current goal.

Dissociations and associations of performance in syntactic comprehension in aphasia and their implications for the nature of aphasic deficits.

PubMed

Caplan, David; Michaud, Jennifer; Hufford, Rebecca

2013-10-01

Sixty-one pwa were tested on syntactic comprehension in three tasks: sentence-picture matching, sentence-picture matching with auditory moving window presentation, and object manipulation. There were significant correlations of performances on sentences across tasks. First factors on which all sentence types loaded in unrotated factor analyses accounted for most of the variance in each task. Dissociations in performance between sentence types that differed minimally in their syntactic structures were not consistent across tasks. These results replicate previous results with smaller samples and provide important validation of basic aspects of aphasic performance in this area of language processing. They point to the role of a reduction in processing resources and of the interaction of task demands and parsing and interpretive abilities in the genesis of patient performance. Copyright © 2013 Elsevier Inc. All rights reserved.

An Integrated Framework for Human-Robot Collaborative Manipulation.

PubMed

Sheng, Weihua; Thobbi, Anand; Gu, Ye

2015-10-01

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

Social priming improves cognitive control in elderly adults--evidence from the Simon task.

PubMed

Aisenberg, Daniela; Cohen, Noga; Pick, Hadas; Tressman, Iris; Rappaport, Michal; Shenberg, Tal; Henik, Avishai

2015-01-01

We examined whether social priming of cognitive states affects the inhibitory process in elderly adults, as aging is related to deficits in inhibitory control. Forty-eight elderly adults and 45 young adults were assigned to three groups and performed a cognitive control task (Simon task), which was followed by 3 different manipulations of social priming (i.e., thinking about an 82 year-old person): 1) negative--characterized by poor cognitive abilities, 2) neutral--characterized by acts irrelevant to cognitive abilities, and 3) positive--excellent cognitive abilities. After the manipulation, the Simon task was performed again. Results showed improvement in cognitive control effects in seniors after the positive manipulation, indicated by a significant decrease in the magnitude of the Simon and interference effects, but not after the neutral and negative manipulations. Furthermore, a healthy pattern of sequential effect (Gratton) that was absent before the manipulation in all 3 groups appeared after the positive manipulation. Namely, the Simon effect was only present after congruent but not after incongruent trials for the positive manipulation group. No influence of manipulations was found in young adults. These meaningful results were replicated in a second experiment and suggest a decrease in conflict interference resulting from positive cognitive state priming. Our study provides evidence that an implicit social concept of a positive cognitive condition in old age can affect the control process of the elderly and improve cognitive abilities.

Social Priming Improves Cognitive Control in Elderly Adults—Evidence from the Simon Task

PubMed Central

Aisenberg, Daniela; Cohen, Noga; Pick, Hadas; Tressman, Iris; Rappaport, Michal; Shenberg, Tal; Henik, Avishai

2015-01-01

We examined whether social priming of cognitive states affects the inhibitory process in elderly adults, as aging is related to deficits in inhibitory control. Forty-eight elderly adults and 45 young adults were assigned to three groups and performed a cognitive control task (Simon task), which was followed by 3 different manipulations of social priming (i.e., thinking about an 82 year-old person): 1) negative—characterized by poor cognitive abilities, 2) neutral—characterized by acts irrelevant to cognitive abilities, and 3) positive—excellent cognitive abilities. After the manipulation, the Simon task was performed again. Results showed improvement in cognitive control effects in seniors after the positive manipulation, indicated by a significant decrease in the magnitude of the Simon and interference effects, but not after the neutral and negative manipulations. Furthermore, a healthy pattern of sequential effect (Gratton) that was absent before the manipulation in all 3 groups appeared after the positive manipulation. Namely, the Simon effect was only present after congruent but not after incongruent trials for the positive manipulation group. No influence of manipulations was found in young adults. These meaningful results were replicated in a second experiment and suggest a decrease in conflict interference resulting from positive cognitive state priming. Our study provides evidence that an implicit social concept of a positive cognitive condition in old age can affect the control process of the elderly and improve cognitive abilities. PMID:25635946

The effect of monocular target blur on simulated telerobotic manipulation

NASA Technical Reports Server (NTRS)

Liu, Andrew; Stark, Lawrence

1991-01-01

A simulation involving three types of telerobotic tasks that require information about the spatial position of objects is reported. This is similar to the results of psychophysical experiments examining the effect of blur on stereoacuity. It is suggested that other psychophysical experimental results could be used to predict operator performance for other telerobotic tasks. It is demonstrated that refractive errors in the helmet-mounted stereo display system can affect performance in the three types of telerobotic tasks. The results of two sets of experiments indicate that monocular target blur of two diopters or more degrades stereo display performance to the level of monocular displays. This indicates that moderate levels of visual degradation that affect the operator's stereoacuity may eliminate the performance advantage of stereo displays.

I can, I do, and so I like: From power to action and aesthetic preferences.

PubMed

Woltin, Karl-Andrew; Guinote, Ana

2015-12-01

The current work tested the hypothesis that power increases reliance on experiences of motor fluency in forming aesthetic preferences. In 4 experiments, participants reported their aesthetic preferences regarding a variety of targets (pictures, movements, objects, and letters). Experiments 1, 2, and 3 manipulated power and motor fluency (via motoric resonance, extraocular muscle training, and dominant hand restriction). Experiment 4 manipulated power and assessed chronic interindividual differences in motor fluency. Across these experiments, power consistently increased reliance on motor fluency in aesthetic preference judgments. This finding was not mediated by differences in mood, judgment certainty, perceived task-demands or task-enjoyment, and derived from the use of motor simulations rather than from power differences in the acquisition of motor experiences. This is the first demonstration suggesting that power changes the formation of preference judgments as a function of motor fluency experiences. The implications of this research for the links between power and action, as well as the understanding of fluency processes are discussed. (c) 2015 APA, all rights reserved).

Alertness and cognitive control: Toward a spatial grouping hypothesis.

PubMed

Schneider, Darryl W

2018-05-01

A puzzling interaction involving alertness and cognitive control is indicated by the finding of faster performance but larger congruency effects on alert trials (on which alerting cues are presented before the task stimuli) than on no-alert trials in selective attention tasks. In the present study, the author conducted four experiments to test hypotheses about the interaction. Manipulation of stimulus spacing revealed a difference in congruency effects between alert and no-alert trials for narrowly spaced stimuli but not for widely spaced stimuli, inconsistent with the hypothesis that increased alertness is associated with more diffuse attention. Manipulation of color grouping revealed similar differences in congruency effects between alert and no-alert trials for same-color and different-color groupings of targets and distractors, inconsistent with the general hypothesis that increased alertness is associated with more perceptual grouping. To explain the results, the author proposes that increased alertness is associated specifically with more spatial grouping of stimuli, possibly by modulating the threshold for parsing stimulus displays into distinct objects.

Structural encoding processes contribute to individual differences in face and object cognition: Inferences from psychometric test performance and event-related brain potentials.

PubMed

Nowparast Rostami, Hadiseh; Sommer, Werner; Zhou, Changsong; Wilhelm, Oliver; Hildebrandt, Andrea

2017-10-01

The enhanced N1 component in event-related potentials (ERP) to face stimuli, termed N170, is considered to indicate the structural encoding of faces. Previously, individual differences in the latency of the N170 have been related to face and object cognition abilities. By orthogonally manipulating content domain (faces vs objects) and task demands (easy/speed vs difficult/accuracy) in both psychometric and EEG tasks, we investigated the uniqueness of the processes underlying face cognition as compared with object cognition and the extent to which the N1/N170 component can explain individual differences in face and object cognition abilities. Data were recorded from N = 198 healthy young adults. Structural equation modeling (SEM) confirmed that the accuracies of face perception (FP) and memory are specific abilities above general object cognition; in contrast, the speed of face processing was not differentiable from the speed of object cognition. Although there was considerable domain-general variance in the N170 shared with the N1, there was significant face-specific variance in the N170. The brain-behavior relationship showed that faster face-specific processes for structural encoding of faces are associated with higher accuracy in both perceiving and memorizing faces. Moreover, in difficult task conditions, qualitatively different processes are additionally needed for recognizing face and object stimuli as compared with easy tasks. The difficulty-dependent variance components in the N170 amplitude were related with both face and object memory (OM) performance. We discuss implications for understanding individual differences in face cognition. Copyright © 2017 Elsevier Ltd. All rights reserved.

The sensing and perception subsystem of the NASA research telerobot

NASA Technical Reports Server (NTRS)

Wilcox, B.; Gennery, D. B.; Bon, B.; Litwin, T.

1987-01-01

A useful space telerobot for on-orbit assembly, maintenance, and repair tasks must have a sensing and perception subsystem which can provide the locations, orientations, and velocities of all relevant objects in the work environment. This function must be accomplished with sufficient speed and accuracy to permit effective grappling and manipulation. Appropriate symbolic names must be attached to each object for use by higher-level planning algorithms. Sensor data and inferences must be presented to the remote human operator in a way that is both comprehensible in ensuring safe autonomous operation and useful for direct teleoperation. Research at JPL toward these objectives is described.

Sound segregation via embedded repetition is robust to inattention.

PubMed

Masutomi, Keiko; Barascud, Nicolas; Kashino, Makio; McDermott, Josh H; Chait, Maria

2016-03-01

The segregation of sound sources from the mixture of sounds that enters the ear is a core capacity of human hearing, but the extent to which this process is dependent on attention remains unclear. This study investigated the effect of attention on the ability to segregate sounds via repetition. We utilized a dual task design in which stimuli to be segregated were presented along with stimuli for a "decoy" task that required continuous monitoring. The task to assess segregation presented a target sound 10 times in a row, each time concurrent with a different distractor sound. McDermott, Wrobleski, and Oxenham (2011) demonstrated that repetition causes the target sound to be segregated from the distractors. Segregation was queried by asking listeners whether a subsequent probe sound was identical to the target. A control task presented similar stimuli but probed discrimination without engaging segregation processes. We present results from 3 different decoy tasks: a visual multiple object tracking task, a rapid serial visual presentation (RSVP) digit encoding task, and a demanding auditory monitoring task. Load was manipulated by using high- and low-demand versions of each decoy task. The data provide converging evidence of a small effect of attention that is nonspecific, in that it affected the segregation and control tasks to a similar extent. In all cases, segregation performance remained high despite the presence of a concurrent, objectively demanding decoy task. The results suggest that repetition-based segregation is robust to inattention. (c) 2016 APA, all rights reserved).

Objects Mediate Goal Integration in Ventrolateral Prefrontal Cortex during Action Observation

PubMed Central

Hrkać, Mari; Wurm, Moritz F.; Kühn, Anne B.; Schubotz, Ricarda I.

2015-01-01

Actions performed by others are mostly not observed in isolation, but embedded in sequences of actions tied together by an overarching goal. Therefore, preceding actions can modulate the observer's expectations in relation to the currently perceived action. Ventrolateral prefrontal cortex (vlPFC), and inferior frontal gyrus (IFG) in particular, is suggested to subserve the integration of episodic as well as semantic information and memory, including action scripts. The present fMRI study investigated if activation in IFG varies with the effort to integrate expected and observed action, even when not required by the task. During an fMRI session, participants were instructed to attend to short videos of single actions and to deliver a judgment about the actor’s current goal. We manipulated the strength of goal expectation induced by the preceding action, implementing the parameter "goal-relatedness" between the preceding and the currently observed action. Moreover, since objects point to the probability of certain actions, we also manipulated whether the current and the preceding action shared at least one object or not. We found an interaction between the two factors goal-relatedness and shared object: IFG activation increased the weaker the goal-relatedness between the preceding and the current action was, but only when they shared at least one object. Here, integration of successive action steps was triggered by the re-appearing (shared) object but hampered by a weak goal-relatedness between the actually observed manipulation. These findings foster the recently emerging view that IFG is enhanced by goal-related conflicts during action observation. PMID:26218102

Inertial torque during reaching directly impacts grip-force adaptation to weightless objects.

PubMed

Giard, T; Crevecoeur, F; McIntyre, J; Thonnard, J-L; Lefèvre, P

2015-11-01

A hallmark of movement control expressed by healthy humans is the ability to gradually improve motor performance through learning. In the context of object manipulation, previous work has shown that the presence of a torque load has a direct impact on grip-force control, characterized by a significantly slower grip-force adjustment across lifting movements. The origin of this slower adaptation rate remains unclear. On the one hand, information about tangential constraints during stationary holding may be difficult to extract in the presence of a torque. On the other hand, inertial torque experienced during movement may also potentially disrupt the grip-force adjustments, as the dynamical constraints clearly differ from the situation when no torque load is present. To address the influence of inertial torque loads, we instructed healthy adults to perform visually guided reaching movements in weightlessness while holding an unbalanced object relative to the grip axis. Weightlessness offered the possibility to remove gravitational constraints and isolate the effect of movement-related feedback on grip force adjustments. Grip-force adaptation rates were compared with a control group who manipulated a balanced object without any torque load and also in weightlessness. Our results clearly show that grip-force adaptation in the presence of a torque load is significantly slower, which suggests that the presence of torque loads experienced during movement may alter our internal estimates of how much force is required to hold an unbalanced object stable. This observation may explain why grasping objects around the expected location of the center of mass is such an important component of planning and control of manipulation tasks.

Exploring Task- and Student-Related Factors in the Method of Propositional Manipulation (MPM)

ERIC Educational Resources Information Center

Leppink, Jimmie; Broers, Nick J.; Imbos, Tjaart; van der Vleuten, Cees P. M.; Berger, Martijn P. F.

2011-01-01

The method of propositional manipulation (MPM) aims to help students develop conceptual understanding of statistics by guiding them into self-explaining propositions. To explore task- and student-related factors influencing students' ability to learn from MPM, twenty undergraduate students performed six learning tasks while thinking aloud. The…

Feature integration in visual working memory: parietal gamma activity is related to cognitive coordination

PubMed Central

Muthukumaraswamy, Suresh D.; Hibbs, Carina S.; Shapiro, Kimron L.; Bracewell, R. Martyn; Singh, Krish D.; Linden, David E. J.

2011-01-01

The mechanism by which distinct subprocesses in the brain are coordinated is a central conundrum of systems neuroscience. The parietal lobe is thought to play a key role in visual feature integration, and oscillatory activity in the gamma frequency range has been associated with perception of coherent objects and other tasks requiring neural coordination. Here, we examined the neural correlates of integrating mental representations in working memory and hypothesized that parietal gamma activity would be related to the success of cognitive coordination. Working memory is a classic example of a cognitive operation that requires the coordinated processing of different types of information and the contribution of multiple cognitive domains. Using magnetoencephalography (MEG), we report parietal activity in the high gamma (80–100 Hz) range during manipulation of visual and spatial information (colors and angles) in working memory. This parietal gamma activity was significantly higher during manipulation of visual-spatial conjunctions compared with single features. Furthermore, gamma activity correlated with successful performance during the conjunction task but not during the component tasks. Cortical gamma activity in parietal cortex may therefore play a role in cognitive coordination. PMID:21940605

Learned helplessness in chess players: the importance of task similarity and the role of skill.

PubMed

Gobet, F R

1992-01-01

The effects of noncontingency between subjects' responses and outcomes were examined with respect to treatment-and-posttest similarity and skill in the task. The experimental design consisted of three groups. The first group had to solve chess problems with objective solutions and received veridical feedback; each member of the second group faced problems with no objective solutions, and received the same feedback as the member of the first group he was yoked with, but without any control on it; the control group received a waiting task. It was found at the end of the experiment that the group with unsolvable problems was more depressed than the two other groups. The mid-strength players were the most sensitive to the manipulation, and the weakest players showed little effect of learned helplessness. It was also found that the effects were proportional to the degree of similarity between the treatment and the posttest. The results limit the domain of applicability of the learned-helplessness model.

Deficit-Lesion Correlations in Syntactic Comprehension in Aphasia

PubMed Central

Caplan, David; Michaud, Jennifer; Hufford, Rebecca; Makris, Nikos

2015-01-01

The effects of lesions on syntactic comprehension were studied in thirty one people with aphasia (PWA). Participants were tested for the ability to parse and interpret four types of syntactic structures and elements -- passives, object extracted relative clauses, reflexives and pronouns – in three tasks – object manipulation, sentence picture matching with full sentence presentation and sentence picture matching with self-paced listening presentation. Accuracy, end-of-sentence RT and self-paced listening times for each word were measured. MR scans were obtained and analyzed for total lesion volume and for lesion size in 48 cortical areas. Lesion size in several areas of the left hemisphere was related to accuracy in particular sentence types in particular tasks and to self-paced listening times for critical words in particular sentence types. The results support a model of brain organization that includes areas that are specialized for the combination of particular syntactic and interpretive operations and the use of the meanings produced by those operations to accomplish task-related operations. PMID:26688433

Deficit-lesion correlations in syntactic comprehension in aphasia.

PubMed

Caplan, David; Michaud, Jennifer; Hufford, Rebecca; Makris, Nikos

2016-01-01

The effects of lesions on syntactic comprehension were studied in thirty-one people with aphasia (PWA). Participants were tested for the ability to parse and interpret four types of syntactic structures and elements - passives, object extracted relative clauses, reflexives and pronouns - in three tasks - object manipulation, sentence picture matching with full sentence presentation and sentence picture matching with self-paced listening presentation. Accuracy, end-of-sentence RT and self-paced listening times for each word were measured. MR scans were obtained and analyzed for total lesion volume and for lesion size in 48 cortical areas. Lesion size in several areas of the left hemisphere was related to accuracy in particular sentence types in particular tasks and to self-paced listening times for critical words in particular sentence types. The results support a model of brain organization that includes areas that are specialized for the combination of particular syntactic and interpretive operations and the use of the meanings produced by those operations to accomplish task-related operations. Copyright © 2015 Elsevier Inc. All rights reserved.

Body Unloading Associated with Space Flight and Bed-rest Impacts Functional Performance

NASA Technical Reports Server (NTRS)

Bloomberg, J. J.; Ballard, K. L.; Batson, C. D.; Buxton, R. E.; Feiveson, A. H.; Kofman, I. S.; Lee, S. M. C.; Miller, C. A.; Mulavara, A. P.; Peters, B. T.;

Integrated Task and Data Parallel Programming

NASA Technical Reports Server (NTRS)

Grimshaw, A. S.

1998-01-01

This research investigates the combination of task and data parallel language constructs within a single programming language. There are an number of applications that exhibit properties which would be well served by such an integrated language. Examples include global climate models, aircraft design problems, and multidisciplinary design optimization problems. Our approach incorporates data parallel language constructs into an existing, object oriented, task parallel language. The language will support creation and manipulation of parallel classes and objects of both types (task parallel and data parallel). Ultimately, the language will allow data parallel and task parallel classes to be used either as building blocks or managers of parallel objects of either type, thus allowing the development of single and multi-paradigm parallel applications. 1995 Research Accomplishments In February I presented a paper at Frontiers 1995 describing the design of the data parallel language subset. During the spring I wrote and defended my dissertation proposal. Since that time I have developed a runtime model for the language subset. I have begun implementing the model and hand-coding simple examples which demonstrate the language subset. I have identified an astrophysical fluid flow application which will validate the data parallel language subset. 1996 Research Agenda Milestones for the coming year include implementing a significant portion of the data parallel language subset over the Legion system. Using simple hand-coded methods, I plan to demonstrate (1) concurrent task and data parallel objects and (2) task parallel objects managing both task and data parallel objects. My next steps will focus on constructing a compiler and implementing the fluid flow application with the language. Concurrently, I will conduct a search for a real-world application exhibiting both task and data parallelism within the same program. Additional 1995 Activities During the fall I collaborated with Andrew Grimshaw and Adam Ferrari to write a book chapter which will be included in Parallel Processing in C++ edited by Gregory Wilson. I also finished two courses, Compilers and Advanced Compilers, in 1995. These courses complete my class requirements at the University of Virginia. I have only my dissertation research and defense to complete.

Integrated Task And Data Parallel Programming: Language Design

NASA Technical Reports Server (NTRS)

Grimshaw, Andrew S.; West, Emily A.

1998-01-01

his research investigates the combination of task and data parallel language constructs within a single programming language. There are an number of applications that exhibit properties which would be well served by such an integrated language. Examples include global climate models, aircraft design problems, and multidisciplinary design optimization problems. Our approach incorporates data parallel language constructs into an existing, object oriented, task parallel language. The language will support creation and manipulation of parallel classes and objects of both types (task parallel and data parallel). Ultimately, the language will allow data parallel and task parallel classes to be used either as building blocks or managers of parallel objects of either type, thus allowing the development of single and multi-paradigm parallel applications. 1995 Research Accomplishments In February I presented a paper at Frontiers '95 describing the design of the data parallel language subset. During the spring I wrote and defended my dissertation proposal. Since that time I have developed a runtime model for the language subset. I have begun implementing the model and hand-coding simple examples which demonstrate the language subset. I have identified an astrophysical fluid flow application which will validate the data parallel language subset. 1996 Research Agenda Milestones for the coming year include implementing a significant portion of the data parallel language subset over the Legion system. Using simple hand-coded methods, I plan to demonstrate (1) concurrent task and data parallel objects and (2) task parallel objects managing both task and data parallel objects. My next steps will focus on constructing a compiler and implementing the fluid flow application with the language. Concurrently, I will conduct a search for a real-world application exhibiting both task and data parallelism within the same program m. Additional 1995 Activities During the fall I collaborated with Andrew Grimshaw and Adam Ferrari to write a book chapter which will be included in Parallel Processing in C++ edited by Gregory Wilson. I also finished two courses, Compilers and Advanced Compilers, in 1995. These courses complete my class requirements at the University of Virginia. I have only my dissertation research and defense to complete.

The effects of spatially displaced visual feedback on remote manipulator performance

NASA Technical Reports Server (NTRS)

Smith, Randy L.; Stuart, Mark A.

1989-01-01

The effects of spatially displaced visual feedback on the operation of a camera viewed remote manipulation task are analyzed. A remote manipulation task is performed by operators exposed to the following different viewing conditions: direct view of the work site; normal camera view; reversed camera view; inverted/reversed camera view; and inverted camera view. The task completion performance times are statistically analyzed with a repeated measures analysis of variance, and a Newman-Keuls pairwise comparison test is administered to the data. The reversed camera view is ranked third out of four camera viewing conditions, while the normal viewing condition is found significantly slower than the direct viewing condition. It is shown that generalization to remote manipulation applications based upon the results of direct manipulation studies are quite useful, but they should be made cautiously.

Manipulator Performance Evaluation Using Fitts' Taping Task

DOE Office of Scientific and Technical Information (OSTI.GOV)

Draper, J.V.; Jared, B.C.; Noakes, M.W.

1999-04-25

Metaphorically, a teleoperator with master controllers projects the user's arms and hands into a re- mote area, Therefore, human users interact with teleoperators at a more fundamental level than they do with most human-machine systems. Instead of inputting decisions about how the system should func- tion, teleoperator users input the movements they might make if they were truly in the remote area and the remote machine must recreate their trajectories and impedance. This intense human-machine inter- action requires displays and controls more carefully attuned to human motor capabilities than is neces- sary with most systems. It is important for teleoperatedmore » manipulators to be able to recreate human trajectories and impedance in real time. One method for assessing manipulator performance is to observe how well a system be- haves while a human user completes human dexterity tasks with it. Fitts' tapping task has been, used many times in the past for this purpose. This report describes such a performance assessment. The International Submarine Engineering (ISE) Autonomous/Teleoperated Operations Manipulator (ATOM) servomanipulator system was evalu- ated using a generic positioning accuracy task. The task is a simple one but has the merits of (1) pro- ducing a performance function estimate rather than a point estimate and (2) being widely used in the past for human and servomanipulator dexterity tests. Results of testing using this task may, therefore, allow comparison with other manipulators, and is generically representative of a broad class of tasks. Results of the testing indicate that the ATOM manipulator is capable of performing the task. Force reflection had a negative impact on task efficiency in these data. This was most likely caused by the high resistance to movement the master controller exhibited with the force reflection engaged. Measurements of exerted forces were not made, so it is not possible to say whether the force reflection helped partici- pants control force during testing.« less

Feature-based interference from unattended visual field during attentional tracking in younger and older adults.

PubMed

Störmer, Viola S; Li, Shu-Chen; Heekeren, Hauke R; Lindenberger, Ulman

2011-02-01

The ability to attend to multiple objects that move in the visual field is important for many aspects of daily functioning. The attentional capacity for such dynamic tracking, however, is highly limited and undergoes age-related decline. Several aspects of the tracking process can influence performance. Here, we investigated effects of feature-based interference from distractor objects that appear in unattended regions of the visual field with a hemifield-tracking task. Younger and older participants performed an attentional tracking task in one hemifield while distractor objects were concurrently presented in the unattended hemifield. Feature similarity between objects in the attended and unattended hemifields as well as motion speed and the number of to-be-tracked objects were parametrically manipulated. The results show that increasing feature overlap leads to greater interference from the unattended visual field. This effect of feature-based interference was only present in the slow speed condition, indicating that the interference is mainly modulated by perceptual demands. High-performing older adults showed a similar interference effect as younger adults, whereas low-performing adults showed poor tracking performance overall.

Objects of attention, objects of perception.

PubMed

Avrahami, J

1999-11-01

Four experiments were conducted, to explore the notion of objects in perception. Taking as a starting point the effects of display content on rapid attention transfer and manipulating curvature, closure, and processing time, a link between objects of attention and objects of perception is proposed. In Experiment 1, a number of parallel, equally spaced, straight lines facilitated attention transfer along the lines, relative to transfer across the lines. In Experiment 2, with curved, closed-contour shapes, no "same-object" facilitation was observed. However, when a longer time interval was provided, in Experiment 3, a same-object advantage started to emerge. In Experiment 4, using the same curved shapes but in a non-speeded distance estimation task, a strong effect of objects was observed. It is argued that attention transfer is facilitated by line tracing but that line tracing is encouraged by objects.

Task- and age-dependent effects of visual stimulus properties on children's explicit numerosity judgments.

PubMed

Defever, Emmy; Reynvoet, Bert; Gebuis, Titia

2013-10-01

Researchers investigating numerosity processing manipulate the visual stimulus properties (e.g., surface). This is done to control for the confound between numerosity and its visual properties and should allow the examination of pure number processes. Nevertheless, several studies have shown that, despite different visual controls, visual cues remained to exert their influence on numerosity judgments. This study, therefore, investigated whether the impact of the visual stimulus manipulations on numerosity judgments is dependent on the task at hand (comparison task vs. same-different task) and whether this impact changes throughout development. In addition, we examined whether the influence of visual stimulus manipulations on numerosity judgments plays a role in the relation between performance on numerosity tasks and mathematics achievement. Our findings confirmed that the visual stimulus manipulations affect numerosity judgments; more important, we found that these influences changed with increasing age and differed between the comparison and the same-different tasks. Consequently, direct comparisons between numerosity studies using different tasks and age groups are difficult. No meaningful relationship between the performance on the comparison and same-different tasks and mathematics achievement was found in typically developing children, nor did we find consistent differences between children with and without mathematical learning disability (MLD). Copyright © 2013 Elsevier Inc. All rights reserved.

Functional assessment and performance evaluation for assistive robotic manipulators: Literature review

PubMed Central

Chung, Cheng-Shiu; Wang, Hongwu; Cooper, Rory A.

2013-01-01

Context The user interface development of assistive robotic manipulators can be traced back to the 1960s. Studies include kinematic designs, cost-efficiency, user experience involvements, and performance evaluation. This paper is to review studies conducted with clinical trials using activities of daily living (ADLs) tasks to evaluate performance categorized using the International Classification of Functioning, Disability, and Health (ICF) frameworks, in order to give the scope of current research and provide suggestions for future studies. Methods We conducted a literature search of assistive robotic manipulators from 1970 to 2012 in PubMed, Google Scholar, and University of Pittsburgh Library System – PITTCat. Results Twenty relevant studies were identified. Conclusion Studies were separated into two broad categories: user task preferences and user-interface performance measurements of commercialized and developing assistive robotic manipulators. The outcome measures and ICF codes associated with the performance evaluations are reported. Suggestions for the future studies include (1) standardized ADL tasks for the quantitative and qualitative evaluation of task efficiency and performance to build comparable measures between research groups, (2) studies relevant to the tasks from user priority lists and ICF codes, and (3) appropriate clinical functional assessment tests with consideration of constraints in assistive robotic manipulator user interfaces. In addition, these outcome measures will help physicians and therapists build standardized tools while prescribing and assessing assistive robotic manipulators. PMID:23820143

Were they in the loop during automated driving? Links between visual attention and crash potential.

PubMed

Louw, Tyron; Madigan, Ruth; Carsten, Oliver; Merat, Natasha

2017-08-01

A proposed advantage of vehicle automation is that it relieves drivers from the moment-to-moment demands of driving, to engage in other, non-driving related, tasks. However, it is important to gain an understanding of drivers' capacity to resume manual control, should such a need arise. As automation removes vehicle control-based measures as a performance indicator, other metrics must be explored. This driving simulator study, conducted under the European Commission (EC) funded AdaptIVe project, assessed drivers' gaze fixations during partially-automated (SAE Level 2) driving, on approach to critical and non-critical events. Using a between-participant design, 75 drivers experienced automation with one of five out-of-the-loop (OOTL) manipulations, which used different levels of screen visibility and secondary tasks to induce varying levels of engagement with the driving task: 1) no manipulation, 2) manipulation by light fog, 3) manipulation by heavy fog, 4) manipulation by heavy fog plus a visual task, 5) no manipulation plus an n-back task. The OOTL manipulations influenced drivers' first point of gaze fixation after they were asked to attend to an evolving event. Differences resolved within one second and visual attention allocation adapted with repeated events, yet crash outcome was not different between OOTL manipulation groups. Drivers who crashed in the first critical event showed an erratic pattern of eye fixations towards the road centre on approach to the event, while those who did not demonstrated a more stable pattern. Automated driving systems should be able to direct drivers' attention to hazards no less than 6 seconds in advance of an adverse outcome. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/.

Selective deficits of grip force control during object manipulation in patients with reduced sensibility of the grasping digits.

PubMed

Nowak, Dennis A; Hermsdörfer, Joachim

2003-09-01

Persons with impaired manual sensibility frequently report problems to use the hand in manipulative tasks, such as using tools or buttoning a shirt. At least two control processes determine grip forces during voluntary object manipulation. Anticipatory force control specifies the motor commands on the basis of predictions about physical object properties and the consequences of our own actions. Feedback sensory information from the grasping digits, representing mechanical events at the skin-object interface, automatically modifies grip force according to the actual loading requirements and updates sensorimotor memories to support anticipatory grip force control. We investigated grip force control in nine patients with moderately impaired tactile sensibility of the grasping digits and in nine sex- and age-matched healthy controls lifting and holding an instrumented object. In healthy controls grip force was adequately scaled to the weight of the object to be lifted. The grip force was programmed to smoothly change in parallel with load force over the entire lifting movement. In particular, the grip force level was regulated in an economical way to be always slightly higher than the minimum required to prevent the object slipping. The temporal coupling between the grip and load force profiles achieved a high precision with the maximum grip and load forces coinciding closely in time. For the temporal regulation of the grip force profile patients with impaired tactile sensibility maintained the close co-ordination between proximal arm muscles, responsible for the lifting movement and the fingers stabilising the grasp. Maximum grip force coincided with maximum acceleration of the lifting movement. However, patients employed greater maximum grip forces and greater grip forces to hold the object unsupported when compared with controls. Our results give further evidence to the suggestion that during manipulation of objects with known physical properties the anticipatory temporal regulation of the grip force profile is centrally processed and less under sensory feedback control. In contrast, sensory afferent information from the grasping fingers plays a dominant role for the efficient scaling of the grip force level according to actual loading requirements.

The role of metacognition in prospective memory: anticipated task demands influence attention allocation strategies.

PubMed

Rummel, Jan; Meiser, Thorsten

2013-09-01

The present study investigates how individuals distribute their attentional resources between a prospective memory task and an ongoing task. Therefore, metacognitive expectations about the attentional demands of the prospective-memory task were manipulated while the factual demands were held constant. In Experiments 1a and 1b, we found attentional costs from a prospective-memory task with low factual demands to be significantly reduced when information about the low to-be-expected demands were provided, while prospective-memory performance remained largely unaffected. In Experiment 2, attentional monitoring in a more demanding prospective-memory task also varied with information about the to-be-expected demands (high vs. low) and again there were no equivalent changes in prospective-memory performance. These findings suggest that attention-allocation strategies of prospective memory rely on metacognitive expectations about prospective-memory task demands. Furthermore, the results suggest that attentional monitoring is only functional for prospective memory to the extent to which anticipated task demands reflect objective task demands. Copyright © 2013 Elsevier Inc. All rights reserved.

Robotic technologies of the Flight Telerobotic Servicer (FTS) including fault tolerance

NASA Technical Reports Server (NTRS)

Chladek, John T.; Craver, William M.

1994-01-01

The original FTS concept for Space Station Freedom (SSF) was to provide telerobotic assistance to enhance crew activity and safety and to reduce crew EVA (Extra Vehicular Activity) activity. The first flight of the FTS manipulator systems would demonstrate several candidate tasks and would verify manipulator performance parameters. These first flight tasks included unlocking a SSF Truss Joint, mating/demating a fluid coupling, contact following of a contour board, demonstrating peg-in-hole assembly, and grasping and moving a mass. Future tasks foreseen for the FTS system included ORU (Orbit Replaceable Unit) change-out, Hubble Space Telescope Servicing, Gamma Ray Observatory refueling, and several in-situ SSF servicing and maintenance tasks. Operation of the FTS was planned to evolve from teleoperation to fully autonomous execution of many tasks. This wide range of mission tasks combined with the desire to evolve toward fully autonomy forced several requirements which may seen extremely demanding to the telerobotics community. The FTS requirements appear to have been created to accommodate the open-ended evolution plan such that operational evolution would not be impeded by function limitations. A recommendation arising from the FTS program to remedy the possible impacts from such ambitious requirements is to analyze candidate robotic tasks. Based on these task analyses, operational impacts against development impacts were weighed prior to requirements definition. Many of the FTS requirements discussed in the following sections greatly influenced the development cost and schedule of the FTS manipulator. The FTS manipulator has been assembled at Martin Marietta and is currently in testing. Successful component tests indicate a manipulator which achieves unprecedented performance specifications.

Planning perception and action for cognitive mobile manipulators

NASA Astrophysics Data System (ADS)

Gaschler, Andre; Nogina, Svetlana; Petrick, Ronald P. A.; Knoll, Alois

2013-12-01

We present a general approach to perception and manipulation planning for cognitive mobile manipulators. Rather than hard-coding single purpose robot applications, a robot should be able to reason about its basic skills in order to solve complex problems autonomously. Humans intuitively solve tasks in real-world scenarios by breaking down abstract problems into smaller sub-tasks and use heuristics based on their previous experience. We apply a similar idea for planning perception and manipulation to cognitive mobile robots. Our approach is based on contingent planning and run-time sensing, integrated in our knowledge of volumes" planning framework, called KVP. Using the general-purpose PKS planner, we model information-gathering actions at plan time that have multiple possible outcomes at run time. As a result, perception and sensing arise as necessary preconditions for manipulation, rather than being hard-coded as tasks themselves. We demonstrate the e ectiveness of our approach on two scenarios covering visual and force sensing on a real mobile manipulator.

The Effect of Two-dimensional and Stereoscopic Presentation on Middle School Students' Performance of Spatial Cognition Tasks

NASA Astrophysics Data System (ADS)

Price, Aaron; Lee, Hee-Sun

2010-02-01

We investigated whether and how student performance on three types of spatial cognition tasks differs when worked with two-dimensional or stereoscopic representations. We recruited nineteen middle school students visiting a planetarium in a large Midwestern American city and analyzed their performance on a series of spatial cognition tasks in terms of response accuracy and task completion time. Results show that response accuracy did not differ between the two types of representations while task completion time was significantly greater with the stereoscopic representations. The completion time increased as the number of mental manipulations of 3D objects increased in the tasks. Post-interviews provide evidence that some students continued to think of stereoscopic representations as two-dimensional. Based on cognitive load and cue theories, we interpret that, in the absence of pictorial depth cues, students may need more time to be familiar with stereoscopic representations for optimal performance. In light of these results, we discuss potential uses of stereoscopic representations for science learning.

Robust Task Space Trajectory Tracking Control of Robotic Manipulators

NASA Astrophysics Data System (ADS)

Galicki, M.

2016-08-01

This work deals with the problem of the accurate task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the end-effector. Furthermore, the movement is to be accomplished in such a way as to reduce both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we propose a class of chattering-free robust controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

Delayed visual feedback affects both manual tracking and grip force control when transporting a handheld object.

PubMed

Sarlegna, Fabrice R; Baud-Bovy, Gabriel; Danion, Frédéric

2010-08-01

When we manipulate an object, grip force is adjusted in anticipation of the mechanical consequences of hand motion (i.e., load force) to prevent the object from slipping. This predictive behavior is assumed to rely on an internal representation of the object dynamic properties, which would be elaborated via visual information before the object is grasped and via somatosensory feedback once the object is grasped. Here we examined this view by investigating the effect of delayed visual feedback during dextrous object manipulation. Adult participants manually tracked a sinusoidal target by oscillating a handheld object whose current position was displayed as a cursor on a screen along with the visual target. A delay was introduced between actual object displacement and cursor motion. This delay was linearly increased (from 0 to 300 ms) and decreased within 2-min trials. As previously reported, delayed visual feedback altered performance in manual tracking. Importantly, although the physical properties of the object remained unchanged, delayed visual feedback altered the timing of grip force relative to load force by about 50 ms. Additional experiments showed that this effect was not due to task complexity nor to manual tracking. A model inspired by the behavior of mass-spring systems suggests that delayed visual feedback may have biased the representation of object dynamics. Overall, our findings support the idea that visual feedback of object motion can influence the predictive control of grip force even when the object is grasped.

Advanced automation for in-space vehicle processing

NASA Technical Reports Server (NTRS)

Sklar, Michael; Wegerif, D.

1990-01-01

The primary objective of this 3-year planned study is to assure that the fully evolved Space Station Freedom (SSF) can support automated processing of exploratory mission vehicles. Current study assessments show that required extravehicular activity (EVA) and to some extent intravehicular activity (IVA) manpower requirements for required processing tasks far exceeds the available manpower. Furthermore, many processing tasks are either hazardous operations or they exceed EVA capability. Thus, automation is essential for SSF transportation node functionality. Here, advanced automation represents the replacement of human performed tasks beyond the planned baseline automated tasks. Both physical tasks such as manipulation, assembly and actuation, and cognitive tasks such as visual inspection, monitoring and diagnosis, and task planning are considered. During this first year of activity both the Phobos/Gateway Mars Expedition and Lunar Evolution missions proposed by the Office of Exploration have been evaluated. A methodology for choosing optimal tasks to be automated has been developed. Processing tasks for both missions have been ranked on the basis of automation potential. The underlying concept in evaluating and describing processing tasks has been the use of a common set of 'Primitive' task descriptions. Primitive or standard tasks have been developed both for manual or crew processing and automated machine processing.

A general framework for the manual teleoperation of kinematically redundant space-based manipulators

NASA Astrophysics Data System (ADS)

Dupuis, Erick

This thesis provides a general framework for the manual teleoperation of kinematically redundant space-based manipulators. It is proposed to break down the task of controlling the motion of a redundant manipulator into a sequence of manageable sub-tasks of lower dimension by imposing constraints on the motion of intermediate bodies of the manipulator. This implies that the manipulator then becomes a non-redundant kinematic chain and the operator only controls a reduced number of degrees of freedom at any time. However, by appropriately changing the imposed constraints, the operator can use the full capability of the manipulator throughout the task. Also, by not restricting the point of teleoperation to the end effector but effectively allowing direct control of intermediate bodies of the robot, it is possible to teleoperate a redundant robot of arbitrary kinematic architecture over its entire configuration space in a predictable and natural fashion. It is rigourously proven that this approach will always work for any kinematically redundant serial manipulator regardless of its topology, geometry and of the number of its excess degrees-of-freedom. Furthermore, a methodology is provided for the selection of task and constraint coordinates to ensure the absence of algorithmic rank-deficiencies. Two novel algorithms are provided for the symbolic determination of the rank-deficiency locus of rectangular Jacobian matrices: the Singular Vector Algorithm and the Recursive Sub-Determinant Algorithm. These algorithms are complementary to each other: the former being more computationally efficient and the latter more robust. The application of the methodology to sample cases of varying complexity has demonstrated its power and limitations: It has been shown to be powerful enough to generate complete sets of task/constraint coordinate pairs for realistic examples such as the Space Station Remote Manipulator System and a simplified version of the Special Purpose Dexterous Manipulator.

Temporal Dynamics of Activation of Thematic and Functional Knowledge During Conceptual Processing of Manipulable Artifacts

PubMed Central

Kalénine, Solène; Mirman, Daniel; Middleton, Erica L.; Buxbaum, Laurel J.

2012-01-01

The current research aimed at specifying the activation time course of different types of semantic information during object conceptual processing and the effect of context on this time course. We distinguished between thematic and functional knowledge and the specificity of functional similarity. Two experiments were conducted with healthy older adults using eye tracking in a word-to-picture matching task. The time course of gaze fixations was used to assess activation of distractor objects during the identification of manipulable artifact targets (e.g., broom). Distractors were (a) thematically related (e.g., dustpan), (b) related by a specific function (e.g., vacuum cleaner), or (c) related by a general function (e.g., sponge). Growth curve analyses were used to assess competition effects when target words were presented in isolation (Experiment 1) and embedded in contextual sentences of different generality levels (Experiment 2). In the absence of context, there was earlier and shorter lasting activation of thematically related as compared to functionally related objects. The time course difference was more pronounced for general functions than specific functions. When contexts were provided, functional similarities that were congruent with context generality level increased in salience with earlier activation of those objects. Context had little impact on thematic activation time course. These data demonstrate that processing a single manipulable artifact concept implicitly activates thematic and functional knowledge with different time courses and that context speeds activation of context-congruent functional similarity. PMID:22449134

Coarse-to-fine construction for high-resolution representation in visual working memory.

PubMed

Gao, Zaifeng; Ding, Xiaowei; Yang, Tong; Liang, Junying; Shui, Rende

2013-01-01

This study explored whether the high-resolution representations created by visual working memory (VWM) are constructed in a coarse-to-fine or all-or-none manner. The coarse-to-fine hypothesis suggests that coarse information precedes detailed information in entering VWM and that its resolution increases along with the processing time of the memory array, whereas the all-or-none hypothesis claims that either both enter into VWM simultaneously, or neither does. We tested the two hypotheses by asking participants to remember two or four complex objects. An ERP component, contralateral delay activity (CDA), was used as the neural marker. CDA is higher for four objects than for two objects when coarse information is primarily extracted; yet, this CDA difference vanishes when detailed information is encoded. Experiment 1 manipulated the comparison difficulty of the task under a 500-ms exposure time to determine a condition in which the detailed information was maintained. No CDA difference was found between two and four objects, even in an easy-comparison condition. Thus, Experiment 2 manipulated the memory array's exposure time under the easy-comparison condition and found a significant CDA difference at 100 ms while replicating Experiment 1's results at 500 ms. In Experiment 3, the 500-ms memory array was blurred to block the detailed information; this manipulation reestablished a significant CDA difference. These findings suggest that the creation of high-resolution representations in VWM is a coarse-to-fine process.

Goal-Directed Visual Processing Differentially Impacts Human Ventral and Dorsal Visual Representations

PubMed Central

2017-01-01

Recent studies have challenged the ventral/“what” and dorsal/“where” two-visual-processing-pathway view by showing the existence of “what” and “where” information in both pathways. Is the two-pathway distinction still valid? Here, we examined how goal-directed visual information processing may differentially impact visual representations in these two pathways. Using fMRI and multivariate pattern analysis, in three experiments on human participants (57% females), by manipulating whether color or shape was task-relevant and how they were conjoined, we examined shape-based object category decoding in occipitotemporal and parietal regions. We found that object category representations in all the regions examined were influenced by whether or not object shape was task-relevant. This task effect, however, tended to decrease as task-relevant and irrelevant features were more integrated, reflecting the well-known object-based feature encoding. Interestingly, task relevance played a relatively minor role in driving the representational structures of early visual and ventral object regions. They were driven predominantly by variations in object shapes. In contrast, the effect of task was much greater in dorsal than ventral regions, with object category and task relevance both contributing significantly to the representational structures of the dorsal regions. These results showed that, whereas visual representations in the ventral pathway are more invariant and reflect “what an object is,” those in the dorsal pathway are more adaptive and reflect “what we do with it.” Thus, despite the existence of “what” and “where” information in both visual processing pathways, the two pathways may still differ fundamentally in their roles in visual information representation. SIGNIFICANCE STATEMENT Visual information is thought to be processed in two distinctive pathways: the ventral pathway that processes “what” an object is and the dorsal pathway that processes “where” it is located. This view has been challenged by recent studies revealing the existence of “what” and “where” information in both pathways. Here, we found that goal-directed visual information processing differentially modulates shape-based object category representations in the two pathways. Whereas ventral representations are more invariant to the demand of the task, reflecting what an object is, dorsal representations are more adaptive, reflecting what we do with the object. Thus, despite the existence of “what” and “where” information in both pathways, visual representations may still differ fundamentally in the two pathways. PMID:28821655

A graphical, rule based robotic interface system

NASA Technical Reports Server (NTRS)

Mckee, James W.; Wolfsberger, John

1988-01-01

The ability of a human to take control of a robotic system is essential in any use of robots in space in order to handle unforeseen changes in the robot's work environment or scheduled tasks. But in cases in which the work environment is known, a human controlling a robot's every move by remote control is both time consuming and frustrating. A system is needed in which the user can give the robotic system commands to perform tasks but need not tell the system how. To be useful, this system should be able to plan and perform the tasks faster than a telerobotic system. The interface between the user and the robot system must be natural and meaningful to the user. A high level user interface program under development at the University of Alabama, Huntsville, is described. A graphical interface is proposed in which the user selects objects to be manipulated by selecting representations of the object on projections of a 3-D model of the work environment. The user may move in the work environment by changing the viewpoint of the projections. The interface uses a rule based program to transform user selection of items on a graphics display of the robot's work environment into commands for the robot. The program first determines if the desired task is possible given the abilities of the robot and any constraints on the object. If the task is possible, the program determines what movements the robot needs to make to perform the task. The movements are transformed into commands for the robot. The information defining the robot, the work environment, and how objects may be moved is stored in a set of data bases accessible to the program and displayable to the user.

Hardware interface unit for control of shuttle RMS vibrations

NASA Technical Reports Server (NTRS)

Lindsay, Thomas S.; Hansen, Joseph M.; Manouchehri, Davoud; Forouhar, Kamran

1994-01-01

Vibration of the Shuttle Remote Manipulator System (RMS) increases the time for task completion and reduces task safety for manipulator-assisted operations. If the dynamics of the manipulator and the payload can be physically isolated, performance should improve. Rockwell has developed a self contained hardware unit which interfaces between a manipulator arm and payload. The End Point Control Unit (EPCU) is built and is being tested at Rockwell and at the Langley/Marshall Coupled, Multibody Spacecraft Control Research Facility in NASA's Marshall Space Flight Center in Huntsville, Alabama.

Exploring relations between task conflict and informational conflict in the Stroop task.

PubMed

Entel, Olga; Tzelgov, Joseph; Bereby-Meyer, Yoella; Shahar, Nitzan

2015-11-01

In this study, we tested the proposal that the Stroop task involves two conflicts--task conflict and informational conflict. Task conflict was defined as the latency difference between color words and non-letter neutrals, and manipulated by varying the proportion of color words versus non-letter neutrals. Informational conflict was defined as the latency difference between incongruent and congruent trials and manipulated by varying the congruent-to-incongruent trial ratio. We replicated previous findings showing that increasing the ratio of incongruent-to-congruent trials reduces the latency difference between the incongruent and congruent condition (i.e., informational conflict), as does increasing the proportion of color words (i.e., task conflict). A significant under-additive interaction between the two proportion manipulations (congruent vs. incongruent and color words vs. neutrals) indicated that the effects of task conflict and informational conflict were not additive. By assessing task conflict as the contrast between color words and neutrals, we found that task conflict existed in all of our experimental conditions. Under specific conditions, when task conflict dominated behavior by explaining most of the variability between congruency conditions, we also found negative facilitation, thus demonstrating that this effect is a special case of task conflict.

PlenoPatch: Patch-Based Plenoptic Image Manipulation.

PubMed

Zhang, Fang-Lue; Wang, Jue; Shechtman, Eli; Zhou, Zi-Ye; Shi, Jia-Xin; Hu, Shi-Min

2017-05-01

Patch-based image synthesis methods have been successfully applied for various editing tasks on still images, videos and stereo pairs. In this work we extend patch-based synthesis to plenoptic images captured by consumer-level lenselet-based devices for interactive, efficient light field editing. In our method the light field is represented as a set of images captured from different viewpoints. We decompose the central view into different depth layers, and present it to the user for specifying the editing goals. Given an editing task, our method performs patch-based image synthesis on all affected layers of the central view, and then propagates the edits to all other views. Interaction is done through a conventional 2D image editing user interface that is familiar to novice users. Our method correctly handles object boundary occlusion with semi-transparency, thus can generate more realistic results than previous methods. We demonstrate compelling results on a wide range of applications such as hole-filling, object reshuffling and resizing, changing object depth, light field upscaling and parallax magnification.

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

PubMed

de Freitas, Paulo B; Jaric, Slobodan

2009-04-01

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

Executive Semantic Processing Is Underpinned by a Large-scale Neural Network: Revealing the Contribution of Left Prefrontal, Posterior Temporal, and Parietal Cortex to Controlled Retrieval and Selection Using TMS

ERIC Educational Resources Information Center

Whitney, Carin; Kirk, Marie; O'Sullivan, Jamie; Ralph, Matthew A. Lambon; Jefferies, Elizabeth

2012-01-01

To understand the meanings of words and objects, we need to have knowledge about these items themselves plus executive mechanisms that compute and manipulate semantic information in a task-appropriate way. The neural basis for semantic control remains controversial. Neuroimaging studies have focused on the role of the left inferior frontal gyrus…

Kinematics and force analysis of a robot hand based on an artificial biological control scheme

NASA Astrophysics Data System (ADS)

Kim, Man Guen

An artificial biological control scheme (ABCS) is used to study the kinematics and statics of a multifingered hand with a view to developing an efficient control scheme for grasping. The ABCS is based on observation of human grasping, intuitively taking it as the optimum model for robotic grasping. A final chapter proposes several grasping measures to be applied to the design and control of a robot hand. The ABCS leads to the definition of two modes of the grasping action: natural grasping (NG), which is the human motion to grasp the object without any special task command, and forced grasping (FG), which is the motion with a specific task. The grasping direction line (GDL) is defined to determine the position and orientation of the object in the hand. The kinematic model of a redundant robot arm and hand is developed by reconstructing the human upper extremity and using anthropometric measurement data. The inverse kinematic analyses of various types of precision and power grasping are studied by replacing the three-link with one virtual link and using the GDL. The static force analysis for grasping with fingertips is studied by applying the ABCS. A measure of grasping stability, that maintains the positions of contacts as well as the configurations of the redundant fingers, is derived. The grasping stability measure (GSM), a measure of how well the hand maintains grasping under the existence of external disturbance, is derived by the torque vector of the hand calculated from the external force applied to the object. The grasping manipulability measure (GMM), a measure of how well the hand manipulates the object for the task, is derived by the joint velocity vector of the hand calculated from the object velocity. The grasping performance measure (GPM) is defined by the sum of the directional components of the GSM and the GMM. Finally, a planar redundant hand with two fingers is examined in order to study the various postures of the hand performing pinch grasping by applying the GSM and the GMM.

"Happy goat says": The effect of a food selection inhibitory control training game of children's response inhibition on eating behavior.

PubMed

Jiang, Qianxia; He, Dexian; Guan, Wanyi; He, Xianyou

2016-12-01

Recent studies suggest that when inhibitory control is lacking, people are more inclined to indulge in high-calorie food, but inhibitory control can be trained. In this study, a daily-life training game was used to train children and investigate whether strengthening or weakening inhibitory control influences food intake in opposite directions. The baseline of response inhibition was measured by the go/no-go task, and the baseline of food intake was measured by a bogus food taste task. Then, participants performed a food selection training game named "Happy goat says" with three within-subject conditions: the first type of instruction was always paired without a go signal (inhibition manipulation); the second type of instruction was always presented with a go signal (impulsivity manipulation); and the third type of instruction was presented either with a go or no-go signal, both in 50% of the time (control manipulation). Following these manipulations, they went through the go/no-go task and bogus food taste task. In the pre-training food taste task, commission errors were positively correlated with body mass index. Relative to a control group playing Lego blocks (n = 20), the trained group showed a performance improvement on the go/no-go task. The intake of food in the inhibition manipulation was significantly less in the post-training food taste task. These findings demonstrate that children can gain control over the consumption of high-calorie food after a daily-life response inhibition training game. Copyright © 2016 Elsevier Ltd. All rights reserved.

Two speed factors of visual recognition independently correlated with fluid intelligence.

PubMed

Tachibana, Ryosuke; Namba, Yuri; Noguchi, Yasuki

2014-01-01

Growing evidence indicates a moderate but significant relationship between processing speed in visuo-cognitive tasks and general intelligence. On the other hand, findings from neuroscience proposed that the primate visual system consists of two major pathways, the ventral pathway for objects recognition and the dorsal pathway for spatial processing and attentive analysis. Previous studies seeking for visuo-cognitive factors of human intelligence indicated a significant correlation between fluid intelligence and the inspection time (IT), an index for a speed of object recognition performed in the ventral pathway. We thus presently examined a possibility that neural processing speed in the dorsal pathway also represented a factor of intelligence. Specifically, we used the mental rotation (MR) task, a popular psychometric measure for mental speed of spatial processing in the dorsal pathway. We found that the speed of MR was significantly correlated with intelligence scores, while it had no correlation with one's IT (recognition speed of visual objects). Our results support the new possibility that intelligence could be explained by two types of mental speed, one related to object recognition (IT) and another for manipulation of mental images (MR).

Mechanical evaluation of articulating instruments and cross-handed manipulation in laparoendoscopic single-site surgery.

PubMed

Xu, An An; Zhu, Jiang Fan; Xie, Xiaofeng; Su, Yuantao

2014-08-01

Laparoendoscopic single-site surgery (LESS) is limited by loss of triangulation and internal instruments conflict. To overcome these difficulties, some concepts have been introduced, namely, articulating instruments and cross-handed manipulation, which causes the right hand to control the left instrument tip and vice versa. The aim of this study was to compare task performance with different approaches based on a mechanical evaluation platform. A LESS mechanical evaluation platform was set up to investigate the performance of 2 tasks (suture pass-through rings and clip-cut) with 3 different settings: uncrossed manipulation with straight instruments (group A, the control group), uncrossed manipulation with articulating instruments (group B), and cross-handed manipulation with articulating instruments (group C). The operation time and average load required for accomplishment of the standard tasks were measured. Group A presented significantly better time scores than group B, and group C consumed the longest time to accomplish the 2 tasks (P < .05). Comparing of average load required to perform the suture pass-through rings task, it differed significantly between dominant and nondominant hand in all groups (P < .01) and was less in group A and group B than group C in dominant hand (P < .01), while it was almost the same in all groups in the nondominant hand. In terms of average load requirement to accomplish clip-cut task, it was almost equal not only between group A and B but also between dominant and nondominant hand while the increase reached statistical significance when comparing group C with other groups (P < .05). Compared with conventional devices and maneuvering techniques, articulating instruments and cross-handed manipulation are associated with longer operation time and higher workload. Instruments with better maneuverability should be developed in the future for LESS. © The Author(s) 2013.

Stereotyped behavior of severely disabled children in classroom and free-play settings.

PubMed

Thompson, T J; Berkson, G

1985-05-01

The relationships between stereotyped behavior, object manipulation, self-manipulation, teacher attention, and various developmental measures were examined in 101 severely developmentally disabled children in their classrooms and a free-play setting. Stereotyped behavior without objects was positively correlated with self-manipulation and CA and was negatively correlated with complex object manipulation, developmental age, developmental quotient, and teacher attention. Stereotyped behavior with objects was negatively correlated with complex object manipulation. Partial correlations showed that age, self-manipulation, and developmental age shared unique variance with stereotyped behavior without objects.

Intrinsic and contextual features in object recognition.

PubMed

Schlangen, Derrick; Barenholtz, Elan

2015-01-28

The context in which an object is found can facilitate its recognition. Yet, it is not known how effective this contextual information is relative to the object's intrinsic visual features, such as color and shape. To address this, we performed four experiments using rendered scenes with novel objects. In each experiment, participants first performed a visual search task, searching for a uniquely shaped target object whose color and location within the scene was experimentally manipulated. We then tested participants' tendency to use their knowledge of the location and color information in an identification task when the objects' images were degraded due to blurring, thus eliminating the shape information. In Experiment 1, we found that, in the absence of any diagnostic intrinsic features, participants identified objects based purely on their locations within the scene. In Experiment 2, we found that participants combined an intrinsic feature, color, with contextual location in order to uniquely specify an object. In Experiment 3, we found that when an object's color and location information were in conflict, participants identified the object using both sources of information equally. Finally, in Experiment 4, we found that participants used whichever source of information-either color or location-was more statistically reliable in order to identify the target object. Overall, these experiments show that the context in which objects are found can play as important a role as intrinsic features in identifying the objects. © 2015 ARVO.

Object Segmentation Methods for Online Model Acquisition to Guide Robotic Grasping

NASA Astrophysics Data System (ADS)

Ignakov, Dmitri

A vision system is an integral component of many autonomous robots. It enables the robot to perform essential tasks such as mapping, localization, or path planning. A vision system also assists with guiding the robot's grasping and manipulation tasks. As an increased demand is placed on service robots to operate in uncontrolled environments, advanced vision systems must be created that can function effectively in visually complex and cluttered settings. This thesis presents the development of segmentation algorithms to assist in online model acquisition for guiding robotic manipulation tasks. Specifically, the focus is placed on localizing door handles to assist in robotic door opening, and on acquiring partial object models to guide robotic grasping. First, a method for localizing a door handle of unknown geometry based on a proposed 3D segmentation method is presented. Following segmentation, localization is performed by fitting a simple box model to the segmented handle. The proposed method functions without requiring assumptions about the appearance of the handle or the door, and without a geometric model of the handle. Next, an object segmentation algorithm is developed, which combines multiple appearance (intensity and texture) and geometric (depth and curvature) cues. The algorithm is able to segment objects without utilizing any a priori appearance or geometric information in visually complex and cluttered environments. The segmentation method is based on the Conditional Random Fields (CRF) framework, and the graph cuts energy minimization technique. A simple and efficient method for initializing the proposed algorithm which overcomes graph cuts' reliance on user interaction is also developed. Finally, an improved segmentation algorithm is developed which incorporates a distance metric learning (DML) step as a means of weighing various appearance and geometric segmentation cues, allowing the method to better adapt to the available data. The improved method also models the distribution of 3D points in space as a distribution of algebraic distances from an ellipsoid fitted to the object, improving the method's ability to predict which points are likely to belong to the object or the background. Experimental validation of all methods is performed. Each method is evaluated in a realistic setting, utilizing scenarios of various complexities. Experimental results have demonstrated the effectiveness of the handle localization method, and the object segmentation methods.

Human interaction with robotic systems: performance and workload evaluations.

PubMed

Reinerman-Jones, L; Barber, D J; Szalma, J L; Hancock, P A

2017-10-01

We first tested the effect of differing tactile informational forms (i.e. directional cues vs. static cues vs. dynamic cues) on objective performance and perceived workload in a collaborative human-robot task. A second experiment evaluated the influence of task load and informational message type (i.e. single words vs. grouped phrases) on that same collaborative task. In both experiments, the relationship of personal characteristics (attentional control and spatial ability) to performance and workload was also measured. In addition to objective performance and self-report of cognitive load, we evaluated different physiological responses in each experiment. Results showed a performance-workload association for directional cues, message type and task load. EEG measures however, proved generally insensitive to such task load manipulations. Where significant EEG effects were observed, right hemisphere amplitude differences predominated, although unexpectedly these latter relationships were negative. Although EEG measures were partially associated with performance, they appear to possess limited utility as measures of workload in association with tactile displays. Practitioner Summary: As practitioners look to take advantage of innovative tactile displays in complex operational realms like human-robotic interaction, associated performance effects are mediated by cognitive workload. Despite some patterns of association, reliable reflections of operator state can be difficult to discern and employ as the number, complexity and sophistication of these respective measures themselves increase.

Multi-layer neural networks for robot control

NASA Technical Reports Server (NTRS)

Pourboghrat, Farzad

1989-01-01

Two neural learning controller designs for manipulators are considered. The first design is based on a neural inverse-dynamics system. The second is the combination of the first one with a neural adaptive state feedback system. Both types of controllers enable the manipulator to perform any given task very well after a period of training and to do other untrained tasks satisfactorily. The second design also enables the manipulator to compensate for unpredictable perturbations.

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

PubMed

Canits, Ivonne; Pecher, Diane; Zeelenberg, René

2018-01-01

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

Warmth of familiarity and chill of error: affective consequences of recognition decisions.

PubMed

Chetverikov, Andrey

2014-04-01

The present research aimed to assess the effect of recognition decision on subsequent affective evaluations of recognised and non-recognised objects. Consistent with the proposed account of post-decisional preferences, results showed that the effect of recognition on preferences depends upon objective familiarity. If stimuli are recognised, liking ratings are positively associated with exposure frequency; if stimuli are not recognised, this link is either absent (Experiment 1) or negative (Experiments 2 and 3). This interaction between familiarity and recognition exists even when recognition accuracy is at chance level and the "mere exposure" effect is absent. Finally, data obtained from repeated measurements of preferences and using manipulations of task order confirm that recognition decisions have a causal influence on preferences. The findings suggest that affective evaluation can provide fine-grained access to the efficacy of cognitive processing even in simple cognitive tasks.

Task set induces dynamic reallocation of resources in visual short-term memory.

PubMed

Sheremata, Summer L; Shomstein, Sarah

2017-08-01

Successful interaction with the environment requires the ability to flexibly allocate resources to different locations in the visual field. Recent evidence suggests that visual short-term memory (VSTM) resources are distributed asymmetrically across the visual field based upon task demands. Here, we propose that context, rather than the stimulus itself, determines asymmetrical distribution of VSTM resources. To test whether context modulates the reallocation of resources to the right visual field, task set, defined by memory-load, was manipulated to influence visual short-term memory performance. Performance was measured for single-feature objects embedded within predominantly single- or two-feature memory blocks. Therefore, context was varied to determine whether task set directly predicts changes in visual field biases. In accord with the dynamic reallocation of resources hypothesis, task set, rather than aspects of the physical stimulus, drove improvements in performance in the right- visual field. Our results show, for the first time, that preparation for upcoming memory demands directly determines how resources are allocated across the visual field.

Development of a robotic device for facilitating learning by children who have severe disabilities.

PubMed

Cook, Albert M; Meng, Max Q H; Gu, Jason J; Howery, Kathy

2002-09-01

This paper presents technical aspects of a robot manipulator developed to facilitate learning by young children who are generally unable to grasp objects or speak. The severity of these physical disabilities also limits assessment of their cognitive and language skills and abilities. The CRS robot manipulator was adapted for use by children who have disabilities. Our emphasis is on the technical control aspects of the development of an interface and communication environment between the child and the robot arm. The system is designed so that each child has user control and control procedures that are individually adapted. Control interfaces include large push buttons, keyboards, laser pointer, and head-controlled switches. Preliminary results have shown that young children who have severe disabilities can use the robotic arm system to complete functional play-related tasks. Developed software allows the child to accomplish a series of multistep tasks by activating one or more single switches. Through a single switch press the child can replay a series of preprogrammed movements that have a development sequence. Children using this system engaged in three-step sequential activities and were highly responsive to the robotic tasks. This was in marked contrast to other interventions using toys and computer games.

An experimental manipulation of responsibility in children: a test of the inflated responsibility model of obsessive-compulsive disorder.

PubMed

Reeves, J; Reynolds, S; Coker, S; Wilson, C

2010-09-01

The objective of this study was to investigate whether Salkovskis (1985) inflated responsibility model of obsessive-compulsive disorder (OCD) applied to children. In an experimental design, 81 children aged 9-12 years were randomly allocated to three conditions: an inflated responsibility group, a moderate responsibility group, and a reduced responsibility group. In all groups children were asked to sort sweets according to whether or not they contained nuts. At baseline the groups did not differ on children's self reported anxiety, depression, obsessive-compulsive symptoms or on inflated responsibility beliefs. The experimental manipulation successfully changed children's perceptions of responsibility. During the sorting task time taken to complete the task, checking behaviours, hesitations, and anxiety were recorded. There was a significant effect of responsibility level on the behavioural variables of time taken, hesitations and check; as perceived responsibility increased children took longer to complete the task and checked and hesitated more often. There was no between-group difference in children's self reported state anxiety. The results offer preliminary support for the link between inflated responsibility and increased checking behaviours in children and add to the small but growing literature suggesting that cognitive models of OCD may apply to children. (c) 2010 Elsevier Ltd. All rights reserved.

Perceiving Object Shape from Specular Highlight Deformation, Boundary Contour Deformation, and Active Haptic Manipulation.

PubMed

Norman, J Farley; Phillips, Flip; Cheeseman, Jacob R; Thomason, Kelsey E; Ronning, Cecilia; Behari, Kriti; Kleinman, Kayla; Calloway, Autum B; Lamirande, Davora

2016-01-01

It is well known that motion facilitates the visual perception of solid object shape, particularly when surface texture or other identifiable features (e.g., corners) are present. Conventional models of structure-from-motion require the presence of texture or identifiable object features in order to recover 3-D structure. Is the facilitation in 3-D shape perception similar in magnitude when surface texture is absent? On any given trial in the current experiments, participants were presented with a single randomly-selected solid object (bell pepper or randomly-shaped "glaven") for 12 seconds and were required to indicate which of 12 (for bell peppers) or 8 (for glavens) simultaneously visible objects possessed the same shape. The initial single object's shape was defined either by boundary contours alone (i.e., presented as a silhouette), specular highlights alone, specular highlights combined with boundary contours, or texture. In addition, there was a haptic condition: in this condition, the participants haptically explored with both hands (but could not see) the initial single object for 12 seconds; they then performed the same shape-matching task used in the visual conditions. For both the visual and haptic conditions, motion (rotation in depth or active object manipulation) was present in half of the trials and was not present for the remaining trials. The effect of motion was quantitatively similar for all of the visual and haptic conditions-e.g., the participants' performance in Experiment 1 was 93.5 percent higher in the motion or active haptic manipulation conditions (when compared to the static conditions). The current results demonstrate that deforming specular highlights or boundary contours facilitate 3-D shape perception as much as the motion of objects that possess texture. The current results also indicate that the improvement with motion that occurs for haptics is similar in magnitude to that which occurs for vision.

Flight telerobotic servicer legacy

NASA Astrophysics Data System (ADS)

Shattuck, Paul L.; Lowrie, James W.

1992-11-01

The Flight Telerobotic Servicer (FTS) was developed to enhance and provide a safe alternative to human presence in space. The first step for this system was a precursor development test flight (DTF-1) on the Space Shuttle. DTF-1 was to be a pathfinder for manned flight safety of robotic systems. The broad objectives of this mission were three-fold: flight validation of telerobotic manipulator (design, control algorithms, man/machine interfaces, safety); demonstration of dexterous manipulator capabilities on specific building block tasks; and correlation of manipulator performance in space with ground predictions. The DTF-1 system is comprised of a payload bay element (7-DOF manipulator with controllers, end-of-arm gripper and camera, telerobot body with head cameras and electronics module, task panel, and MPESS truss) and an aft flight deck element (force-reflecting hand controller, crew restraint, command and display panel and monitors). The approach used to develop the DTF-1 hardware, software and operations involved flight qualification of components from commercial, military, space, and R controller, end-of-arm tooling, force/torque transducer) and the development of the telerobotic system for space applications. The system is capable of teleoperation and autonomous control (advances state of the art); reliable (two-fault tolerance); and safe (man-rated). Benefits from the development flight included space validation of critical telerobotic technologies and resolution of significant safety issues relating to telerobotic operations in the Shuttle bay or in the vicinity of other space assets. This paper discusses the lessons learned and technology evolution that stemmed from developing and integrating a dexterous robot into a manned system, the Space Shuttle. Particular emphasis is placed on the safety and reliability requirements for a man-rated system as these are the critical factors which drive the overall system architecture. Other topics focused on include: task requirements and operational concepts for servicing and maintenance of space platforms; origins of technology for dexterous robotic systems; issues associated with space qualification of components; and development of the industrial base to support space robotics.

Nonstrategic Contributions to Putatively Strategic Effects in Selective Attention Tasks

ERIC Educational Resources Information Center

Risko, Evan F.; Blais, Chris; Stolz, Jennifer A.; Besner, Derek

2008-01-01

Proportion compatible manipulations are often used to index strategic processes in selective attention tasks. Here, a subtle confound in proportion compatible manipulations is considered. Specifically, as the proportion of compatible trials increases, the ratio of complete repetitions and complete alternations to partial repetitions increases on…

Overview of Remote Handling Equipment Used for the NPP A1 Decommissioning - 12141

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kravarik, K.; Medved, J.; Pekar, A.

The first Czechoslovak NPP A1 was in operation from 1972 to 1977 and it was finally shutdown due to an accident (level 4 according to the INES). The presence of radioactive, toxic or hazardous materials limits personnel access to facilities and therefore it is necessary to use remote handling technologies for some most difficult characterization, retrieval, decontamination and dismantling tasks. The history of remote handling technologies utilization started in nineties when the spent nuclear fuel, including those fuel assemblies damaged during the accident, was prepared for the transport to Russia. Subsequent significant development of remote handling equipment continued during implementationmore » of the NPP A1 decommissioning project - Stage I and ongoing Stage II. Company VUJE, Inc. is the general contractor for both mentioned stages of the decommissioning project. Various remote handling manipulators and robotics arms were developed and used. It includes remotely controlled vehicle manipulator MT-15 used for characterisation tasks in hostile and radioactive environment, special robust manipulator DENAR-41 used for the decontamination of underground storage tanks and multi-purposes robotics arms MT-80 and MT-80A developed for variety of decontamination and dismantling tasks. The heavy water evaporator facility dismantling is the current task performed remotely by robotics arm MT-80. The heavy water evaporator is located inside the main production building in the room No. 220 where loose surface contamination varies from 10 Bq/cm{sup 2} to 1x10{sup 3} Bq/cm{sup 2}, dose rate is up to 1.5 mGy/h and the feeding pipeline contained liquid RAW with high tritium content. Presented manipulators have been designed for broad range of decommissioning tasks. They are used for recognition, sampling, waste retrieval from large underground tanks, decontamination and dismantling of technological equipments. Each of the mentioned fields claims specific requirements on design of manipulator, their operation and control systems as well as tools of manipulators. Precise planning of decontamination and dismantling tasks is necessary for its successful performance by remotely controlled manipulator. The example of the heavy water evaporator demonstrates typical procedure for decommissioning of contaminated technological equipment by remotely controlled manipulators - planning of decommissioning tasks, preparatory tasks, modification of applied tools and design of specific supporting constructions for manipulator and finally decontamination and dismantling themselves. Due to the particularly demanding conditions in highly contaminated A1 NPP, a team of experts with special know-how in the field of decommissioning has grown up, and unique technological equipment enabling effective and safe work in environment with a high radiation level has been developed. (authors)« less

Investigating the visual span in comparative search: the effects of task difficulty and divided attention.

PubMed

Pomplun, M; Reingold, E M; Shen, J

2001-09-01

In three experiments, participants' visual span was measured in a comparative visual search task in which they had to detect a local match or mismatch between two displays presented side by side. Experiment 1 manipulated the difficulty of the comparative visual search task by contrasting a mismatch detection task with a substantially more difficult match detection task. In Experiment 2, participants were tested in a single-task condition involving only the visual task and a dual-task condition in which they concurrently performed an auditory task. Finally, in Experiment 3, participants performed two dual-task conditions, which differed in the difficulty of the concurrent auditory task. Both the comparative search task difficulty (Experiment 1) and the divided attention manipulation (Experiments 2 and 3) produced strong effects on visual span size.

New findings on object permanence: A developmental difference between two types of occlusion

PubMed Central

Moore, M. Keith; Meltzoff, Andrew N.

2013-01-01

Manual search for totally occluded objects was investigated in 10-, 12- and 14-month-old infants. Infants responded to two types of total hiding in different ways, supporting the inference that object permanence is not a once-and-for-all attainment. Occlusion of an object by movement of a screen over it was solved at an earlier age than occlusion in which an object was carried under the screen. This dissociation was not explained by motivation, motor skill or means–ends coordination, because for both tasks the same object was hidden in the same place under the same screen and required the same uncovering response. This dissociation generalized across an experimentally manipulated change in recovery means—infants removed cloths while seated at a table in Expt 1 and were required to crawl through 3-D space to displace semi-rigid pillows in Expt 2. Further analysis revealed that emotional response varied as a function of hiding, suggesting an affective correlate of infant cognition. There are four empirical findings to account for: developmental change, task dissociation, generalization of the effects across recovery means, and emotional reactions. An identity-development theory is proposed explaining these findings in terms of infants’ understanding of object identity and the developmental relationship between object identity and object permanence. Object identity is seen as a necessary precursor to the development of object permanence. PMID:25364086

New findings on object permanence: A developmental difference between two types of occlusion.

PubMed

Moore, M Keith; Meltzoff, Andrew N

1999-11-01

Manual search for totally occluded objects was investigated in 10-, 12- and 14-month-old infants. Infants responded to two types of total hiding in different ways, supporting the inference that object permanence is not a once-and-for-all attainment. Occlusion of an object by movement of a screen over it was solved at an earlier age than occlusion in which an object was carried under the screen. This dissociation was not explained by motivation, motor skill or means-ends coordination, because for both tasks the same object was hidden in the same place under the same screen and required the same uncovering response. This dissociation generalized across an experimentally manipulated change in recovery means-infants removed cloths while seated at a table in Expt 1 and were required to crawl through 3-D space to displace semi-rigid pillows in Expt 2. Further analysis revealed that emotional response varied as a function of hiding, suggesting an affective correlate of infant cognition. There are four empirical findings to account for: developmental change, task dissociation, generalization of the effects across recovery means, and emotional reactions. An identity-development theory is proposed explaining these findings in terms of infants' understanding of object identity and the developmental relationship between object identity and object permanence. Object identity is seen as a necessary precursor to the development of object permanence.

After Columbine: how people mourn sudden death.

PubMed

Fast, Jonathan D

2003-10-01

Responses to the rampage killings at Columbine High School were analyzed at the national level, the level of the community, and that of the family. In many cases people responded by undertaking "grief projects" involving manipulation of symbols, either in the creation of artwork, the decoration of existing structures, on internet websites, and in the raising (and occasional destruction) of memorial objects. Many of these projects were undertaken together to create a community of bereavement. It is suggested that these projects are best understood within the context of Worden's task model of mourning (Worden, 1991), particularly task three, "Adjusting to an environment in which the deceased is missing." The differences between mourning sudden death and anticipated death are also explored.

Integrated Support for Manipulation and Display of 3D Objects for the Command and Control Workstation of the Future

DTIC Science & Technology

1989-06-01

Science Unclassified SECURITY CLASSIFICATION OF THIS PAGE REPORT DOCUMENTATION PAGE la. REPORT SECURITY CLASS’r!CATION )b RESTRICTIVE MARKINGS UNCLASSIFIED...2a. SECURITY CLASSIFICATION AUTHORITY 3. DISTRIBUTION/AVAILABILITY OF REPORT Approved for public release; Zb. DECLASSIFICATION I DOWNGRADING SCHEDULE...ZIP Code) 10 SOURCE OF FUNDING NUMBERS PROGRAM PROJECT TASK WORK UNIT Monterey, CA. 93943 FLEMENT NO. NO. NO ACCESSION NO. 11. TITLE (Include Security

The Spatial Distribution of Attention within and across Objects

PubMed Central

Hollingworth, Andrew; Maxcey-Richard, Ashleigh M.; Vecera, Shaun P.

2011-01-01

Attention operates to select both spatial locations and perceptual objects. However, the specific mechanism by which attention is oriented to objects is not well understood. We examined the means by which object structure constrains the distribution of spatial attention (i.e., a “grouped array”). Using a modified version of the Egly et al. object cuing task, we systematically manipulated within-object distance and object boundaries. Four major findings are reported: 1) spatial attention forms a gradient across the attended object; 2) object boundaries limit the distribution of this gradient, with the spread of attention constrained by a boundary; 3) boundaries within an object operate similarly to across-object boundaries: we observed object-based effects across a discontinuity within a single object, without the demand to divide or switch attention between discrete object representations; and 4) the gradient of spatial attention across an object directly modulates perceptual sensitivity, implicating a relatively early locus for the grouped array representation. PMID:21728455

A sex difference in effect of prior experience on object-mediated problem-solving in gibbons.

PubMed

Cunningham, Clare; Anderson, James; Mootnick, Alan

2011-07-01

Understanding the functionally relevant properties of objects is likely facilitated by learning with a critical role for past experience. However, current evidence is conflicting regarding the effect of prior object exposure on acquisition of object manipulation skills. This may be due to the influence of life history variables on the capacity to benefit from such experience. This study assessed effect of task-relevant object exposure on object-mediated problem-solving in 22 gibbons using a raking-in task. Despite not using tools habitually, 14 gibbons spontaneously used a rake to obtain a reward. Having prior experience with the rake in an unrewarded context did not improve learning efficiency in males. However, females benefitted significantly from the opportunity to interact with the rake before testing, with reduced latencies to solution compared to those with no previous exposure. These results reflect potential sex differences in approach to novelty that moderate the possible benefits of prior experience. Due to their relatively high energetic requirements, reproductively active females may be highly motivated to explore potential resources; however, increased investment in developing offspring could make them more guarded in their investigations. Previous exposure that allows females to learn of an object's neutrality can offset this cautious exploration.

The use of interactive computer vision and robot hand controllers for enhancing manufacturing safety

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Jacobus, Charles J.; Peurach, Thomas M.; Mitchell, Brian T.

1994-01-01

Current available robotic systems provide limited support for CAD-based model-driven visualization, sensing algorithm development and integration, and automated graphical planning systems. This paper describes ongoing work which provides the functionality necessary to apply advanced robotics to automated manufacturing and assembly operations. An interface has been built which incorporates 6-DOF tactile manipulation, displays for three dimensional graphical models, and automated tracking functions which depend on automated machine vision. A set of tools for single and multiple focal plane sensor image processing and understanding has been demonstrated which utilizes object recognition models. The resulting tool will enable sensing and planning from computationally simple graphical objects. A synergistic interplay between human and operator vision is created from programmable feedback received from the controller. This approach can be used as the basis for implementing enhanced safety in automated robotics manufacturing, assembly, repair and inspection tasks in both ground and space applications. Thus, an interactive capability has been developed to match the modeled environment to the real task environment for safe and predictable task execution.

The use of interactive computer vision and robot hand controllers for enhancing manufacturing safety

NASA Astrophysics Data System (ADS)

Marzwell, Neville I.; Jacobus, Charles J.; Peurach, Thomas M.; Mitchell, Brian T.

1994-02-01

Current available robotic systems provide limited support for CAD-based model-driven visualization, sensing algorithm development and integration, and automated graphical planning systems. This paper describes ongoing work which provides the functionality necessary to apply advanced robotics to automated manufacturing and assembly operations. An interface has been built which incorporates 6-DOF tactile manipulation, displays for three dimensional graphical models, and automated tracking functions which depend on automated machine vision. A set of tools for single and multiple focal plane sensor image processing and understanding has been demonstrated which utilizes object recognition models. The resulting tool will enable sensing and planning from computationally simple graphical objects. A synergistic interplay between human and operator vision is created from programmable feedback received from the controller. This approach can be used as the basis for implementing enhanced safety in automated robotics manufacturing, assembly, repair and inspection tasks in both ground and space applications. Thus, an interactive capability has been developed to match the modeled environment to the real task environment for safe and predictable task execution.

Using a Didactic Manipulator in Mechatronics and Industrial Engineering Courses

ERIC Educational Resources Information Center

Stankovski, Stevan; Tarjan, Laslo; Skrinjar, Dragana; Ostojic, Gordana; Senk, Ivana

2010-01-01

One of the most difficult and most important engineering tasks is the integration of a robot-manipulator into material handling, assembly, and production processes, offering the possibility of supervision and control. The knowledge and skills required for these kinds of tasks are purely mechatronic and, thus, multidisciplinary. This paper…

An analysis of the loads applied to a heavy Space Station rack during translation and rotation tasks

NASA Technical Reports Server (NTRS)

Stoycos, Lara E.; Klute, Glenn K.

1994-01-01

To prepare for Space Station Alpha's on-orbit assembly, maintenance, and resupply, NASA requires information about the crew members' ability to move heavy masses on orbit. Ease of movement in microgravity and orbiter stay time constraints may change the Space Station equipment and outfitting design requirements. Therefore, the time and effort required to perform a particular task and how and where the forces and torque should be applied become critical in evaluating the design effort. Thus, the three main objectives of this investigation were to: (1) quantify variables such as force and torque as they relate to heavy mass handling techniques; (2) predict the time required to perform heavy mass handling tasks; and (3) note any differences between males and females in their ability to manipulate a heavy mass.

Does object view influence the scene consistency effect?

PubMed

Sastyin, Gergo; Niimi, Ryosuke; Yokosawa, Kazuhiko

2015-04-01

Traditional research on the scene consistency effect only used clearly recognizable object stimuli to show mutually interactive context effects for both the object and background components on scene perception (Davenport & Potter in Psychological Science, 15, 559-564, 2004). However, in real environments, objects are viewed from multiple viewpoints, including an accidental, hard-to-recognize one. When the observers named target objects in scenes (Experiments 1a and 1b, object recognition task), we replicated the scene consistency effect (i.e., there was higher accuracy for the objects with consistent backgrounds). However, there was a significant interaction effect between consistency and object viewpoint, which indicated that the scene consistency effect was more important for identifying objects in the accidental view condition than in the canonical view condition. Therefore, the object recognition system may rely more on the scene context when the object is difficult to recognize. In Experiment 2, the observers identified the background (background recognition task) while the scene consistency and object views were manipulated. The results showed that object viewpoint had no effect, while the scene consistency effect was observed. More specifically, the canonical and accidental views both equally provided contextual information for scene perception. These findings suggested that the mechanism for conscious recognition of objects could be dissociated from the mechanism for visual analysis of object images that were part of a scene. The "context" that the object images provided may have been derived from its view-invariant, relatively low-level visual features (e.g., color), rather than its semantic information.

Experience with Malleable Objects Influences Shape-based Object Individuation by Infants

PubMed Central

Woods, Rebecca J.; Schuler, Jena

2014-01-01

Infants’ ability to accurately represent and later recognize previously viewed objects, and conversely, to discriminate novel objects from those previously seen improves remarkably over the first two years of life. During this time, infants acquire extensive experience viewing and manipulating objects and these experiences influence their physical reasoning. Here we posited that infants’ observations of object feature stability (rigid versus malleable) can influence use of those features to individuate two successively viewed objects. We showed 8.5-month-olds a series of objects that could or could not change shape then assessed their use of shape as a basis for object individuation. Infants who explored rigid objects later used shape differences to individuate objects; however, infants who explored malleable objects did not. This outcome suggests that the latter infants did not take into account shape differences during the physical reasoning task and provides further evidence that infants’ attention to object features can be readily modified based on recent experiences. PMID:24561541

Perceiving Object Shape from Specular Highlight Deformation, Boundary Contour Deformation, and Active Haptic Manipulation

PubMed Central

Cheeseman, Jacob R.; Thomason, Kelsey E.; Ronning, Cecilia; Behari, Kriti; Kleinman, Kayla; Calloway, Autum B.; Lamirande, Davora

2016-01-01

It is well known that motion facilitates the visual perception of solid object shape, particularly when surface texture or other identifiable features (e.g., corners) are present. Conventional models of structure-from-motion require the presence of texture or identifiable object features in order to recover 3-D structure. Is the facilitation in 3-D shape perception similar in magnitude when surface texture is absent? On any given trial in the current experiments, participants were presented with a single randomly-selected solid object (bell pepper or randomly-shaped “glaven”) for 12 seconds and were required to indicate which of 12 (for bell peppers) or 8 (for glavens) simultaneously visible objects possessed the same shape. The initial single object’s shape was defined either by boundary contours alone (i.e., presented as a silhouette), specular highlights alone, specular highlights combined with boundary contours, or texture. In addition, there was a haptic condition: in this condition, the participants haptically explored with both hands (but could not see) the initial single object for 12 seconds; they then performed the same shape-matching task used in the visual conditions. For both the visual and haptic conditions, motion (rotation in depth or active object manipulation) was present in half of the trials and was not present for the remaining trials. The effect of motion was quantitatively similar for all of the visual and haptic conditions–e.g., the participants’ performance in Experiment 1 was 93.5 percent higher in the motion or active haptic manipulation conditions (when compared to the static conditions). The current results demonstrate that deforming specular highlights or boundary contours facilitate 3-D shape perception as much as the motion of objects that possess texture. The current results also indicate that the improvement with motion that occurs for haptics is similar in magnitude to that which occurs for vision. PMID:26863531

Manipulation after object rotation reveals independent sensorimotor memory representations of digit positions and forces.

PubMed

Zhang, Wei; Gordon, Andrew M; Fu, Qiushi; Santello, Marco

2010-06-01

Planning of object manipulations is dependent on the ability to generate, store, and retrieve sensorimotor memories of previous actions associated with grasped objects. However, the sensorimotor memory representations linking object properties to the planning of grasp are not well understood. Here we use an object rotation task to gain insight into the mechanisms underlying the nature of these sensorimotor memories. We asked subjects to grasp a grip device with an asymmetrical center of mass (CM) anywhere on its vertical surfaces and lift it while minimizing object roll. After subjects learned to minimize object roll by generating a compensatory moment, they were asked to rotate the object 180 degrees about a vertical axis and lift it again. The rotation resulted in changing the direction of external moment opposite to that experienced during the prerotation block. Anticipatory grasp control was quantified by measuring the compensatory moment generated at object lift onset by thumb and index finger forces through their respective application points. On the first postrotation trial, subjects failed to generate a compensatory moment to counter the external moment caused by the new CM location, thus resulting in a large object roll. Nevertheless, after several object rotations subjects reduced object roll on the initial postrotation trials by anticipating the new CM location through the modulation of digit placement but not tangential forces. The differential improvement in modulating these two variables supports the notion of independent memory representations of kinematics and kinetics and is discussed in relation to neural mechanisms underlying visuomotor transformations.

Manipulation After Object Rotation Reveals Independent Sensorimotor Memory Representations of Digit Positions and Forces

PubMed Central

Zhang, Wei; Gordon, Andrew M.; Fu, Qiushi

2010-01-01

Planning of object manipulations is dependent on the ability to generate, store, and retrieve sensorimotor memories of previous actions associated with grasped objects. However, the sensorimotor memory representations linking object properties to the planning of grasp are not well understood. Here we use an object rotation task to gain insight into the mechanisms underlying the nature of these sensorimotor memories. We asked subjects to grasp a grip device with an asymmetrical center of mass (CM) anywhere on its vertical surfaces and lift it while minimizing object roll. After subjects learned to minimize object roll by generating a compensatory moment, they were asked to rotate the object 180° about a vertical axis and lift it again. The rotation resulted in changing the direction of external moment opposite to that experienced during the prerotation block. Anticipatory grasp control was quantified by measuring the compensatory moment generated at object lift onset by thumb and index finger forces through their respective application points. On the first postrotation trial, subjects failed to generate a compensatory moment to counter the external moment caused by the new CM location, thus resulting in a large object roll. Nevertheless, after several object rotations subjects reduced object roll on the initial postrotation trials by anticipating the new CM location through the modulation of digit placement but not tangential forces. The differential improvement in modulating these two variables supports the notion of independent memory representations of kinematics and kinetics and is discussed in relation to neural mechanisms underlying visuomotor transformations. PMID:20357064

Facilitation of information processing in the primary somatosensory area in the ball rotation task.

PubMed

Wasaka, Toshiaki; Kida, Tetsuo; Kakigi, Ryusuke

2017-11-14

Somatosensory input to the brain is known to be modulated during voluntary movement. It has been demonstrated that the response in the primary somatosensory cortex (SI) is generally gated during simple movement of the corresponding body part. This study investigated sensorimotor integration in the SI during manual movement using a motor task combining movement complexity and object manipulation. While the amplitude of M20 and M30 generated in the SI showed a significant reduction during manual movement, the subsequent component (M38) was significantly higher in the motor task than in the stationary condition. Especially, that in the ball rotation task showed a significant enhancement compared with those in the ball grasping and stone and paper tasks. Although sensorimotor integration in the SI generally has an inhibitory effect on information processing, here we found facilitation. Since the ball rotation task seems to be increasing the demand for somatosensory information to control the complex movements and operate two balls in the palm, it may have resulted in an enhancement of M38 generated in the SI.

A Human-Robot Co-Manipulation Approach Based on Human Sensorimotor Information.

PubMed

Peternel, Luka; Tsagarakis, Nikos; Ajoudani, Arash

2017-07-01

This paper aims to improve the interaction and coordination between the human and the robot in cooperative execution of complex, powerful, and dynamic tasks. We propose a novel approach that integrates online information about the human motor function and manipulability properties into the hybrid controller of the assistive robot. Through this human-in-the-loop framework, the robot can adapt to the human motor behavior and provide the appropriate assistive response in different phases of the cooperative task. We experimentally evaluate the proposed approach in two human-robot co-manipulation tasks that require specific complementary behavior from the two agents. Results suggest that the proposed technique, which relies on a minimum degree of task-level pre-programming, can achieve an enhanced physical human-robot interaction performance and deliver appropriate level of assistance to the human operator.

Maintaining rotational equilibrium during object manipulation: linear behavior of a highly non-linear system

PubMed Central

Gao, Fan; Latash, Mark L.

2010-01-01

We address issues of simultaneous control of the grasping force and the total moment of forces applied to a handheld object during its manipulation. Six young healthy male subjects grasped an instrumented handle and performed its cyclic motion in the vertical direction. The handle allowed for setting different clockwise (negative) or counterclockwise torques. Three movement frequencies: 1, 1.5 and 2 Hz, and five different torques: −1/3, −1/6, 0, 1/6 and 1/3 Nm, were used. The rotational equilibrium was maintained by two means: (1) Concerted changes of the moments produced by the normal and tangential forces, specifically anti-phase changes of the moments during the tasks with zero external torque and in-phase changes during the non-zero-torque tasks, and (2) Redistribution of the normal forces among individual fingers such that the agonist fingers—the fingers that resist external torque—increased the force in phase with the acceleration, while the forces of the antagonist fingers—those that assist the external torque—especially, the fingers with the large moment arms, the index and little fingers, stayed unchanged. The observed effects agree with the principle of superposition—according to which some complex actions, for example, prehension, can be decomposed into elemental actions controlled independently—and the mechanical advantage hypothesis according to which in moment production the fingers are activated in proportion to their moment arms with respect to the axis of rotation. We would like to emphasize the linearity of the observed relations, which was not prescribed by the task mechanics and seems to be produced by specific neural control mechanisms. PMID:16328302

Sex Differences in Object Manipulation in Wild Immature Chimpanzees (Pan troglodytes schweinfurthii) and Bonobos (Pan paniscus): Preparation for Tool Use?

PubMed

Koops, Kathelijne; Furuichi, Takeshi; Hashimoto, Chie; van Schaik, Carel P

2015-01-01

Sex differences in immatures predict behavioural differences in adulthood in many mammal species. Because most studies have focused on sex differences in social interactions, little is known about possible sex differences in 'preparation' for adult life with regards to tool use skills. We investigated sex and age differences in object manipulation in immature apes. Chimpanzees use a variety of tools across numerous contexts, whereas bonobos use few tools and none in foraging. In both species, a female bias in adult tool use has been reported. We studied object manipulation in immature chimpanzees at Kalinzu (Uganda) and bonobos at Wamba (Democratic Republic of Congo). We tested predictions of the 'preparation for tool use' hypothesis. We confirmed that chimpanzees showed higher rates and more diverse types of object manipulation than bonobos. Against expectation, male chimpanzees showed higher object manipulation rates than females, whereas in bonobos no sex difference was found. However, object manipulation by male chimpanzees was play-dominated, whereas manipulation types of female chimpanzees were more diverse (e.g., bite, break, carry). Manipulation by young immatures of both species was similarly dominated by play, but only in chimpanzees did it become more diverse with age. Moreover, in chimpanzees, object types became more tool-like (i.e., sticks) with age, further suggesting preparation for tool use in adulthood. The male bias in object manipulation in immature chimpanzees, along with the late onset of tool-like object manipulation, indicates that not all (early) object manipulation (i.e., object play) in immatures prepares for subsistence tool use. Instead, given the similarity with gender differences in human children, object play may also function in motor skill practice for male-specific behaviours (e.g., dominance displays). In conclusion, even though immature behaviours almost certainly reflect preparation for adult roles, more detailed future work is needed to disentangle possible functions of object manipulation during development.

Sex Differences in Object Manipulation in Wild Immature Chimpanzees (Pan troglodytes schweinfurthii) and Bonobos (Pan paniscus): Preparation for Tool Use?

PubMed Central

Koops, Kathelijne; Furuichi, Takeshi; Hashimoto, Chie; van Schaik, Carel P.

2015-01-01

Sex differences in immatures predict behavioural differences in adulthood in many mammal species. Because most studies have focused on sex differences in social interactions, little is known about possible sex differences in ‘preparation’ for adult life with regards to tool use skills. We investigated sex and age differences in object manipulation in immature apes. Chimpanzees use a variety of tools across numerous contexts, whereas bonobos use few tools and none in foraging. In both species, a female bias in adult tool use has been reported. We studied object manipulation in immature chimpanzees at Kalinzu (Uganda) and bonobos at Wamba (Democratic Republic of Congo). We tested predictions of the ‘preparation for tool use’ hypothesis. We confirmed that chimpanzees showed higher rates and more diverse types of object manipulation than bonobos. Against expectation, male chimpanzees showed higher object manipulation rates than females, whereas in bonobos no sex difference was found. However, object manipulation by male chimpanzees was play-dominated, whereas manipulation types of female chimpanzees were more diverse (e.g., bite, break, carry). Manipulation by young immatures of both species was similarly dominated by play, but only in chimpanzees did it become more diverse with age. Moreover, in chimpanzees, object types became more tool-like (i.e., sticks) with age, further suggesting preparation for tool use in adulthood. The male bias in object manipulation in immature chimpanzees, along with the late onset of tool-like object manipulation, indicates that not all (early) object manipulation (i.e., object play) in immatures prepares for subsistence tool use. Instead, given the similarity with gender differences in human children, object play may also function in motor skill practice for male-specific behaviours (e.g., dominance displays). In conclusion, even though immature behaviours almost certainly reflect preparation for adult roles, more detailed future work is needed to disentangle possible functions of object manipulation during development. PMID:26444011

Study of roles of remote manipulator systems and EVA for shuttle mission support, volume 1

NASA Technical Reports Server (NTRS)

Malone, T. B.; Micocci, A. J.

1974-01-01

Alternate extravehicular activity (EVA) and remote manipulator system (RMS) configurations were examined for their relative effectiveness in performing an array of representative shuttle and payload support tasks. Initially a comprehensive analysis was performed of payload and shuttle support missions required to be conducted exterior to a pressurized inclosure. A set of task selection criteria was established, and study tasks were identified. The EVA and RMS modes were evaluated according to their applicability for each task and task condition. The results are summarized in tabular form, showing the modes which are chosen as most effective or as feasible for each task/condition. Conclusions concerning the requirements and recommendations for each mode are presented.

Generalization between canonical and non-canonical views in object recognition

PubMed Central

Ghose, Tandra; Liu, Zili

2013-01-01

Viewpoint generalization in object recognition is the process that allows recognition of a given 3D object from many different viewpoints despite variations in its 2D projections. We used the canonical view effects as a foundation to empirically test the validity of a major theory in object recognition, the view-approximation model (Poggio & Edelman, 1990). This model predicts that generalization should be better when an object is first seen from a non-canonical view and then a canonical view than when seen in the reversed order. We also manipulated object similarity to study the degree to which this view generalization was constrained by shape details and task instructions (object vs. image recognition). Old-new recognition performance for basic and subordinate level objects was measured in separate blocks. We found that for object recognition, view generalization between canonical and non-canonical views was comparable for basic level objects. For subordinate level objects, recognition performance was more accurate from non-canonical to canonical views than the other way around. When the task was changed from object recognition to image recognition, the pattern of the results reversed. Interestingly, participants responded “old” to “new” images of “old” objects with a substantially higher rate than to “new” objects, despite instructions to the contrary, thereby indicating involuntary view generalization. Our empirical findings are incompatible with the prediction of the view-approximation theory, and argue against the hypothesis that views are stored independently. PMID:23283692

Force-based learning curve tracking in fundamental laparoscopic skills training.

PubMed

Hardon, Sem F; Horeman, Tim; Bonjer, H Jaap; Meijerink, W J H Jeroen

2018-02-08

Within minimally invasive surgery (MIS), structural implementation of courses and structured assessment of skills are challenged by availability of trainers, time, and money. We aimed to establish and validate an objective measurement tool for preclinical skills acquisition in a basic laparoscopic at-home training program. A mobile laparoscopic simulator was equipped with a state-of-the-art force, motion, and time tracking system (ForceSense, MediShield B.V., Delft, the Netherlands). These performance parameters respectively representing tissue manipulation and instrument handling were continuously tracked during every trial. Proficiency levels were set by clinical experts for six different training tasks. Resident's acquisition and development of fundamental skills were evaluated by comparing pre- and post-course assessment measurements and OSATS forms. A questionnaire was distributed to determine face and content validity. Out of 1842 captured attempts by novices, 1594 successful trials were evaluated. A decrease in maximum exerted absolute force was shown in comparison of four training tasks (p ≤ 0.023). Three of the six comparisons also showed lower mean forces during tissue manipulation (p ≤ 0.024). Lower instrument handling outcomes (i.e., time and motion parameters) were observed in five tasks (resp. (p ≤ 0.019) and (p ≤ 0.025)). Simultaneously, all OSATS scores increased (p ≤ 0.028). Proficiency levels for all tasks can be reached in 2 weeks of at home training. Monitoring force, motion, and time parameters during training showed to be effective in determining acquisition and development of basic laparoscopic tissue manipulation and instrument handling skills. Therefore, we were able to gain insight into the amount of training needed to reach certain levels of competence. Skills improved after sufficient amount of training at home. Questionnaire outcomes indicated that skills and self-confidence improved and that this training should therefore be part of the regular residency training program.

Third-Graders Learn about Fractions Using Virtual Manipulatives: A Classroom Study

ERIC Educational Resources Information Center

Reimer, Kelly; Moyer, Patricia S.

2005-01-01

With recent advances in computer technology, it is no surprise that the manipulation of objects in mathematics classrooms now includes the manipulation of objects on the computer screen. These objects, referred to as "virtual manipulatives," are essentially replicas of physical manipulatives placed on the World Wide Web in the form of computer…

Captive Bottlenose Dolphins (Tursiops truncatus) Spontaneously Using Water Flow to Manipulate Objects

PubMed Central

Yamamoto, Chisato; Furuta, Keisuke; Taki, Michihiro; Morisaka, Tadamichi

2014-01-01

Several terrestrial animals and delphinids manipulate objects in a tactile manner, using parts of their bodies, such as their mouths or hands. In this paper, we report that bottlenose dolphins (Tursiops truncatus) manipulate objects not by direct bodily contact, but by spontaneous water flow. Three of four dolphins at Suma Aqualife Park performed object manipulation with food. The typical sequence of object manipulation consisted of a three step procedure. First, the dolphins released the object from the sides of their mouths while assuming a head-down posture near the floor. They then manipulated the object around their mouths and caught it. Finally, they ceased to engage in their head-down posture and started to swim. When the dolphins moved the object, they used the water current in the pool or moved their head. These results showed that dolphins manipulate objects using movements that do not directly involve contact between a body part and the object. In the event the dolphins dropped the object on the floor, they lifted it by making water flow in one of three methods: opening and closing their mouths repeatedly, moving their heads lengthwise, or making circular head motions. This result suggests that bottlenose dolphins spontaneously change their environment to manipulate objects. The reason why aquatic animals like dolphins do object manipulation by changing their environment but terrestrial animals do not may be that the viscosity of the aquatic environment is much higher than it is in terrestrial environments. This is the first report thus far of any non-human mammal engaging in object manipulation using several methods to change their environment. PMID:25250625

Earth orbital teleoperator visual system evaluation program

NASA Technical Reports Server (NTRS)

Shields, N. L., Jr.; Kirkpatrick, M., III; Frederick, P. N.; Malone, T. B.

1975-01-01

Empirical tests of range estimation accuracy and resolution, via television, under monoptic and steroptic viewing conditions are discussed. Test data are used to derive man machine interface requirements and make design decisions for an orbital remote manipulator system. Remote manipulator system visual tasks are given and the effects of system parameters of these tasks are evaluated.

Working Memory Development in Monolingual and Bilingual Children

ERIC Educational Resources Information Center

Morales, Julia; Calvo, Alejandra; Bialystok, Ellen

2013-01-01

Two studies are reported comparing the performance of monolingual and bilingual children on tasks requiring different levels of working memory. In the first study, 56 5-year-olds performed a Simon-type task that manipulated working memory demands by comparing conditions based on two rules and four rules and manipulated conflict resolution demands…

Effects of sleep manipulation on cognitive functioning of adolescents: A systematic review.

PubMed

de Bruin, Eduard J; van Run, Chris; Staaks, Janneke; Meijer, Anne Marie

2017-04-01

Adolescents are considered to be at risk for deteriorated cognitive functioning due to insufficient sleep. This systematic review examined the effects of experimental sleep manipulation on adolescent cognitive functioning. Sleep manipulations consisted of total or partial sleep restriction, sleep extension, and sleep improvement. Only articles written in English, with participants' mean age between 10 and 19 y, using objective sleep measures and cognitive performance as outcomes were included. Based on these criteria 16 articles were included. The results showed that the sleep manipulations were successful. Partial sleep restriction had small or no effects on adolescent cognitive functioning. Sleep deprivation studies showed decrements in the psychomotor vigilance task as most consistent finding. Sleep extension and sleep improvement contributed to improvement of working memory. Sleep directly after learning improved memory consolidation. Due to the great diversity of tests and lack of coherent results, decisive conclusions could not be drawn about which domains in particular were influenced by sleep manipulation. Small number of participants, not accounting for the role of sleep quality, individual differences in sleep need, compensatory mechanisms in adolescent sleep and cognitive functioning, and the impurity problem of cognitive tests might explain the absence of more distinct results. Copyright © 2016 Elsevier Ltd. All rights reserved.

The Frequency of Rapid Pupil Dilations as a Measure of Linguistic Processing Difficulty

PubMed Central

Demberg, Vera; Sayeed, Asad

2016-01-01

While it has long been known that the pupil reacts to cognitive load, pupil size has received little attention in cognitive research because of its long latency and the difficulty of separating effects of cognitive load from the light reflex or effects due to eye movements. A novel measure, the Index of Cognitive Activity (ICA), relates cognitive effort to the frequency of small rapid dilations of the pupil. We report here on a total of seven experiments which test whether the ICA reliably indexes linguistically induced cognitive load: three experiments in reading (a manipulation of grammatical gender match / mismatch, an experiment of semantic fit, and an experiment comparing locally ambiguous subject versus object relative clauses, all in German), three dual-task experiments with simultaneous driving and spoken language comprehension (using the same manipulations as in the single-task reading experiments), and a visual world experiment comparing the processing of causal versus concessive discourse markers. These experiments are the first to investigate the effect and time course of the ICA in language processing. All of our experiments support the idea that the ICA indexes linguistic processing difficulty. The effects of our linguistic manipulations on the ICA are consistent for reading and auditory presentation. Furthermore, our experiments show that the ICA allows for usage within a multi-task paradigm. Its robustness with respect to eye movements means that it is a valid measure of processing difficulty for usage within the visual world paradigm, which will allow researchers to assess both visual attention and processing difficulty at the same time, using an eye-tracker. We argue that the ICA is indicative of activity in the locus caeruleus area of the brain stem, which has recently also been linked to P600 effects observed in psycholinguistic EEG experiments. PMID:26799065

Stereotype Threat Effects on Older Adults' Episodic and Working Memory: A Meta-Analysis.

PubMed

Armstrong, Bonnie; Gallant, Sara N; Li, Lingqian; Patel, Khushi; Wong, Brenda I

2017-08-01

Prior research has shown that exposure to negative age-based stereotype threat (ST) can undermine older adults' memory performance. The objective of the current meta-analysis was to examine the reliability and magnitude of ST effects on older adults' episodic and working memory performance-two forms of memory that typically show the greatest age-related declines. In addition, we examined potential moderators of age-based ST including type of ST manipulation, type and timing of memory task, participant age and education level. A total of 23 samples for episodic memory and 15 samples for working memory were derived from 19 published and 4 unpublished articles and analyzed in two separate meta-analyses. Analyses revealed a reliable effect of ST on both older adults' episodic (d = 0.373) and working memory performance (d = 0.253). Interestingly, the age-based ST effect was only significant when blatant ST manipulations were used with episodic memory tasks or when subtle ST manipulations were used with working memory tasks. Moreover, within episodic memory, the ST effect only reached significance for recall but not cued-recall or recognition performance, and for immediate but not delayed tests of memory. Neither age nor level of education moderated the association between ST and older adults' memory performance. These results highlight the vulnerability of both older adults' episodic and working memory performance to age-based ST. When measuring older adults' memory performance in a research context, we must therefore be wary of exposing participants to common stereotypes about aging and memory. © The Author 2017. Published by Oxford University Press on behalf of The Gerontological Society of America. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

Cerebellarlike corrective model inference engine for manipulation tasks.

PubMed

Luque, Niceto Rafael; Garrido, Jesús Alberto; Carrillo, Richard Rafael; Coenen, Olivier J-M D; Ros, Eduardo

2011-10-01

This paper presents how a simple cerebellumlike architecture can infer corrective models in the framework of a control task when manipulating objects that significantly affect the dynamics model of the system. The main motivation of this paper is to evaluate a simplified bio-mimetic approach in the framework of a manipulation task. More concretely, the paper focuses on how the model inference process takes place within a feedforward control loop based on the cerebellar structure and on how these internal models are built up by means of biologically plausible synaptic adaptation mechanisms. This kind of investigation may provide clues on how biology achieves accurate control of non-stiff-joint robot with low-power actuators which involve controlling systems with high inertial components. This paper studies how a basic temporal-correlation kernel including long-term depression (LTD) and a constant long-term potentiation (LTP) at parallel fiber-Purkinje cell synapses can effectively infer corrective models. We evaluate how this spike-timing-dependent plasticity correlates sensorimotor activity arriving through the parallel fibers with teaching signals (dependent on error estimates) arriving through the climbing fibers from the inferior olive. This paper addresses the study of how these LTD and LTP components need to be well balanced with each other to achieve accurate learning. This is of interest to evaluate the relevant role of homeostatic mechanisms in biological systems where adaptation occurs in a distributed manner. Furthermore, we illustrate how the temporal-correlation kernel can also work in the presence of transmission delays in sensorimotor pathways. We use a cerebellumlike spiking neural network which stores the corrective models as well-structured weight patterns distributed among the parallel fibers to Purkinje cell connections.

How do we watch images? A case of change detection and quality estimation

NASA Astrophysics Data System (ADS)

Radun, Jenni; Leisti, Tuomas; Virtanen, Toni; Nyman, Göte

2012-01-01

The most common tasks in subjective image estimation are change detection (a detection task) and image quality estimation (a preference task). We examined how the task influences the gaze behavior when comparing detection and preference tasks. The eye movements of 16 naïve observers were recorded with 8 observers in both tasks. The setting was a flicker paradigm, where the observers see a non-manipulated image, a manipulated version of the image and again the non-manipulated image and estimate the difference they perceived in them. The material was photographic material with different image distortions and contents. To examine the spatial distribution of fixations, we defined the regions of interest using a memory task and calculated information entropy to estimate how concentrated the fixations were on the image plane. The quality task was faster and needed fewer fixations and the first eight fixations were more concentrated on certain image areas than the change detection task. The bottom-up influences of the image also caused more variation to the gaze behavior in the quality estimation task than in the change detection task The results show that the quality estimation is faster and the regions of interest are emphasized more on certain images compared with the change detection task that is a scan task where the whole image is always thoroughly examined. In conclusion, in subjective image estimation studies it is important to think about the task.

What is the role of the film viewer? The effects of narrative comprehension and viewing task on gaze control in film.

PubMed

Hutson, John P; Smith, Tim J; Magliano, Joseph P; Loschky, Lester C

2017-01-01

Film is ubiquitous, but the processes that guide viewers' attention while viewing film narratives are poorly understood. In fact, many film theorists and practitioners disagree on whether the film stimulus (bottom-up) or the viewer (top-down) is more important in determining how we watch movies. Reading research has shown a strong connection between eye movements and comprehension, and scene perception studies have shown strong effects of viewing tasks on eye movements, but such idiosyncratic top-down control of gaze in film would be anathema to the universal control mainstream filmmakers typically aim for. Thus, in two experiments we tested whether the eye movements and comprehension relationship similarly held in a classic film example, the famous opening scene of Orson Welles' Touch of Evil (Welles & Zugsmith, Touch of Evil, 1958). Comprehension differences were compared with more volitionally controlled task-based effects on eye movements. To investigate the effects of comprehension on eye movements during film viewing, we manipulated viewers' comprehension by starting participants at different points in a film, and then tracked their eyes. Overall, the manipulation created large differences in comprehension, but only produced modest differences in eye movements. To amplify top-down effects on eye movements, a task manipulation was designed to prioritize peripheral scene features: a map task. This task manipulation created large differences in eye movements when compared to participants freely viewing the clip for comprehension. Thus, to allow for strong, volitional top-down control of eye movements in film, task manipulations need to make features that are important to narrative comprehension irrelevant to the viewing task. The evidence provided by this experimental case study suggests that filmmakers' belief in their ability to create systematic gaze behavior across viewers is confirmed, but that this does not indicate universally similar comprehension of the film narrative.

What limits tool use in nonhuman primates? Insights from tufted capuchin monkeys (Sapajus spp.) and chimpanzees (Pan troglodytes) aligning three-dimensional objects to a surface

PubMed Central

la Cour, L. T.; Stone, B. W.; Hopkins, W.; Menzel, C.; Fragaszy, D.

2013-01-01

Perceptuomotor functions that support using hand tools can be examined in other manipulation tasks, such as alignment of objects to surfaces. We examined tufted capuchin monkeys’ and chimpanzees’ performance at aligning objects to surfaces while managing one or two spatial relations to do so. We presented 6 subjects of each species with a single stick to place into a groove, two sticks of equal length to place into two grooves, or two sticks joined as a T to place into a T-shaped groove. Tufted capuchins and chimpanzees performed equivalently on these tasks, aligning the straight stick to within 22.5° of parallel to the groove in approximately half of their attempts to place it, and taking more attempts to place the T stick than two straight sticks. The findings provide strong evidence that tufted capuchins and chimpanzees do not reliably align even one prominent axial feature of an object to a surface, and that managing two concurrent allocentric spatial relations in an alignment problem is significantly more challenging to them than managing two sequential relations. In contrast, humans from two years of age display very different perceptuomotor abilities in a similar task: they align sticks to a groove reliably on each attempt, and they readily manage two allocentric spatial relations concurrently. Limitations in aligning objects and in managing two or more relations at a time significantly constrain how nonhuman primates can use hand tools. PMID:23820935

The effects of substitute multisensory feedback on task performance and the sense of presence in a virtual reality environment

PubMed Central

Milella, Ferdinando; Pinto, Carlo; Cant, Iain; White, Mark; Meyer, Georg

2018-01-01

Objective and subjective measures of performance in virtual reality environments increase as more sensory cues are delivered and as simulation fidelity increases. Some cues (colour or sound) are easier to present than others (object weight, vestibular cues) so that substitute cues can be used to enhance informational content in a simulation at the expense of simulation fidelity. This study evaluates how substituting cues in one modality by alternative cues in another modality affects subjective and objective performance measures in a highly immersive virtual reality environment. Participants performed a wheel change in a virtual reality (VR) environment. Auditory, haptic and visual cues, signalling critical events in the simulation, were manipulated in a factorial design. Subjective ratings were recorded via questionnaires. The time taken to complete the task was used as an objective performance measure. The results show that participants performed best and felt an increased sense of immersion and involvement, collectively referred to as ‘presence’, when substitute multimodal sensory feedback was provided. Significant main effects of audio and tactile cues on task performance and on participants' subjective ratings were found. A significant negative relationship was found between the objective (overall completion times) and subjective (ratings of presence) performance measures. We conclude that increasing informational content, even if it disrupts fidelity, enhances performance and user’s overall experience. On this basis we advocate the use of substitute cues in VR environments as an efficient method to enhance performance and user experience. PMID:29390023

The effects of substitute multisensory feedback on task performance and the sense of presence in a virtual reality environment.

PubMed

Cooper, Natalia; Milella, Ferdinando; Pinto, Carlo; Cant, Iain; White, Mark; Meyer, Georg

2018-01-01

Objective and subjective measures of performance in virtual reality environments increase as more sensory cues are delivered and as simulation fidelity increases. Some cues (colour or sound) are easier to present than others (object weight, vestibular cues) so that substitute cues can be used to enhance informational content in a simulation at the expense of simulation fidelity. This study evaluates how substituting cues in one modality by alternative cues in another modality affects subjective and objective performance measures in a highly immersive virtual reality environment. Participants performed a wheel change in a virtual reality (VR) environment. Auditory, haptic and visual cues, signalling critical events in the simulation, were manipulated in a factorial design. Subjective ratings were recorded via questionnaires. The time taken to complete the task was used as an objective performance measure. The results show that participants performed best and felt an increased sense of immersion and involvement, collectively referred to as 'presence', when substitute multimodal sensory feedback was provided. Significant main effects of audio and tactile cues on task performance and on participants' subjective ratings were found. A significant negative relationship was found between the objective (overall completion times) and subjective (ratings of presence) performance measures. We conclude that increasing informational content, even if it disrupts fidelity, enhances performance and user's overall experience. On this basis we advocate the use of substitute cues in VR environments as an efficient method to enhance performance and user experience.

Cyber integrated MEMS microhand for biological applications

NASA Astrophysics Data System (ADS)

Weissman, Adam; Frazier, Athena; Pepen, Michael; Lu, Yen-Wen; Yang, Shanchieh Jay

2009-05-01

Anthropomorphous robotic hands at microscales have been developed to receive information and perform tasks for biological applications. To emulate a human hand's dexterity, the microhand requires a master-slave interface with a wearable controller, force sensors, and perception displays for tele-manipulation. Recognizing the constraints and complexity imposed in developing feedback interface during miniaturization, this project address the need by creating an integrated cyber environment incorporating sensors with a microhand, haptic/visual display, and object model, to emulates human hands' psychophysical perception at microscale.

PiTS-1: Carbon Partitioning in Loblolly Pine after 13C Labeling and Shade Treatments

DOE Data Explorer

Warren, J. M.; Iversen, C. M.; Garten, Jr., C. T.; Norby, R. J.; Childs, J.; Brice, D.; Evans, R. M.; Gu, L.; Thornton, P.; Weston, D. J.

2013-01-01

The PiTS task was established with the objective of improving the C partitioning routines in existing ecosystem models by exploring mechanistic model representations of partitioning tested against field observations. We used short-term field manipulations of C flow, through 13CO2 labeling, canopy shading and stem girdling, to dramatically alter C partitioning, and resultant data are being used to test model representation of C partitioning processes in the Community Land Model (CLM4 or CLM4.5).

Anthropomorphic Robot Hand And Teaching Glove

NASA Technical Reports Server (NTRS)

Engler, Charles D., Jr.

1991-01-01

Robotic forearm-and-hand assembly manipulates objects by performing wrist and hand motions with nearly human grasping ability and dexterity. Imitates hand motions of human operator who controls robot in real time by programming via exoskeletal "teaching glove". Telemanipulator systems based on this robotic-hand concept useful where humanlike dexterity required. Underwater, high-radiation, vacuum, hot, cold, toxic, or inhospitable environments potential application sites. Particularly suited to assisting astronauts on space station in safely executing unexpected tasks requiring greater dexterity than standard gripper.

Interaction rules for symbol-oriented graphical user interfaces

NASA Astrophysics Data System (ADS)

Brinkschulte, Uwe; Vogelsang, Holger; Wolf, Luc

1999-03-01

This work describes a way of interactive manipulation of structured objects by interaction rules. Symbols are used as graphical representation of object states. State changes lead to different visual symbol instances. The manipulation of symbols using interactive devices lead to an automatic state change of the corresponding structured object without any intervention of the application. Therefore, interaction rules are introduced. These rules describe the way a symbol may be manipulated and the effects this manipulation has on the corresponding structured object. The rules are interpreted by the visualization and interaction service. For each symbol used, a set of interaction rules can be defined. In order to be the more general as possible, all the interactions on a symbol are defined as a triple, which specifies the preconditions of all the manipulations of this symbol, the manipulations themselves, and the postconditions of all the manipulations of this symbol. A manipulation is a quintuplet, which describes the possible initial events of the manipulation, the possible places of these events, the preconditions of this manipulation, the results of this manipulation, and the postconditions of this manipulation. Finally, reflection functions map the results of a manipulation to the new state of a structured object.

Predicting complex syntactic structure in real time: Processing of negative sentences in Russian.

PubMed

Kazanina, Nina

2017-11-01

In Russian negative sentences the verb's direct object may appear either in the accusative case, which is licensed by the verb (as is common cross-linguistically), or in the genitive case, which is licensed by the negation (Russian-specific "genitive-of-negation" phenomenon). Such sentences were used to investigate whether case marking is employed for anticipating syntactic structure, and whether lexical heads other than the verb can be predicted on the basis of a case-marked noun phrase. Experiment 1, a completion task, confirmed that genitive-of-negation is part of Russian speakers' active grammatical repertoire. In Experiments 2 and 3, the genitive/accusative case manipulation on the preverbal object led to shorter reading times at the negation and verb in the genitive versus accusative condition. Furthermore, Experiment 3 manipulated linear order of the direct object and the negated verb in order to distinguish whether the abovementioned facilitatory effect was predictive or integrative in nature, and concluded that the parser actively predicts a verb and (otherwise optional) negation on the basis of a preceding genitive-marked object. Similarly to a head-final language, case-marking information on preverbal noun phrases (NPs) is used by the parser to enable incremental structure building in a free-word-order language such as Russian.

Adaptive Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators with Sub-Task Extensions

DTIC Science & Technology

2005-01-01

C. Hughes, Spacecraft Attitude Dynamics, New York, NY: Wiley, 1994. [8] H. K. Khalil, “Adaptive Output Feedback Control of Non- linear Systems...Closed-Loop Manipulator Control Using Quaternion Feedback ”, IEEE Trans. Robotics and Automation, Vol. 4, No. 4, pp. 434-440, (1988). [23] E...full-state feedback quaternion based controller de- veloped in [5] and focuses on the design of a general sub-task controller. This sub-task controller

A motor similarity effect in object memory.

PubMed

Downing-Doucet, Frédéric; Guérard, Katherine

2014-08-01

In line with theories of embodied cognition (e.g., Versace et al. European Journal of Cognitive Psychology, 21, 522-560, 2009), several studies have suggested that the motor system used to interact with objects in our environment is involved in object recognition (e.g., Helbig, Graf, & Kiefer Experimental Brain Research, 174, 221-228, 2006). However, the role of the motor system in immediate memory for objects is more controversial. The objective of the present study was to investigate the role of the motor system in object memory by manipulating the similarity between the actions associated to series of objects to be retained in memory. In Experiment 1, we showed that lists of objects associated to dissimilar actions were better recalled than lists associated to similar actions. We then showed that this effect was abolished when participants were required to perform a concurrent motor suppression task (Experiment 2) and when the objects to be memorized were unmanipulable (Experiment 3). The motor similarity effect provides evidence for the role of motor affordances in object memory.

Relation of visual creative imagery manipulation to resting-state brain oscillations.

PubMed

Cai, Yuxuan; Zhang, Delong; Liang, Bishan; Wang, Zengjian; Li, Junchao; Gao, Zhenni; Gao, Mengxia; Chang, Song; Jiao, Bingqing; Huang, Ruiwang; Liu, Ming

2018-02-01

Visual creative imagery (VCI) manipulation is the key component of visual creativity; however, it remains largely unclear how it occurs in the brain. The present study investigated the brain neural response to VCI manipulation and its relation to intrinsic brain activity. We collected functional magnetic resonance imaging (fMRI) datasets related to a VCI task and a control task as well as pre- and post-task resting states in sequential sessions. A general linear model (GLM) was subsequently used to assess the specific activation of the VCI task compared with the control task. The changes in brain oscillation amplitudes across the pre-, on-, and post-task states were measured to investigate the modulation of the VCI task. Furthermore, we applied a Granger causal analysis (GCA) to demonstrate the dynamic neural interactions that underlie the modulation effect. We determined that the VCI task specifically activated the left inferior frontal gyrus pars triangularis (IFGtriang) and the right superior frontal gyrus (SFG), as well as the temporoparietal areas, including the left inferior temporal gyrus, right precuneus, and bilateral superior parietal gyrus. Furthermore, the VCI task modulated the intrinsic brain activity of the right IFGtriang (0.01-0.08 Hz) and the left caudate nucleus (0.2-0.25 Hz). Importantly, an inhibitory effect (negative) may exist from the left SFG to the right IFGtriang in the on-VCI task state, in the frequency of 0.01-0.08 Hz, whereas this effect shifted to an excitatory effect (positive) in the subsequent post-task resting state. Taken together, the present findings provide experimental evidence for the existence of a common mechanism that governs the brain activity of many regions at resting state and whose neural activity may engage during the VCI manipulation task, which may facilitate an understanding of the neural substrate of visual creativity.

Telemanipulator design and optimization software

NASA Astrophysics Data System (ADS)

Cote, Jean; Pelletier, Michel

1995-12-01

For many years, industrial robots have been used to execute specific repetitive tasks. In those cases, the optimal configuration and location of the manipulator only has to be found once. The optimal configuration or position where often found empirically according to the tasks to be performed. In telemanipulation, the nature of the tasks to be executed is much wider and can be very demanding in terms of dexterity and workspace. The position/orientation of the robot's base could be required to move during the execution of a task. At present, the choice of the initial position of the teleoperator is usually found empirically which can be sufficient in the case of an easy or repetitive task. In the converse situation, the amount of time wasted to move the teleoperator support platform has to be taken into account during the execution of the task. Automatic optimization of the position/orientation of the platform or a better designed robot configuration could minimize these movements and save time. This paper will present two algorithms. The first algorithm is used to optimize the position and orientation of a given manipulator (or manipulators) with respect to the environment on which a task has to be executed. The second algorithm is used to optimize the position or the kinematic configuration of a robot. For this purpose, the tasks to be executed are digitized using a position/orientation measurement system and a compact representation based on special octrees. Given a digitized task, the optimal position or Denavit-Hartenberg configuration of the manipulator can be obtained numerically. Constraints on the robot design can also be taken into account. A graphical interface has been designed to facilitate the use of the two optimization algorithms.

Solid shape discrimination from vision and haptics: natural objects (Capsicum annuum) and Gibson's "feelies".

PubMed

Norman, J Farley; Phillips, Flip; Holmin, Jessica S; Norman, Hideko F; Beers, Amanda M; Boswell, Alexandria M; Cheeseman, Jacob R; Stethen, Angela G; Ronning, Cecilia

2012-10-01

A set of three experiments evaluated 96 participants' ability to visually and haptically discriminate solid object shape. In the past, some researchers have found haptic shape discrimination to be substantially inferior to visual shape discrimination, while other researchers have found haptics and vision to be essentially equivalent. A primary goal of the present study was to understand these discrepant past findings and to determine the true capabilities of the haptic system. All experiments used the same task (same vs. different shape discrimination) and stimulus objects (James Gibson's "feelies" and a set of naturally shaped objects--bell peppers). However, the methodology varied across experiments. Experiment 1 used random 3-dimensional (3-D) orientations of the stimulus objects, and the conditions were full-cue (active manipulation of objects and rotation of the visual objects in depth). Experiment 2 restricted the 3-D orientations of the stimulus objects and limited the haptic and visual information available to the participants. Experiment 3 compared restricted and full-cue conditions using random 3-D orientations. We replicated both previous findings in the current study. When we restricted visual and haptic information (and placed the stimulus objects in the same orientation on every trial), the participants' visual performance was superior to that obtained for haptics (replicating the earlier findings of Davidson et al. in Percept Psychophys 15(3):539-543, 1974). When the circumstances resembled those of ordinary life (e.g., participants able to actively manipulate objects and see them from a variety of perspectives), we found no significant difference between visual and haptic solid shape discrimination.

Spatiotemporal distribution of location and object effects in reach-to-grasp kinematics

PubMed Central

Rouse, Adam G.

2015-01-01

In reaching to grasp an object, the arm transports the hand to the intended location as the hand shapes to grasp the object. Prior studies that tracked arm endpoint and grip aperture have shown that reaching and grasping, while proceeding in parallel, are interdependent to some degree. Other studies of reaching and grasping that have examined the joint angles of all five digits as the hand shapes to grasp various objects have not tracked the joint angles of the arm as well. We, therefore, examined 22 joint angles from the shoulder to the five digits as monkeys reached, grasped, and manipulated in a task that dissociated location and object. We quantified the extent to which each angle varied depending on location, on object, and on their interaction, all as a function of time. Although joint angles varied depending on both location and object beginning early in the movement, an early phase of location effects in joint angles from the shoulder to the digits was followed by a later phase in which object effects predominated at all joint angles distal to the shoulder. Interaction effects were relatively small throughout the reach-to-grasp. Whereas reach trajectory was influenced substantially by the object, grasp shape was comparatively invariant to location. Our observations suggest that neural control of reach-to-grasp may occur largely in two sequential phases: the first determining the location to which the arm transports the hand, and the second shaping the entire upper extremity to grasp and manipulate the object. PMID:26445870

Cognitive load selectively influences the interruptive effect of pain on attention.

PubMed

Moore, David J; Eccleston, Christopher; Keogh, Edmund

2017-10-01

Pain is known to interrupt attentional performance. Such interference effects seem to occur preferentially for tasks that are complex and/or difficult. However, few studies have directly manipulated memory load in the context of pain interference to test this view. Therefore, this study examines the effect of experimental manipulations of both memory load and pain on 3 tasks previously found to be sensitive to pain interference. Three experiments were conducted. A different task was examined in each experiment, each comprising of a high- and low-cognitive load versions of the task. Experiment 1 comprised an attention span (n-back) task, experiment 2 an attention switching task, and experiment 3 a divided attention task. Each task was conducted under painful and nonpainful conditions. Within the pain condition, an experimental thermal pain induction protocol was administered at the same time participants completed the task. The load manipulations were successful in all experiments. Pain-related interference occurred under the high-load condition but only for the attention span task. No effect of pain was found on either the attentional switching or divided attention task. These results suggest that while cognitive load may influence the interruptive effect of pain on attention, this effect may be selective. Because pain affected the high-load version of the n-back task but did not interrupt performance on attentional switching or dual-task paradigms, this means that our findings did not completely support our hypotheses. Future research should explore further the parameters and conditions under which pain-related interference occurs.

Kinematically Optimal Robust Control of Redundant Manipulators

NASA Astrophysics Data System (ADS)

Galicki, M.

2017-12-01

This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

MEMS-based platforms for mechanical manipulation and characterization of cells

NASA Astrophysics Data System (ADS)

Pan, Peng; Wang, Wenhui; Ru, Changhai; Sun, Yu; Liu, Xinyu

2017-12-01

Mechanical manipulation and characterization of single cells are important experimental techniques in biological and medical research. Because of the microscale sizes and highly fragile structures of cells, conventional cell manipulation and characterization techniques are not accurate and/or efficient enough or even cannot meet the more and more demanding needs in different types of cell-based studies. To this end, novel microelectromechanical systems (MEMS)-based technologies have been developed to improve the accuracy, efficiency, and consistency of various cell manipulation and characterization tasks, and enable new types of cell research. This article summarizes existing MEMS-based platforms developed for cell mechanical manipulation and characterization, highlights their specific design considerations making them suitable for their designated tasks, and discuss their advantages and limitations. In closing, an outlook into future trends is also provided.

A vacuum microgripping tool with integrated vibration releasing capability

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rong, Weibin; Fan, Zenghua, E-mail: zenghua-fan@163.com; Wang, Lefeng

2014-08-01

Pick-and-place of micro-objects is a basic task in various micromanipulation demands. Reliable releasing of micro-objects is usually disturbed due to strong scale effects. This paper focuses on a vacuum micro-gripper with vibration releasing functionality, which was designed and assembled for reliable micromanipulation tasks. Accordingly, a vibration releasing strategy of implementing a piezoelectric actuator on the vacuum microgripping tool is presented to address the releasing problem. The releasing mechanism was illustrated using a dynamic micro contact model. This model was developed via theoretical analysis, simulations and pull-off force measurement using atomic force microscopy. Micromanipulation experiments were conducted to verify the performancemore » of the vacuum micro-gripper. The results show that, with the assistance of the vibration releasing, the vacuum microgripping tool can achieve reliable release of micro-objects. A releasing location accuracy of 4.5±0.5 μm and a successful releasing rate of around 100% (which is based on 110 trials) were achieved for manipulating polystyrene microspheres with radius of 35–100 μm.« less

Telerobot local-remote control architecture for space flight program applications

NASA Technical Reports Server (NTRS)

Zimmerman, Wayne; Backes, Paul; Steele, Robert; Long, Mark; Bon, Bruce; Beahan, John

1993-01-01

The JPL Supervisory Telerobotics (STELER) Laboratory has developed and demonstrated a unique local-remote robot control architecture which enables management of intermittent communication bus latencies and delays such as those expected for ground-remote operation of Space Station robotic systems via the Tracking and Data Relay Satellite System (TDRSS) communication platform. The current work at JPL in this area has focused on enhancing the technologies and transferring the control architecture to hardware and software environments which are more compatible with projected ground and space operational environments. At the local site, the operator updates the remote worksite model using stereo video and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. This capability runs on a single Silicon Graphics Inc. machine. The operator can employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the intended object. The remote site controller, called the Modular Telerobot Task Execution System (MOTES), runs in a multi-processor VME environment and performs the task sequencing, task execution, trajectory generation, closed loop force/torque control, task parameter monitoring, and reflex action. This paper describes the new STELER architecture implementation, and also documents the results of the recent autonomous docking task execution using the local site and MOTES.

Status and Power Do Not Modulate Automatic Imitation of Intransitive Hand Movements

PubMed Central

Farmer, Harry; Carr, Evan W.; Svartdal, Marita; Winkielman, Piotr; Hamilton, Antonia F. de C.

2016-01-01

The tendency to mimic the behaviour of others is affected by a variety of social factors, and it has been argued that such “mirroring” is often unconsciously deployed as a means of increasing affiliation during interpersonal interactions. However, the relationship between automatic motor imitation and status/power is currently unclear. This paper reports five experiments that investigated whether social status (Experiments 1, 2, and 3) or power (Experiments 4 and 5) had a moderating effect on automatic imitation (AI) in finger-movement tasks, using a series of different manipulations. Experiments 1 and 2 manipulated the social status of the observed person using an associative learning task. Experiment 3 manipulated social status via perceived competence at a simple computer game. Experiment 4 manipulated participants’ power (relative to the actors) in a card-choosing task. Finally, Experiment 5 primed participants using a writing task, to induce the sense of being powerful or powerless. No significant interactions were found between congruency and social status/power in any of the studies. Additionally, Bayesian hypothesis testing indicated that the null hypothesis should be favoured over the experimental hypothesis in all five studies. These findings are discussed in terms of their implications for AI tasks, social effects on mimicry, and the hypothesis of mimicry as a strategic mechanism to promote affiliation. PMID:27096167

Two Speed Factors of Visual Recognition Independently Correlated with Fluid Intelligence

PubMed Central

Tachibana, Ryosuke; Namba, Yuri; Noguchi, Yasuki

2014-01-01

Growing evidence indicates a moderate but significant relationship between processing speed in visuo-cognitive tasks and general intelligence. On the other hand, findings from neuroscience proposed that the primate visual system consists of two major pathways, the ventral pathway for objects recognition and the dorsal pathway for spatial processing and attentive analysis. Previous studies seeking for visuo-cognitive factors of human intelligence indicated a significant correlation between fluid intelligence and the inspection time (IT), an index for a speed of object recognition performed in the ventral pathway. We thus presently examined a possibility that neural processing speed in the dorsal pathway also represented a factor of intelligence. Specifically, we used the mental rotation (MR) task, a popular psychometric measure for mental speed of spatial processing in the dorsal pathway. We found that the speed of MR was significantly correlated with intelligence scores, while it had no correlation with one’s IT (recognition speed of visual objects). Our results support the new possibility that intelligence could be explained by two types of mental speed, one related to object recognition (IT) and another for manipulation of mental images (MR). PMID:24825574

Viewing and Editing Earth Science Metadata MOBE: Metadata Object Browser and Editor in Java

NASA Astrophysics Data System (ADS)

Chase, A.; Helly, J.

2002-12-01

Metadata is an important, yet often neglected aspect of successful archival efforts. However, to generate robust, useful metadata is often a time consuming and tedious task. We have been approaching this problem from two directions: first by automating metadata creation, pulling from known sources of data, and in addition, what this (paper/poster?) details, developing friendly software for human interaction with the metadata. MOBE and COBE(Metadata Object Browser and Editor, and Canonical Object Browser and Editor respectively), are Java applications for editing and viewing metadata and digital objects. MOBE has already been designed and deployed, currently being integrated into other areas of the SIOExplorer project. COBE is in the design and development stage, being created with the same considerations in mind as those for MOBE. Metadata creation, viewing, data object creation, and data object viewing, when taken on a small scale are all relatively simple tasks. Computer science however, has an infamous reputation for transforming the simple into complex. As a system scales upwards to become more robust, new features arise and additional functionality is added to the software being written to manage the system. The software that emerges from such an evolution, though powerful, is often complex and difficult to use. With MOBE the focus is on a tool that does a small number of tasks very well. The result has been an application that enables users to manipulate metadata in an intuitive and effective way. This allows for a tool that serves its purpose without introducing additional cognitive load onto the user, an end goal we continue to pursue.

The role of state anxiety in children's memories for pain.

PubMed

Noel, Melanie; Chambers, Christine T; McGrath, Patrick J; Klein, Raymond M; Stewart, Sherry H

2012-06-01

To investigate the impact of experimentally manipulated state anxiety and the influence of anxiety-related variables on children's memories for pain. A total of 110 children (60 boys) between the ages of 8 and 12 years were randomly assigned to complete a state anxiety induction task or a control task. Following experimental manipulation, children completed a laboratory pain task, pain ratings, and questionnaire measures of anxiety-related variables. 2 weeks later, children provided pain ratings based on their memories of the pain task. The experimental manipulation effectively induced state anxiety; however, pain memories did not differ between groups. Irrespective of group assignment, children with higher state anxiety had more negative pain memories. State anxiety uniquely predicted children's pain memories over and above other well established factors. Anxiety sensitivity and trait anxiety were significant predictors of recalled pain-related fear. These data highlight the importance of anxiety in the development of children's memories for pain.

Wrist Camera Orientation for Effective Telerobotic Orbital Replaceable Unit (ORU) Changeout

NASA Technical Reports Server (NTRS)

Jones, Sharon Monica; Aldridge, Hal A.; Vazquez, Sixto L.

1997-01-01

The Hydraulic Manipulator Testbed (HMTB) is the kinematic replica of the Flight Telerobotic Servicer (FTS). One use of the HMTB is to evaluate advanced control techniques for accomplishing robotic maintenance tasks on board the Space Station. Most maintenance tasks involve the direct manipulation of the robot by a human operator when high-quality visual feedback is important for precise control. An experiment was conducted in the Systems Integration Branch at the Langley Research Center to compare several configurations of the manipulator wrist camera for providing visual feedback during an Orbital Replaceable Unit changeout task. Several variables were considered such as wrist camera angle, camera focal length, target location, lighting. Each study participant performed the maintenance task by using eight combinations of the variables based on a Latin square design. The results of this experiment and conclusions based on data collected are presented.

NMDA receptor antagonist ketamine impairs feature integration in visual perception.

PubMed

Meuwese, Julia D I; van Loon, Anouk M; Scholte, H Steven; Lirk, Philipp B; Vulink, Nienke C C; Hollmann, Markus W; Lamme, Victor A F

2013-01-01

Recurrent interactions between neurons in the visual cortex are crucial for the integration of image elements into coherent objects, such as in figure-ground segregation of textured images. Blocking N-methyl-D-aspartate (NMDA) receptors in monkeys can abolish neural signals related to figure-ground segregation and feature integration. However, it is unknown whether this also affects perceptual integration itself. Therefore, we tested whether ketamine, a non-competitive NMDA receptor antagonist, reduces feature integration in humans. We administered a subanesthetic dose of ketamine to healthy subjects who performed a texture discrimination task in a placebo-controlled double blind within-subject design. We found that ketamine significantly impaired performance on the texture discrimination task compared to the placebo condition, while performance on a control fixation task was much less impaired. This effect is not merely due to task difficulty or a difference in sedation levels. We are the first to show a behavioral effect on feature integration by manipulating the NMDA receptor in humans.

A Left-Ear Disadvantage for the Presentation of Irrelevant Sound: Manipulations of Task Requirements and Changing State

ERIC Educational Resources Information Center

Hadlington, Lee J.; Bridges, Andrew M.; Beaman, C. Philip

2006-01-01

Three experiments attempted to clarify the effect of altering the spatial presentation of irrelevant auditory information. Previous research using serial recall tasks demonstrated a left-ear disadvantage for the presentation of irrelevant sounds (Hadlington, Bridges, & Darby, 2004). Experiments 1 and 2 examined the effects of manipulating the…

Development of Live-working Robot for Power Transmission Lines

NASA Astrophysics Data System (ADS)

Yan, Yu; Liu, Xiaqing; Ren, Chengxian; Li, Jinliang; Li, Hui

2017-07-01

Dream-I, the first reconfigurable live-working robot for power transmission lines successfully developed in China, has the functions of autonomous walking on lines and accurately positioning. This paper firstly described operation task and object of the robot; then designed a general platform, an insulator replacement end and a drainage plate bolt fastening end of the robot, presented a control system of the robot, and performed simulation analysis on operation plan of the robot; and finally completed electrical field withstand voltage tests in a high voltage hall as well as online test and trial on actual lines. Experimental results show that by replacing ends of manipulators, the robot can fulfill operation tasks of live replacement of suspension insulators and live drainage plate bolt fastening.

Sound effects: Multimodal input helps infants find displaced objects.

PubMed

Shinskey, Jeanne L

2017-09-01

Before 9 months, infants use sound to retrieve a stationary object hidden by darkness but not one hidden by occlusion, suggesting auditory input is more salient in the absence of visual input. This article addresses how audiovisual input affects 10-month-olds' search for displaced objects. In AB tasks, infants who previously retrieved an object at A subsequently fail to find it after it is displaced to B, especially following a delay between hiding and retrieval. Experiment 1 manipulated auditory input by keeping the hidden object audible versus silent, and visual input by presenting the delay in the light versus dark. Infants succeeded more at B with audible than silent objects and, unexpectedly, more after delays in the light than dark. Experiment 2 presented both the delay and search phases in darkness. The unexpected light-dark difference disappeared. Across experiments, the presence of auditory input helped infants find displaced objects, whereas the absence of visual input did not. Sound might help by strengthening object representation, reducing memory load, or focusing attention. This work provides new evidence on when bimodal input aids object processing, corroborates claims that audiovisual processing improves over the first year of life, and contributes to multisensory approaches to studying cognition. Statement of contribution What is already known on this subject Before 9 months, infants use sound to retrieve a stationary object hidden by darkness but not one hidden by occlusion. This suggests they find auditory input more salient in the absence of visual input in simple search tasks. After 9 months, infants' object processing appears more sensitive to multimodal (e.g., audiovisual) input. What does this study add? This study tested how audiovisual input affects 10-month-olds' search for an object displaced in an AB task. Sound helped infants find displaced objects in both the presence and absence of visual input. Object processing becomes more sensitive to bimodal input as multisensory functions develop across the first year. © 2016 The British Psychological Society.

Examining Object Location and Object Recognition Memory in Mice

PubMed Central

Vogel-Ciernia, Annie; Wood, Marcelo A.

2014-01-01

Unit Introduction The ability to store and recall our life experiences defines a person's identity. Consequently, the loss of long-term memory is a particularly devastating part of a variety of cognitive disorders, diseases and injuries. There is a great need to develop therapeutics to treat memory disorders, and thus a variety of animal models and memory paradigms have been developed. Mouse models have been widely used both to study basic disease mechanisms and to evaluate potential drug targets for therapeutic development. The relative ease of genetic manipulation of Mus musculus has led to a wide variety of genetically altered mice that model cognitive disorders ranging from Alzheimer's disease to autism. Rodents, including mice, are particularly adept at encoding and remembering spatial relationships, and these long-term spatial memories are dependent on the medial temporal lobe of the brain. These brain regions are also some of the first and most heavily impacted in disorders of human memory including Alzheimer's disease. Consequently, some of the simplest and most commonly used tests of long-term memory in mice are those that examine memory for objects and spatial relationships. However, many of these tasks, such as Morris water maze and contextual fear conditioning, are dependent upon the encoding and retrieval of emotionally aversive and inherently stressful training events. While these types of memories are important, they do not reflect the typical day-to-day experiences or memories most commonly affected in human disease. In addition, stress hormone release alone can modulate memory and thus obscure or artificially enhance these types of tasks. To avoid these sorts of confounds, we and many others have utilized tasks testing animals’ memory for object location and novel object recognition. These tasks involve exploiting rodents’ innate preference for novelty, and are inherently not stressful. In this protocol we detail how memory for object location and object identity can be used to evaluate a wide variety of mouse models and treatments. PMID:25297693

Embodied effects of conceptual knowledge continuously perturb the hand in flight.

PubMed

Till, Bernie C; Masson, Michael E J; Bub, Daniel N; Driessen, Peter F

2014-08-01

Attending to a manipulable object evokes a mental representation of hand actions associated with the object's form and function. In one view, these representations are sufficiently abstract that their competing influence on an unrelated action is confined to the planning stages of movement and does not affect its on-line control. Alternatively, an object may evoke action representations that affect the entire trajectory of an unrelated grasping action. We developed a new methodology to statistically analyze the forward motion and rotation of the hand and fingers under different task conditions. Using this novel approach, we established that a grasping action executed after seeing a photograph of an object is systematically perturbed even into the late stages of its trajectory by the competing influence of the grasping posture associated with the object. Our results show that embodied effects of conceptual knowledge continuously modulate the hand in flight. © The Author(s) 2014.

Application development environment for advanced digital workstations

NASA Astrophysics Data System (ADS)

Valentino, Daniel J.; Harreld, Michael R.; Liu, Brent J.; Brown, Matthew S.; Huang, Lu J.

1998-06-01

One remaining barrier to the clinical acceptance of electronic imaging and information systems is the difficulty in providing intuitive access to the information needed for a specific clinical task (such as reaching a diagnosis or tracking clinical progress). The purpose of this research was to create a development environment that enables the design and implementation of advanced digital imaging workstations. We used formal data and process modeling to identify the diagnostic and quantitative data that radiologists use and the tasks that they typically perform to make clinical decisions. We studied a diverse range of radiology applications, including diagnostic neuroradiology in an academic medical center, pediatric radiology in a children's hospital, screening mammography in a breast cancer center, and thoracic radiology consultation for an oncology clinic. We used object- oriented analysis to develop software toolkits that enable a programmer to rapidly implement applications that closely match clinical tasks. The toolkits support browsing patient information, integrating patient images and reports, manipulating images, and making quantitative measurements on images. Collectively, we refer to these toolkits as the UCLA Digital ViewBox toolkit (ViewBox/Tk). We used the ViewBox/Tk to rapidly prototype and develop a number of diverse medical imaging applications. Our task-based toolkit approach enabled rapid and iterative prototyping of workstations that matched clinical tasks. The toolkit functionality and performance provided a 'hands-on' feeling for manipulating images, and for accessing textual information and reports. The toolkits directly support a new concept for protocol based-reading of diagnostic studies. The design supports the implementation of network-based application services (e.g., prefetching, workflow management, and post-processing) that will facilitate the development of future clinical applications.

Repetition Blindness Reveals Differences between the Representations of Manipulable and Nonmanipulable Objects

ERIC Educational Resources Information Center

Harris, Irina M.; Murray, Alexandra M.; Hayward, William G.; O'Callaghan, Claire; Andrews, Sally

2012-01-01

We used repetition blindness to investigate the nature of the representations underlying identification of manipulable objects. Observers named objects presented in rapid serial visual presentation streams containing either manipulable or nonmanipulable objects. In half the streams, 1 object was repeated. Overall accuracy was lower when streams…

Manipulating Objects and Telling Words: A Study on Concrete and Abstract Words Acquisition

PubMed Central

Borghi, Anna M.; Flumini, Andrea; Cimatti, Felice; Marocco, Davide; Scorolli, Claudia

2011-01-01

Four experiments (E1–E2–E3–E4) investigated whether different acquisition modalities lead to the emergence of differences typically found between concrete and abstract words, as argued by the words as tools (WAT) proposal. To mimic the acquisition of concrete and abstract concepts, participants either manipulated novel objects or observed groups of objects interacting in novel ways (Training 1). In TEST 1 participants decided whether two elements belonged to the same category. Later they read the category labels (Training 2); labels could be accompanied by an explanation of their meaning. Then participants observed previously seen exemplars and other elements, and were asked which of them could be named with a given label (TEST 2). Across the experiments, it was more difficult to form abstract than concrete categories (TEST 1); even when adding labels, abstract words remained more difficult than concrete words (TEST 2). TEST 3 differed across the experiments. In E1 participants performed a feature production task. Crucially, the associations produced with the novel words reflected the pattern evoked by existing concrete and abstract words, as the first evoked more perceptual properties. In E2–E3–E4, TEST 3 consisted of a color verification task with manual/verbal (keyboard–microphone) responses. Results showed the microphone use to have an advantage over keyboard use for abstract words, especially in the explanation condition. This supports WAT: due to their acquisition modality, concrete words evoke more manual information; abstract words elicit more verbal information. This advantage was not present when linguistic information contrasted with perceptual one. Implications for theories and computational models of language grounding are discussed. PMID:21716582

Agile and dexterous robot for inspection and EOD operations

NASA Astrophysics Data System (ADS)

Handelman, David A.; Franken, Gordon H.; Komsuoglu, Haldun

2010-04-01

The All-Terrain Biped (ATB) robot is an unmanned ground vehicle with arms, legs and wheels designed to drive, crawl, walk and manipulate objects for inspection and explosive ordnance disposal tasks. This paper summarizes on-going development of the ATB platform. Control technology for semi-autonomous legged mobility and dual-arm dexterity is described as well as preliminary simulation and hardware test results. Performance goals include driving on flat terrain, crawling on steep terrain, walking on stairs, opening doors and grasping objects. Anticipated benefits of the adaptive mobility and dexterity of the ATB platform include increased robot agility and autonomy for EOD operations, reduced operator workload and reduced operator training and skill requirements.

Haptic object matching by blind and sighted adults and children.

PubMed

Withagen, Ans; Kappers, Astrid M L; Vervloed, Mathijs P J; Knoors, Harry; Verhoeven, Ludo

2012-02-01

The present study describes a tactual object matching task based on the study of Lederman and Klatzky (1987) for the dimensions Exact shape, Weight, Volume and Texture. Participants were congenitally blind children and their sighted classmates, congenitally blind adults and sighted adults. To study a possible effect of familiarity the task was performed four times. Based on Millar's CAPIN (Convergent Active Processes in Interrelated Networks) model of spatial processing (Millar, 1994) it was thought that this manipulation would add redundant information to the experiment from which the children and blind participants could benefit. The results showed that accuracy was affected more by age than visual status, especially for the dimension Exact Shape. With regard to response times, children were in most cases faster than adults, especially the sighted adults. Familiarization had a significant effect on response times for all dimensions. Extra exercise only increased accuracy for the dimension Texture. These results were generally in line with the CAPIN model. Copyright © 2011 Elsevier B.V. All rights reserved.

Eye movement during recall reduces objective memory performance: An extended replication.

PubMed

Leer, Arne; Engelhard, Iris M; Lenaert, Bert; Struyf, Dieter; Vervliet, Bram; Hermans, Dirk

2017-05-01

Eye Movement Desensitization and Reprocessing (EMDR) therapy for posttraumatic stress disorder involves making eye movements (EMs) during recall of a traumatic image. Experimental studies have shown that the dual task decreases self-reported memory vividness and emotionality. However valuable, these data are prone to demand effects and little can be inferred about the mechanism(s) underlying the observed effects. The current research aimed to fill this lacuna by providing two objective tests of memory performance. Experiment I involved a stimulus discrimination task. Findings were that EM during stimulus recall not only reduces self-reported memory vividness, but also slows down reaction time in a task that requires participants to discriminate the stimulus from perceptually similar stimuli. Experiment II involved a fear conditioning paradigm. It was shown that EM during recall of a threatening stimulus intensifies fearful responding to a perceptually similar yet non-threat-related stimulus, as evidenced by increases in danger expectancies and skin conductance responses. The latter result was not corroborated by startle EMG data. Together, the findings suggest that the EM manipulation renders stimulus attributes less accessible for future recall. Copyright © 2017 Elsevier Ltd. All rights reserved.

The role of executive attention in object substitution masking.

PubMed

Filmer, Hannah L; Wells-Peris, Roxanne; Dux, Paul E

2017-05-01

It was long thought that a key characteristic of object substitution masking (OSM) was the requirement for spatial attention to be dispersed for the mask to impact visual sensitivity. However, recent studies have provided evidence questioning whether spatial attention interacts with OSM magnitude, suggesting that the previous reports reflect the impact of performance being at ceiling for the low attention load conditions. Another technique that has been employed to modulate attention in OSM paradigms involves presenting the target stimulus foveally, but with another demanding task shown immediately prior, and thus taxing executive/temporal attention. Under such conditions, when the two tasks occur in close temporal proximity relatively to greater temporal separation, masking is increased. However this effect could also be influenced by performance being at ceiling in some conditions. Here, we manipulated executive attention for a foveated target using a dual-task paradigm. Critically, ceiling performance was avoided by thresholding the target stimulus prior to it being presented under OSM conditions. We found no evidence for an interaction between executive attention load and masking. Collectively, along with the previous findings, our results provide compelling evidence that OSM as a phenomenon occurs independently of attention.

The Affordance Template ROS Package for Robot Task Programming

NASA Technical Reports Server (NTRS)

Hart, Stephen; Dinh, Paul; Hambuchen, Kimberly

2015-01-01

This paper introduces the Affordance Template ROS package for quickly programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the task (specifically, object scale and location). The Affordance Template package stores task specifications in a robot-agnostic XML description format such that it is trivial to apply a template to a new robot. As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulation-based applications. Affordance Templates were developed by the NASA-JSC DARPA Robotics Challenge (DRC) team and have since successfully been deployed on multiple platforms including the NASA Valkyrie and Robonaut 2 humanoids, the University of Texas Dreamer robot and the Willow Garage PR2. In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing its utility and flexibility for a wide variety of robot applications.

Preliminary results of BRAVO project: brain computer interfaces for Robotic enhanced Action in Visuo-motOr tasks.

PubMed

Bergamasco, Massimo; Frisoli, Antonio; Fontana, Marco; Loconsole, Claudio; Leonardis, Daniele; Troncossi, Marco; Foumashi, Mohammad Mozaffari; Parenti-Castelli, Vincenzo

2011-01-01

This paper presents the preliminary results of the project BRAVO (Brain computer interfaces for Robotic enhanced Action in Visuo-motOr tasks). The objective of this project is to define a new approach to the development of assistive and rehabilitative robots for motor impaired users to perform complex visuomotor tasks that require a sequence of reaches, grasps and manipulations of objects. BRAVO aims at developing new robotic interfaces and HW/SW architectures for rehabilitation and regain/restoration of motor function in patients with upper limb sensorimotor impairment through extensive rehabilitation therapy and active assistance in the execution of Activities of Daily Living. The final system developed within this project will include a robotic arm exoskeleton and a hand orthosis that will be integrated together for providing force assistance. The main novelty that BRAVO introduces is the control of the robotic assistive device through the active prediction of intention/action. The system will actually integrate the information about the movement carried out by the user with a prediction of the performed action through an interpretation of current gaze of the user (measured through eye-tracking), brain activation (measured through BCI) and force sensor measurements. © 2011 IEEE

Electromagnetic fasteners

DOEpatents

Crane, Randolph W.; Marts, Donna J.

1994-11-01

An electromagnetic fastener for manipulating objects in space uses the matic attraction of various metals. An end effector is attached to a robotic manipulating system having an electromagnet such that when current is supplied to the electromagnet, the object is drawn and affixed to the end effector, and when the current is withheld, the object is released. The object to be manipulated includes a multiplicity of ferromagnetic patches at various locations to provide multiple areas for the effector on the manipulator to become affixed to the object. The ferromagnetic patches are sized relative to the object's geometry and mass.

Electromagnetic fasteners

DOEpatents

Crane, Randolph W.; Marts, Donna J.

1994-01-01

An electromagnetic fastener for manipulating objects in space uses the matic attraction of various metals. An end effector is attached to a robotic manipulating system having an electromagnet such that when current is supplied to the electromagnet, the object is drawn and affixed to the end effector, and when the current is withheld, the object is released. The object to be manipulated includes a multiplicity of ferromagnetic patches at various locations to provide multiple areas for the effector on the manipulator to become affixed to the object. The ferromagnetic patches are sized relative to the object's geometry and mass.

Glucose improves object-location binding in visual-spatial working memory.

PubMed

Stollery, Brian; Christian, Leonie

2016-02-01

There is evidence that glucose temporarily enhances cognition and that processes dependent on the hippocampus may be particularly sensitive. As the hippocampus plays a key role in binding processes, we examined the influence of glucose on memory for object-location bindings. This study aims to study how glucose modifies performance on an object-location memory task, a task that draws heavily on hippocampal function. Thirty-one participants received 30 g glucose or placebo in a single 1-h session. After seeing between 3 and 10 objects (words or shapes) at different locations in a 9 × 9 matrix, participants attempted to immediately reproduce the display on a blank 9 × 9 matrix. Blood glucose was measured before drink ingestion, mid-way through the session, and at the end of the session. Glucose significantly improves object-location binding (d = 1.08) and location memory (d = 0.83), but not object memory (d = 0.51). Increasing working memory load impairs object memory and object-location binding, and word-location binding is more successful than shape-location binding, but the glucose improvement is robust across all difficulty manipulations. Within the glucose group, higher levels of circulating glucose are correlated with better binding memory and remembering the locations of successfully recalled objects. The glucose improvements identified are consistent with a facilitative impact on hippocampal function. The findings are discussed in the context of the relationship between cognitive processes, hippocampal function, and the implications for glucose's mode of action.

Shared Autonomy Manipulation Data with a Seabotix vLBV300

DOE Data Explorer

Hollinger, Geoffrey; Lawrance, Nicholas

2017-06-19

This report outlines marine field demonstrations for manipulation tasks with a semi-Autonomous Underwater Vehicle (sAUV). The vehicle is built off a Seabotix vLBV300 platform with custom software interfacing it with the Robot Operating System (ROS). The vehicle utilizes an inertial navigation system available from Greensea Systems, Inc. based on a Gladiator Landmark 40 IMU coupled with a Teledyne Explorer Doppler Velocity Log to perform station keeping at a desired location and orientation. We performed two marine trials with the vehicle: a near-shore shared autonomy manipulation trial and an offshore attempted intervention trial. These demonstrations were designed to show the capabilities of our sAUV system for inspection and basic manipulation tasks in real marine environments.

The Effect of Hierarchical Task Representations on Task Selection in Voluntary Task Switching

ERIC Educational Resources Information Center

Weaver, Starla M.; Arrington, Catherine M.

2013-01-01

The current study explored the potential for hierarchical representations to influence action selection during voluntary task switching. Participants switched between 4 individual task elements. In Experiment 1, participants were encouraged to represent the task elements as grouped within a hierarchy based on experimental manipulations of varying…

Component processes in voluntary task switching.

PubMed

Demanet, Jelle; Liefooghe, Baptist

2014-05-01

The present study investigated the involvement of bottom-up and top-down control in task-switching situations in which tasks are selected on a voluntary basis. We tested for indices of both types of control in the reduction in switch cost that is observed when more time is available before executing a task. Participants had to indicate their task choice overtly prior to the actual task execution, and two time intervals were manipulated: the interval between the task-execution response of the previous trial and task-indication response of the current trial and the interval between task-indication response and task-execution response of a particular trial. In Experiment 1, the length of these intervals was manipulated orthogonally, and indices for top-down and bottom-up control were observed. Concerned with the validity of these results, Experiments 2-3 additionally discouraged participants from preparing the upcoming task before their task-indication response. Indices for bottom-up control remained, but not for top-down control. The characteristics of top-down and bottom-up control in voluntary task switching and task switching in general are discussed.

Effects of gender and executive function on visuospatial working memory in adult obsessive-compulsive disorder.

PubMed

Martoni, Riccardo Maria; Salgari, Giulia; Galimberti, Elisa; Cavallini, Maria Cristina; O'Neill, Joseph

2015-12-01

Visuospatial working memory (VSWM) is the ability of the brain to transiently store and manipulate visual information. VSWM deficiencies have been reported in obsessive-compulsive disorder (OCD), but not consistently, perhaps due to variability in task design and clinical patient factors. To explore this variability, this study assessed effects of the design factors task difficulty and executive organizational strategy and of the clinical factors gender, OCD symptom dimension, and duration of illness on VSWM in OCD. The CANTAB spatial working memory, spatial recognition memory, delayed matching to sample, and stop signal tasks were administered to 42 adult OCD patients and 42 age- and sex-matched healthy controls. Aims were to detect a possible VSWM deficit in the OCD sample, to evaluate influences of the above task and patient factors, to determine the specificity of the deficit to the visuospatial subdomain, and to examine effects of sustained attention as potential neurocognitive confound. We confirmed previous findings of a VSWM deficit in OCD that was more severe for greater memory load (task difficulty) and that was affected by task strategy (executive function). We failed to demonstrate significant deficits in neighboring or confounding neurocognitive subdomains (visual object recognition or visual object short-term memory, sustained attention). Notably, the VSWM deficit was only significant for female patients, adding to evidence for sexual dimorphism in OCD. Again as in prior work, more severe OCD symptoms in the symmetry dimension (but no other dimension) significantly negatively impacted VSWM. Duration of illness had no significant effect on VSWM. VSWM deficits in OCD appear more severe with higher task load and may be mediated through poor task strategy. Such deficits may present mainly in female patients and in (male and female) patients with symmetry symptoms.

Unaware Processing of Tools in the Neural System for Object-Directed Action Representation.

PubMed

Tettamanti, Marco; Conca, Francesca; Falini, Andrea; Perani, Daniela

2017-11-01

The hypothesis that the brain constitutively encodes observed manipulable objects for the actions they afford is still debated. Yet, crucial evidence demonstrating that, even in the absence of perceptual awareness, the mere visual appearance of a manipulable object triggers a visuomotor coding in the action representation system including the premotor cortex, has hitherto not been provided. In this fMRI study, we instantiated reliable unaware visual perception conditions by means of continuous flash suppression, and we tested in 24 healthy human participants (13 females) whether the visuomotor object-directed action representation system that includes left-hemispheric premotor, parietal, and posterior temporal cortices is activated even under subliminal perceptual conditions. We found consistent activation in the target visuomotor cortices, both with and without perceptual awareness, specifically for pictures of manipulable versus non-manipulable objects. By means of a multivariate searchlight analysis, we also found that the brain activation patterns in this visuomotor network enabled the decoding of manipulable versus non-manipulable object picture processing, both with and without awareness. These findings demonstrate the intimate neural coupling between visual perception and motor representation that underlies manipulable object processing: manipulable object stimuli specifically engage the visuomotor object-directed action representation system, in a constitutive manner that is independent from perceptual awareness. This perceptuo-motor coupling endows the brain with an efficient mechanism for monitoring and planning reactions to external stimuli in the absence of awareness. SIGNIFICANCE STATEMENT Our brain constantly encodes the visual information that hits the retina, leading to a stimulus-specific activation of sensory and semantic representations, even for objects that we do not consciously perceive. Do these unconscious representations encompass the motor programming of actions that could be accomplished congruently with the objects' functions? In this fMRI study, we instantiated unaware visual perception conditions, by dynamically suppressing the visibility of manipulable object pictures with mondrian masks. Despite escaping conscious perception, manipulable objects activated an object-directed action representation system that includes left-hemispheric premotor, parietal, and posterior temporal cortices. This demonstrates that visuomotor encoding occurs independently of conscious object perception. Copyright © 2017 the authors 0270-6474/17/3710712-13$15.00/0.

Circling motion and screen edges as an alternative input method for on-screen target manipulation.

PubMed

Ka, Hyun W; Simpson, Richard C

2017-04-01

To investigate a new alternative interaction method, called circling interface, for manipulating on-screen objects. To specify a target, the user makes a circling motion around the target. To specify a desired pointing command with the circling interface, each edge of the screen is used. The user selects a command before circling the target. To evaluate the circling interface, we conducted an experiment with 16 participants, comparing the performance on pointing tasks with different combinations of selection method (circling interface, physical mouse and dwelling interface) and input device (normal computer mouse, head pointer and joystick mouse emulator). A circling interface is compatible with many types of pointing devices, not requiring physical activation of mouse buttons, and is more efficient than dwell-clicking. Across all common pointing operations, the circling interface had a tendency to produce faster performance with a head-mounted mouse emulator than with a joystick mouse. The performance accuracy of the circling interface outperformed the dwelling interface. It was demonstrated that the circling interface has the potential as another alternative pointing method for selecting and manipulating objects in a graphical user interface. Implications for Rehabilitation A circling interface will improve clinical practice by providing an alternative pointing method that does not require physically activating mouse buttons and is more efficient than dwell-clicking. The Circling interface can also work with AAC devices.

Mechanical problem-solving strategies in left-brain damaged patients and apraxia of tool use.

PubMed

Osiurak, François; Jarry, Christophe; Lesourd, Mathieu; Baumard, Josselin; Le Gall, Didier

2013-08-01

Left brain damage (LBD) can impair the ability to use familiar tools (apraxia of tool use) as well as novel tools to solve mechanical problems. Thus far, the emphasis has been placed on quantitative analyses of patients' performance. Nevertheless, the question still to be answered is, what are the strategies employed by those patients when confronted with tool use situations? To answer it, we asked 16 LBD patients and 43 healthy controls to solve mechanical problems by means of several potential tools. To specify the strategies, we recorded the time spent in performing four kinds of action (no manipulation, tool manipulation, box manipulation, and tool-box manipulation) as well as the number of relevant and irrelevant tools grasped. We compared LBD patients' performance with that of controls who encountered difficulties with the task (controls-) or not (controls+). Our results indicated that LBD patients grasped a higher number of irrelevant tools than controls+ and controls-. Concerning time allocation, controls+ and controls- spent significantly more time in performing tool-box manipulation than LBD patients. These results are inconsistent with the possibility that LBD patients could engage in trial-and-error strategies and, rather, suggest that they tend to be perplexed. These findings seem to indicate that the inability to reason about the objects' physical properties might prevent LBD patients from following any problem-solving strategy. Copyright © 2013 Elsevier Ltd. All rights reserved.

Task planning and control synthesis for robotic manipulation in space applications

NASA Technical Reports Server (NTRS)

Sanderson, A. C.; Peshkin, M. A.; Homem-De-mello, L. S.

1987-01-01

Space-based robotic systems for diagnosis, repair and assembly of systems will require new techniques of planning and manipulation to accomplish these complex tasks. Results of work in assembly task representation, discrete task planning, and control synthesis which provide a design environment for flexible assembly systems in manufacturing applications, and which extend to planning of manipulatiuon operations in unstructured environments are summarized. Assembly planning is carried out using the AND/OR graph representation which encompasses all possible partial orders of operations and may be used to plan assembly sequences. Discrete task planning uses the configuration map which facilitates search over a space of discrete operations parameters in sequential operations in order to achieve required goals in the space of bounded configuration sets.

Sensitivity Analysis of Situational Awareness Measures

NASA Technical Reports Server (NTRS)

Shively, R. J.; Davison, H. J.; Burdick, M. D.; Rutkowski, Michael (Technical Monitor)

2000-01-01

A great deal of effort has been invested in attempts to define situational awareness, and subsequently to measure this construct. However, relatively less work has focused on the sensitivity of these measures to manipulations that affect the SA of the pilot. This investigation was designed to manipulate SA and examine the sensitivity of commonly used measures of SA. In this experiment, we tested the most commonly accepted measures of SA: SAGAT, objective performance measures, and SART, against different levels of SA manipulation to determine the sensitivity of such measures in the rotorcraft flight environment. SAGAT is a measure in which the simulation blanks in the middle of a trial and the pilot is asked specific, situation-relevant questions about the state of the aircraft or the objective of a particular maneuver. In this experiment, after the pilot responded verbally to several questions, the trial continued from the point frozen. SART is a post-trial questionnaire that asked for subjective SA ratings from the pilot at certain points in the previous flight. The objective performance measures included: contacts with hazards (power lines and towers) that impeded the flight path, lateral and vertical anticipation of these hazards, response time to detection of other air traffic, and response time until an aberrant fuel gauge was detected. An SA manipulation of the flight environment was chosen that undisputedly affects a pilot's SA-- visibility. Four variations of weather conditions (clear, light rain, haze, and fog) resulted in a different level of visibility for each trial. Pilot SA was measured by either SAGAT or the objective performance measures within each level of visibility. This enabled us to not only determine the sensitivity within a measure, but also between the measures. The SART questionnaire and the NASA-TLX, a measure of workload, were distributed after every trial. Using the newly developed rotorcraft part-task laboratory (RPTL) at NASA Ames Research Center, each pilot flew eight trials, four using SAGAT and four using performance measures. Each set of four trials differed by level of visibility as well. The flight paths were very similar in appearance and hazard number, allowing comparison between flight paths. The pilots were tasked with flying along a road at an assigned altitude and speed while avoiding any hazards that they happened upon. The attempt here was not to find a single best measure of SA, but rather to begin an investigation of the sensitivity of common measures of SA. Upon completion of this study, its results, in combination with future studies, should allow us to develop an empirically based taxonomy of SA measures and the contexts for their appropriate use.

On-Line Method and Apparatus for Coordinated Mobility and Manipulation of Mobile Robots

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1996-01-01

A simple and computationally efficient approach is disclosed for on-line coordinated control of mobile robots consisting of a manipulator arm mounted on a mobile base. The effect of base mobility on the end-effector manipulability index is discussed. The base mobility and arm manipulation degrees-of-freedom are treated equally as the joints of a kinematically redundant composite robot. The redundancy introduced by the mobile base is exploited to satisfy a set of user-defined additional tasks during the end-effector motion. A simple on-line control scheme is proposed which allows the user to assign weighting factors to individual degrees-of-mobility and degrees-of-manipulation, as well as to each task specification. The computational efficiency of the control algorithm makes it particularly suitable for real-time implementations. Four case studies are discussed in detail to demonstrate the application of the coordinated control scheme to various mobile robots.

HERMIES-3: A step toward autonomous mobility, manipulation, and perception

NASA Technical Reports Server (NTRS)

Weisbin, C. R.; Burks, B. L.; Einstein, J. R.; Feezell, R. R.; Manges, W. W.; Thompson, D. H.

1989-01-01

HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

ERPs Differentially Reflect Automatic and Deliberate Processing of the Functional Manipulability of Objects

PubMed Central

Madan, Christopher R.; Chen, Yvonne Y.; Singhal, Anthony

2016-01-01

It is known that the functional properties of an object can interact with perceptual, cognitive, and motor processes. Previously we have found that a between-subjects manipulation of judgment instructions resulted in different manipulability-related memory biases in an incidental memory test. To better understand this effect we recorded electroencephalography (EEG) while participants made judgments about images of objects that were either high or low in functional manipulability (e.g., hammer vs. ladder). Using a between-subjects design, participants judged whether they had seen the object recently (Personal Experience), or could manipulate the object using their hand (Functionality). We focused on the P300 and slow-wave event-related potentials (ERPs) as reflections of attentional allocation. In both groups, we observed higher P300 and slow wave amplitudes for high-manipulability objects at electrodes Pz and C3. As P300 is thought to reflect bottom-up attentional processes, this may suggest that the processing of high-manipulability objects recruited more attentional resources. Additionally, the P300 effect was greater in the Functionality group. A more complex pattern was observed at electrode C3 during slow wave: processing the high-manipulability objects in the Functionality instruction evoked a more positive slow wave than in the other three conditions, likely related to motor simulation processes. These data provide neural evidence that effects of manipulability on stimulus processing are further mediated by automatic vs. deliberate motor-related processing. PMID:27536224

The TacTip Family: Soft Optical Tactile Sensors with 3D-Printed Biomimetic Morphologies

PubMed Central

Pestell, Nicholas; Cramphorn, Luke; Winstone, Benjamin; Giannaccini, Maria Elena; Rossiter, Jonathan; Lepora, Nathan F.

2018-01-01

Abstract Tactile sensing is an essential component in human–robot interaction and object manipulation. Soft sensors allow for safe interaction and improved gripping performance. Here we present the TacTip family of sensors: a range of soft optical tactile sensors with various morphologies fabricated through dual-material 3D printing. All of these sensors are inspired by the same biomimetic design principle: transducing deformation of the sensing surface via movement of pins analogous to the function of intermediate ridges within the human fingertip. The performance of the TacTip, TacTip-GR2, TacTip-M2, and TacCylinder sensors is here evaluated and shown to attain submillimeter accuracy on a rolling cylinder task, representing greater than 10-fold super-resolved acuity. A version of the TacTip sensor has also been open-sourced, enabling other laboratories to adopt it as a platform for tactile sensing and manipulation research. These sensors are suitable for real-world applications in tactile perception, exploration, and manipulation, and will enable further research and innovation in the field of soft tactile sensing. PMID:29297773

A decade of telerobotics in rehabilitation: Demonstrated utility blocked by the high cost of manipulation and the complexity of the user interface

NASA Technical Reports Server (NTRS)

Leifer, Larry; Michalowski, Stefan; Vanderloos, Machiel

1991-01-01

The Stanford/VA Interactive Robotics Laboratory set out in 1978 to test the hypothesis that industrial robotics technology could be applied to serve the manipulation needs of severely impaired individuals. Five generations of hardware, three generations of system software, and over 125 experimental subjects later, we believe that genuine utility is achievable. The experience includes development of over 65 task applications using voiced command, joystick control, natural language command and 3D object designation technology. A brief foray into virtual environments, using flight simulator technology, was instructive. If reality and virtuality come for comparable prices, you cannot beat reality. A detailed review of assistive robot anatomy and the performance specifications needed to achieve cost/beneficial utility will be used to support discussion of the future of rehabilitation telerobotics. Poised on the threshold of commercial viability, but constrained by the high cost of technically adequate manipulators, this worthy application domain flounders temporarily. In the long run, it will be the user interface that governs utility.

The TacTip Family: Soft Optical Tactile Sensors with 3D-Printed Biomimetic Morphologies.

PubMed

Ward-Cherrier, Benjamin; Pestell, Nicholas; Cramphorn, Luke; Winstone, Benjamin; Giannaccini, Maria Elena; Rossiter, Jonathan; Lepora, Nathan F

2018-04-01

Tactile sensing is an essential component in human-robot interaction and object manipulation. Soft sensors allow for safe interaction and improved gripping performance. Here we present the TacTip family of sensors: a range of soft optical tactile sensors with various morphologies fabricated through dual-material 3D printing. All of these sensors are inspired by the same biomimetic design principle: transducing deformation of the sensing surface via movement of pins analogous to the function of intermediate ridges within the human fingertip. The performance of the TacTip, TacTip-GR2, TacTip-M2, and TacCylinder sensors is here evaluated and shown to attain submillimeter accuracy on a rolling cylinder task, representing greater than 10-fold super-resolved acuity. A version of the TacTip sensor has also been open-sourced, enabling other laboratories to adopt it as a platform for tactile sensing and manipulation research. These sensors are suitable for real-world applications in tactile perception, exploration, and manipulation, and will enable further research and innovation in the field of soft tactile sensing.

Conversion of short-term to long-term memory in the novel object recognition paradigm

PubMed Central

Moore, Shannon J.; Deshpande, Kaivalya; Stinnett, Gwen S.; Seasholtz, Audrey F.; Murphy, Geoffrey G.

2013-01-01

It is well-known that stress can significantly impact learning; however, whether this effect facilitates or impairs the resultant memory depends on the characteristics of the stressor. Investigation of these dynamics can be confounded by the role of the stressor in motivating performance in a task. Positing a cohesive model of the effect of stress on learning and memory necessitates elucidating the consequences of stressful stimuli independently from task-specific functions. Therefore, the goal of this study was to examine the effect of manipulating a task-independent stressor (elevated light level) on short-term and long-term memory in the novel object recognition paradigm. Short-term memory was elicited in both low light and high light conditions, but long-term memory specifically required high light conditions during the acquisition phase (familiarization trial) and was independent of the light level during retrieval (test trial). Additionally, long-term memory appeared to be independent of stress-mediated glucocorticoid release, as both low and high light produced similar levels of plasma corticosterone, which further did not correlate with subsequent memory performance. Finally, both short-term and long-term memory showed no savings between repeated experiments suggesting that this novel object recognition paradigm may be useful for longitudinal studies, particularly when investigating treatments to stabilize or enhance weak memories in neurodegenerative diseases or during age-related cognitive decline. PMID:23835143

Conversion of short-term to long-term memory in the novel object recognition paradigm.

PubMed

Moore, Shannon J; Deshpande, Kaivalya; Stinnett, Gwen S; Seasholtz, Audrey F; Murphy, Geoffrey G

2013-10-01

It is well-known that stress can significantly impact learning; however, whether this effect facilitates or impairs the resultant memory depends on the characteristics of the stressor. Investigation of these dynamics can be confounded by the role of the stressor in motivating performance in a task. Positing a cohesive model of the effect of stress on learning and memory necessitates elucidating the consequences of stressful stimuli independently from task-specific functions. Therefore, the goal of this study was to examine the effect of manipulating a task-independent stressor (elevated light level) on short-term and long-term memory in the novel object recognition paradigm. Short-term memory was elicited in both low light and high light conditions, but long-term memory specifically required high light conditions during the acquisition phase (familiarization trial) and was independent of the light level during retrieval (test trial). Additionally, long-term memory appeared to be independent of stress-mediated glucocorticoid release, as both low and high light produced similar levels of plasma corticosterone, which further did not correlate with subsequent memory performance. Finally, both short-term and long-term memory showed no savings between repeated experiments suggesting that this novel object recognition paradigm may be useful for longitudinal studies, particularly when investigating treatments to stabilize or enhance weak memories in neurodegenerative diseases or during age-related cognitive decline. Copyright © 2013 Elsevier Inc. All rights reserved.

Software engineering and data management for automated payload experiment tool

NASA Technical Reports Server (NTRS)

Maddux, Gary A.; Provancha, Anna; Chattam, David

1994-01-01

The Microgravity Projects Office identified a need to develop a software package that will lead experiment developers through the development planning process, obtain necessary information, establish an electronic data exchange avenue, and allow easier manipulation/reformatting of the collected information. An MS-DOS compatible software package called the Automated Payload Experiment Tool (APET) has been developed and delivered. The objective of this task is to expand on the results of the APET work previously performed by UAH and provide versions of the software in a Macintosh and Windows compatible format.

Contribution of underlying processes to improved visuospatial working memory associated with physical activity.

PubMed

Ji, Qingchun; Wang, Yingying; Guo, Wei; Zhou, Chenglin

2017-01-01

Working memory is critical for various cognitive processes and can be separated into two stages: short-term memory storage and manipulation processing. Although previous studies have demonstrated that increased physical activity (PA) improves working memory and that males outperform females on visuospatial working memory tasks, few studies have determined the contribution of the two underlying stages to the visuospatial working memory improvement associated with PA. Thus, the aims of the present study were to verify the relationship between physical activity and visuospatial working memory, determine whether one or both stages were affected by PA, and investigate any sex differences. A total of 56 undergraduate students were recruited for this study. Their scores on the International Physical Activity Questionnaire (IPAQ) were used to separate them into either a lower PA ( n  = 26; IPAQ score ≤3,000 metabolic equivalent [MET]-min/week) or higher PA ( n  = 30; IPAQ score >3,000 MET-min/week) group. Participants were required to complete three tasks: a visuospatial working memory task, a task that examines the short-term memory storage stage, and a mental rotation task that examines the active manipulation stage. Participants in the higher PA group maintained similar accuracy but displayed significantly faster reaction times (RT) than those in the lower PA group on the visuospatial working memory and manipulation tasks. By contrast, no difference was observed between groups on the short-term memory storage task. In addition, no effects of sex were detected. Our results confirm that PA was positively to visuospatial working memory and that this positive relationship was associated with more rapid cognitive processing during the manipulation stage, with little or no relationship between PA and the memory storage stage of visuospatial working memory.

Object schemas for grounding language in a responsive robot

NASA Astrophysics Data System (ADS)

Hsiao, Kai-Yuh; Tellex, Stefanie; Vosoughi, Soroush; Kubat, Rony; Roy, Deb

2008-12-01

An approach is introduced for physically grounded natural language interpretation by robots that reacts appropriately to unanticipated physical changes in the environment and dynamically assimilates new information pertinent to ongoing tasks. At the core of the approach is a model of object schemas that enables a robot to encode beliefs about physical objects in its environment using collections of coupled processes responsible for sensorimotor interaction. These interaction processes run concurrently in order to ensure responsiveness to the environment, while co-ordinating sensorimotor expectations, action planning and language use. The model has been implemented on a robot that manipulates objects on a tabletop in response to verbal input. The implementation responds to verbal requests such as 'Group the green block and the red apple', while adapting in real time to unexpected physical collisions and taking opportunistic advantage of any new information it may receive through perceptual and linguistic channels.

Object oriented development of engineering software using CLIPS

NASA Technical Reports Server (NTRS)

Yoon, C. John

1991-01-01

Engineering applications involve numeric complexity and manipulations of a large amount of data. Traditionally, numeric computation has been the concern in developing an engineering software. As engineering application software became larger and more complex, management of resources such as data, rather than the numeric complexity, has become the major software design problem. Object oriented design and implementation methodologies can improve the reliability, flexibility, and maintainability of the resulting software; however, some tasks are better solved with the traditional procedural paradigm. The C Language Integrated Production System (CLIPS), with deffunction and defgeneric constructs, supports the procedural paradigm. The natural blending of object oriented and procedural paradigms has been cited as the reason for the popularity of the C++ language. The CLIPS Object Oriented Language's (COOL) object oriented features are more versatile than C++'s. A software design methodology based on object oriented and procedural approaches appropriate for engineering software, and to be implemented in CLIPS was outlined. A method for sensor placement for Space Station Freedom is being implemented in COOL as a sample problem.

Grouping and trajectory storage in multiple object tracking: impairments due to common item motions.

PubMed

Suganuma, Mutsumi; Yokosawa, Kazuhiko

2006-01-01

In our natural viewing, we notice that objects change their locations across space and time. However, there has been relatively little consideration of the role of motion information in the construction and maintenance of object representations. We investigated this question in the context of the multiple object tracking (MOT) paradigm, wherein observers must keep track of target objects as they move randomly amid featurally identical distractors. In three experiments, we observed impairments in tracking ability when the motions of the target and distractor items shared particular properties. Specifically, we observed impairments when the target and distractor items were in a chasing relationship or moved in a uniform direction. Surprisingly, tracking ability was impaired by these manipulations even when observers failed to notice them. Our results suggest that differentiable trajectory information is an important factor in successful performance of MOT tasks. More generally, these results suggest that various types of common motion can serve as cues to form more global object representations even in the absence of other grouping cues.

Spatial patterns of cutaneous vibration during whole-hand haptic interactions

PubMed Central

Hayward, Vincent; Visell, Yon

2016-01-01

We investigated the propagation patterns of cutaneous vibration in the hand during interactions with touched objects. Prior research has highlighted the importance of vibrotactile signals during haptic interactions, but little is known of how vibrations propagate throughout the hand. Furthermore, the extent to which the patterns of vibrations reflect the nature of the objects that are touched, and how they are touched, is unknown. Using an apparatus comprised of an array of accelerometers, we mapped and analyzed spatial distributions of vibrations propagating in the skin of the dorsal region of the hand during active touch, grasping, and manipulation tasks. We found these spatial patterns of vibration to vary systematically with touch interactions and determined that it is possible to use these data to decode the modes of interaction with touched objects. The observed vibration patterns evolved rapidly in time, peaking in intensity within a few milliseconds, fading within 20–30 ms, and yielding interaction-dependent distributions of energy in frequency bands that span the range of vibrotactile sensitivity. These results are consistent with findings in perception research that indicate that vibrotactile information distributed throughout the hand can transmit information regarding explored and manipulated objects. The results may further clarify the role of distributed sensory resources in the perceptual recovery of object attributes during active touch, may guide the development of approaches to robotic sensing, and could have implications for the rehabilitation of the upper extremity. PMID:27035957

Upside-down: Perceived space affects object-based attention.

PubMed

Papenmeier, Frank; Meyerhoff, Hauke S; Brockhoff, Alisa; Jahn, Georg; Huff, Markus

2017-07-01

Object-based attention influences the subjective metrics of surrounding space. However, does perceived space influence object-based attention, as well? We used an attentive tracking task that required sustained object-based attention while objects moved within a tracking space. We manipulated perceived space through the availability of depth cues and varied the orientation of the tracking space. When rich depth cues were available (appearance of a voluminous tracking space), the upside-down orientation of the tracking space (objects appeared to move high on a ceiling) caused a pronounced impairment of tracking performance compared with an upright orientation of the tracking space (objects appeared to move on a floor plane). In contrast, this was not the case when reduced depth cues were available (appearance of a flat tracking space). With a preregistered second experiment, we showed that those effects were driven by scene-based depth cues and not object-based depth cues. We conclude that perceived space affects object-based attention and that object-based attention and perceived space are closely interlinked. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

Manipulator system man-machine interface evaluation program. [technology assessment

NASA Technical Reports Server (NTRS)

Malone, T. B.; Kirkpatrick, M.; Shields, N. L.

1974-01-01

Application and requirements for remote manipulator systems for future space missions were investigated. A manipulator evaluation program was established to study the effects of various systems parameters on operator performance of tasks necessary for remotely manned missions. The program and laboratory facilities are described. Evaluation criteria and philosophy are discussed.

Design of a novel magnetic platform for cell manipulation

NASA Astrophysics Data System (ADS)

Lucarini, Gioia; Iacovacci, Veronica; Gouveia, Pedro J.; Ricotti, Leonardo; Menciassi, Arianna

2018-02-01

Cell manipulation tasks, especially in lab-on-a-chip applications for personalized medicine, could greatly benefit from mobile untethered microdevices able to wirelessly navigate in fluidic environments by means of magnetic fields. In this paper, the design, fabrication and testing of a magnetic platform enabling the controlled locomotion and immersion of microrobots placed at the air/liquid interface is proposed and exploited for cell manipulation. The proposed microrobot consists of a polymeric magnetic thin film that acts as cell transporter and a specific coating strategy, devised to enhance a safe cancer cell adhesion to the magnetic film. Experimental results demonstrated an overall cell viability and a fine control of magnetic microrobot locomotion. The proposed technologies are promising in view of future cell manipulation tasks for personalized medicine applications.

Telerobotic research at NASA Langley Research Center

NASA Technical Reports Server (NTRS)

Sliwa, Nancy E.

1987-01-01

An overview of Automation Technology Branch facilities and research is presented. Manipulator research includes dual-arm coordination studies, space manipulator dynamics, end-effector controller development, automatic space structure assembly, and the development of a dual-arm master-slave telerobotic manipulator system. Sensor research includes gravity-compensated force control, real-time monovision techniques, and laser ranging. Artificial intelligence techniques are being explored for supervisory task control, collision avoidance, and connectionist system architectures. A high-fidelity dynamic simulation of robotic systems, ROBSIM, is being supported and extended. Cooperative efforts with Oak Ridge National Laboratory have verified the ability of teleoperators to perform complex structural assembly tasks, and have resulted in the definition of a new dual-arm master-slave telerobotic manipulator. A bibliography of research results and a list of technical contacts are included.

Use of 3D vision for fine robot motion

NASA Technical Reports Server (NTRS)

Lokshin, Anatole; Litwin, Todd

1989-01-01

An integration of 3-D vision systems with robot manipulators will allow robots to operate in a poorly structured environment by visually locating targets and obstacles. However, by using computer vision for objects acquisition makes the problem of overall system calibration even more difficult. Indeed, in a CAD based manipulation a control architecture has to find an accurate mapping between the 3-D Euclidean work space and a robot configuration space (joint angles). If a stereo vision is involved, then one needs to map a pair of 2-D video images directly into the robot configuration space. Neural Network approach aside, a common solution to this problem is to calibrate vision and manipulator independently, and then tie them via common mapping into the task space. In other words, both vision and robot refer to some common Absolute Euclidean Coordinate Frame via their individual mappings. This approach has two major difficulties. First a vision system has to be calibrated over the total work space. And second, the absolute frame, which is usually quite arbitrary, has to be the same with a high degree of precision for both robot and vision subsystem calibrations. The use of computer vision to allow robust fine motion manipulation in a poorly structured world which is currently in progress is described along with the preliminary results and encountered problems.

Analyzing at-home prosthesis use in unilateral upper-limb amputees to inform treatment & device design.

PubMed

Spiers, Adam J; Resnik, Linda; Dollar, Aaron M

2017-07-01

New upper limb prosthetic devices are continuously being developed by a variety of industrial, academic, and hobbyist groups. Yet, little research has evaluated the long term use of currently available prostheses in daily life activities, beyond laboratory or survey studies. We seek to objectively measure how experienced unilateral upper limb prosthesis-users employ their prosthetic devices and unaffected limb for manipulation during everyday activities. In particular, our goal is to create a method for evaluating all types of amputee manipulation, including non-prehensile actions beyond conventional grasp functions, as well as to examine the relative use of both limbs in unilateral and bilateral cases. This study employs a head-mounted video camera to record participant's hands and arms as they complete unstructured domestic tasks within their own homes. A new 'Unilateral Prosthesis-User Manipulation Taxonomy' is presented based observations from 10 hours of recorded videos. The taxonomy addresses manipulation actions of the intact hand, prostheses, bilateral activities, and environmental feature-use (aiïordances). Our preliminary results involved tagging 23 minute segments of the full videos from 3 amputee participants using the taxonomy. This resulted in over 2,300 tag instances. Observations included that non-prehensile interactions outnumbered prehensile interactions in the affected limb for users with more distal amputation that allowed arm mobility.

Processing of Acoustic Cues in Lexical-Tone Identification by Pediatric Cochlear-Implant Recipients

PubMed Central

Peng, Shu-Chen; Lu, Hui-Ping; Lu, Nelson; Lin, Yung-Song; Deroche, Mickael L. D.

2017-01-01

Purpose The objective was to investigate acoustic cue processing in lexical-tone recognition by pediatric cochlear-implant (CI) recipients who are native Mandarin speakers. Method Lexical-tone recognition was assessed in pediatric CI recipients and listeners with normal hearing (NH) in 2 tasks. In Task 1, participants identified naturally uttered words that were contrastive in lexical tones. For Task 2, a disyllabic word (yanjing) was manipulated orthogonally, varying in fundamental-frequency (F0) contours and duration patterns. Participants identified each token with the second syllable jing pronounced with Tone 1 (a high level tone) as eyes or with Tone 4 (a high falling tone) as eyeglasses. Results CI participants' recognition accuracy was significantly lower than NH listeners' in Task 1. In Task 2, CI participants' reliance on F0 contours was significantly less than that of NH listeners; their reliance on duration patterns, however, was significantly higher than that of NH listeners. Both CI and NH listeners' performance in Task 1 was significantly correlated with their reliance on F0 contours in Task 2. Conclusion For pediatric CI recipients, lexical-tone recognition using naturally uttered words is primarily related to their reliance on F0 contours, although duration patterns may be used as an additional cue. PMID:28388709

Analogical processes in children's understanding of spatial representations.

PubMed

Yuan, Lei; Uttal, David; Gentner, Dedre

2017-06-01

We propose that map reading can be construed as a form of analogical mapping. We tested 2 predictions that follow from this claim: First, young children's patterns of performance in map reading tasks should parallel those found in analogical mapping tasks; and, second, children will benefit from guided alignment instructions that help them see the relational correspondences between the map and the space. In 4 experiments, 3-year-olds completed a map reading task in which they were asked to find hidden objects in a miniature room, using a corresponding map. We manipulated the availability of guided alignment (showing children the analogical mapping between maps and spaces; Experiments 1, 2, and 3a), the format of guided alignment (gesture or relational language; Experiment 2), and the iconicity of maps (Experiments 3a and 3b). We found that (a) young children's difficulties in map reading follow from known patterns of analogical development-for example, focusing on object similarity over relational similarity; and (b) guided alignment based on analogical reasoning led to substantially better performance. Results also indicated that children's map reading performance was affected by the format of guided alignment, the iconicity of the maps, and the order of tasks. The results bear on the developmental mechanisms underlying young children's learning of spatial representations and also suggest ways to support this learning. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

An Intention-Driven Semi-autonomous Intelligent Robotic System for Drinking.

PubMed

Zhang, Zhijun; Huang, Yongqian; Chen, Siyuan; Qu, Jun; Pan, Xin; Yu, Tianyou; Li, Yuanqing

2017-01-01

In this study, an intention-driven semi-autonomous intelligent robotic (ID-SIR) system is designed and developed to assist the severely disabled patients to live independently. The system mainly consists of a non-invasive brain-machine interface (BMI) subsystem, a robot manipulator and a visual detection and localization subsystem. Different from most of the existing systems remotely controlled by joystick, head- or eye tracking, the proposed ID-SIR system directly acquires the intention from users' brain. Compared with the state-of-art system only working for a specific object in a fixed place, the designed ID-SIR system can grasp any desired object in a random place chosen by a user and deliver it to his/her mouth automatically. As one of the main advantages of the ID-SIR system, the patient is only required to send one intention command for one drinking task and the autonomous robot would finish the rest of specific controlling tasks, which greatly eases the burden on patients. Eight healthy subjects attended our experiment, which contained 10 tasks for each subject. In each task, the proposed ID-SIR system delivered the desired beverage container to the mouth of the subject and then put it back to the original position. The mean accuracy of the eight subjects was 97.5%, which demonstrated the effectiveness of the ID-SIR system.

Seeing by touch: evaluation of a soft biologically-inspired artificial fingertip in real-time active touch.

PubMed

Assaf, Tareq; Roke, Calum; Rossiter, Jonathan; Pipe, Tony; Melhuish, Chris

2014-02-07

Effective tactile sensing for artificial platforms remains an open issue in robotics. This study investigates the performance of a soft biologically-inspired artificial fingertip in active exploration tasks. The fingertip sensor replicates the mechanisms within human skin and offers a robust solution that can be used both for tactile sensing and gripping/manipulating objects. The softness of the optical sensor's contact surface also allows safer interactions with objects. High-level tactile features such as edges are extrapolated from the sensor's output and the information is used to generate a tactile image. The work presented in this paper aims to investigate and evaluate this artificial fingertip for 2D shape reconstruction. The sensor was mounted on a robot arm to allow autonomous exploration of different objects. The sensor and a number of human participants were then tested for their abilities to track the raised perimeters of different planar objects and compared. By observing the technique and accuracy of the human subjects, simple but effective parameters were determined in order to evaluate the artificial system's performance. The results prove the capability of the sensor in such active exploration tasks, with a comparable performance to the human subjects despite it using tactile data alone whereas the human participants were also able to use proprioceptive cues.

Method and apparatus for accurately manipulating an object during microelectrophoresis

DOEpatents

Parvin, Bahram A.; Maestre, Marcos F.; Fish, Richard H.; Johnston, William E.

1997-01-01

An apparatus using electrophoresis provides accurate manipulation of an object on a microscope stage for further manipulations add reactions. The present invention also provides an inexpensive and easily accessible means to move an object without damage to the object. A plurality of electrodes are coupled to the stage in an array whereby the electrode array allows for distinct manipulations of the electric field for accurate manipulations of the object. There is an electrode array control coupled to the plurality of electrodes for manipulating the electric field. In an alternative embodiment, a chamber is provided on the stage to hold the object. The plurality of electrodes are positioned in the chamber, and the chamber is filled with fluid. The system can be automated using visual servoing, which manipulates the control parameters, i.e., x, y stage, applying the field, etc., after extracting the significant features directly from image data. Visual servoing includes an imaging device and computer system to determine the location of the object. A second stage having a plurality of tubes positioned on top of the second stage, can be accurately positioned by visual servoing so that one end of one of the plurality of tubes surrounds at least part of the object on the first stage.

Method and apparatus for accurately manipulating an object during microelectrophoresis

DOEpatents

Parvin, B.A.; Maestre, M.F.; Fish, R.H.; Johnston, W.E.

1997-09-23

An apparatus using electrophoresis provides accurate manipulation of an object on a microscope stage for further manipulations and reactions. The present invention also provides an inexpensive and easily accessible means to move an object without damage to the object. A plurality of electrodes are coupled to the stage in an array whereby the electrode array allows for distinct manipulations of the electric field for accurate manipulations of the object. There is an electrode array control coupled to the plurality of electrodes for manipulating the electric field. In an alternative embodiment, a chamber is provided on the stage to hold the object. The plurality of electrodes are positioned in the chamber, and the chamber is filled with fluid. The system can be automated using visual servoing, which manipulates the control parameters, i.e., x, y stage, applying the field, etc., after extracting the significant features directly from image data. Visual servoing includes an imaging device and computer system to determine the location of the object. A second stage having a plurality of tubes positioned on top of the second stage, can be accurately positioned by visual servoing so that one end of one of the plurality of tubes surrounds at least part of the object on the first stage. 11 figs.

Adjustable impedance, force feedback and command language aids for telerobotics (parts 1-4 of an 8-part MIT progress report)

NASA Technical Reports Server (NTRS)

Sheridan, Thomas B.; Raju, G. Jagganath; Buzan, Forrest T.; Yared, Wael; Park, Jong

1989-01-01

Projects recently completed or in progress at MIT Man-Machine Systems Laboratory are summarized. (1) A 2-part impedance network model of a single degree of freedom remote manipulation system is presented in which a human operator at the master port interacts with a task object at the slave port in a remote location is presented. (2) The extension of the predictor concept to include force feedback and dynamic modeling of the manipulator and the environment is addressed. (3) A system was constructed to infer intent from the operator's commands and the teleoperation context, and generalize this information to interpret future commands. (4) A command language system is being designed that is robust, easy to learn, and has more natural man-machine communication. A general telerobot problem selected as an important command language context is finding a collision-free path for a robot.

Case studies on optimization problems in MATLAB and COMSOL multiphysics by means of the livelink

NASA Astrophysics Data System (ADS)

Ozana, Stepan; Pies, Martin; Docekal, Tomas

2016-06-01

LiveLink for COMSOL is a tool that integrates COMSOL Multiphysics with MATLAB to extend one's modeling with scripting programming in the MATLAB environment. It allows user to utilize the full power of MATLAB and its toolboxes in preprocessing, model manipulation, and post processing. At first, the head script launches COMSOL with MATLAB and defines initial value of all parameters, refers to the objective function J described in the objective function and creates and runs the defined optimization task. Once the task is launches, the COMSOL model is being called in the iteration loop (from MATLAB environment by use of API interface), changing defined optimization parameters so that the objective function is minimized, using fmincon function to find a local or global minimum of constrained linear or nonlinear multivariable function. Once the minimum is found, it returns exit flag, terminates optimization and returns the optimized values of the parameters. The cooperation with MATLAB via LiveLink enhances a powerful computational environment with complex multiphysics simulations. The paper will introduce using of the LiveLink for COMSOL for chosen case studies in the field of technical cybernetics and bioengineering.

Learning in robotic manipulation: The role of dimensionality reduction in policy search methods. Comment on "Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands" by Marco Santello et al.

NASA Astrophysics Data System (ADS)

Ficuciello, Fanny; Siciliano, Bruno

2016-07-01

A question that often arises, among researchers working on artificial hands and robotic manipulation, concerns the real meaning of synergies. Namely, are they a realistic representation of the central nervous system control of manipulation activities at different levels and of the sensory-motor manipulation apparatus of the human being, or do they constitute just a theoretical framework exploiting analytical methods to simplify the representation of grasping and manipulation activities? Apparently, this is not a simple question to answer and, in this regard, many minds from the field of neuroscience and robotics are addressing the issue [1]. The interest of robotics is definitely oriented towards the adoption of synergies to tackle the control problem of devices with high number of degrees of freedom (DoFs) which are required to achieve motor and learning skills comparable to those of humans. The synergy concept is useful for innovative underactuated design of anthropomorphic hands [2], while the resulting dimensionality reduction simplifies the control of biomedical devices such as myoelectric hand prostheses [3]. Synergies might also be useful in conjunction with the learning process [4]. This aspect is less explored since few works on synergy-based learning have been realized in robotics. In learning new tasks through trial-and-error, physical interaction is important. On the other hand, advanced mechanical designs such as tendon-driven actuation, underactuated compliant mechanisms and hyper-redundant/continuum robots might exhibit enhanced capabilities of adapting to changing environments and learning from exploration. In particular, high DoFs and compliance increase the complexity of modelling and control of these devices. An analytical approach to manipulation planning requires a precise model of the object, an accurate description of the task, and an evaluation of the object affordance, which all make the process rather time consuming. The integration of learning into control naturally leads to relaxing the above requirements through the adoption of coordinated motion patterns and sensory-motor synergies as useful tools leading to a problem of reduced dimension. To this purpose, model-based control strategies relying on synergistic models of manipulation activities learned from human experience can be integrated with real-time learning from actions strategies [5]. In [6] a classification of learning strategies for robotics is provided, while the difference between imitation learning and reinforcement learning (RL) is highlighted in [7]. From recent research in the field [8,9], it seems that RL represents the future toward autonomous and intelligent robots since it provides learning capabilities as those of humans, i.e. based on exploration and trial-and-error policies. In this context, suitable policy search methods to be implemented in a synergy-based framework are to be sought in order to reduce the search space dimension while guaranteeing the convergence and efficiency of the learning algorithm.

Modeling task-specific neuronal ensembles improves decoding of grasp

NASA Astrophysics Data System (ADS)

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

2018-06-01

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

The Functional Task Test (FTT): An Interdisciplinary Testing Protocol to Investigate the Factors Underlying Changes in Astronaut Functional Performance

NASA Technical Reports Server (NTRS)

Bloomberg, J. J.; Lawrence, E. L.; Arzeno, N. M.; Buxton, R. E.; Feiveson, A. H.; Kofman, I. S.; Lee, S. M. C.; Mulavara, A. P.; Peters, B. T.; Platts. S. H.;

Earlier saccades to task-relevant targets irrespective of relative gain between peripheral and foveal information.

PubMed

Wolf, Christian; Schütz, Alexander C

2017-06-01

Saccades bring objects of interest onto the fovea for high-acuity processing. Saccades to rewarded targets show shorter latencies that correlate negatively with expected motivational value. Shorter latencies are also observed when the saccade target is relevant for a perceptual discrimination task. Here we tested whether saccade preparation is equally influenced by informational value as it is by motivational value. We defined informational value as the probability that information is task-relevant times the ratio between postsaccadic foveal and presaccadic peripheral discriminability. Using a gaze-contingent display, we independently manipulated peripheral and foveal discriminability of the saccade target. Latencies of saccades with perceptual task were reduced by 36 ms in general, but they were not modulated by the information saccades provide (Experiments 1 and 2). However, latencies showed a clear negative linear correlation with the probability that the target is task-relevant (Experiment 3). We replicated that the facilitation by a perceptual task is spatially specific and not due to generally heightened arousal (Experiment 4). Finally, the facilitation only emerged when the perceptual task is in the visual but not in the auditory modality (Experiment 5). Taken together, these results suggest that saccade latencies are not equally modulated by informational value as by motivational value. The facilitation by a perceptual task only arises when task-relevant visual information is foveated, irrespective of whether the foveation is useful or not.

Effects of Schizophrenia Polygenic Risk Scores on Brain Activity and Performance During Working Memory Subprocesses in Healthy Young Adults.

PubMed

Miller, Jacob A; Scult, Matthew A; Conley, Emily Drabant; Chen, Qiang; Weinberger, Daniel R; Hariri, Ahmad R

2018-06-06

Recent work has begun to shed light on the neural correlates and possible mechanisms of polygenic risk for schizophrenia. Here, we map a schizophrenia polygenic risk profile score (PRS) based on genome-wide association study significant loci onto variability in the activity and functional connectivity of a frontoparietal network supporting the manipulation versus maintenance of information during a numerical working memory (WM) task in healthy young adults (n = 99, mean age = 19.8). Our analyses revealed that higher PRS was associated with hypoactivity of the dorsolateral prefrontal cortex (dlPFC) during the manipulation but not maintenance of information in WM (r2 = .0576, P = .018). Post hoc analyses revealed that PRS-modulated dlPFC hypoactivity correlated with faster reaction times during WM manipulation (r2 = .0967, P = .002), and faster processing speed (r2 = .0967, P = .003) on a separate behavioral task. These PRS-associated patterns recapitulate dlPFC hypoactivity observed in patients with schizophrenia during central executive manipulation of information in WM on this task.

Haptic fMRI: combining functional neuroimaging with haptics for studying the brain's motor control representation.

PubMed

Menon, Samir; Brantner, Gerald; Aholt, Chris; Kay, Kendrick; Khatib, Oussama

2013-01-01

A challenging problem in motor control neuroimaging studies is the inability to perform complex human motor tasks given the Magnetic Resonance Imaging (MRI) scanner's disruptive magnetic fields and confined workspace. In this paper, we propose a novel experimental platform that combines Functional MRI (fMRI) neuroimaging, haptic virtual simulation environments, and an fMRI-compatible haptic device for real-time haptic interaction across the scanner workspace (above torso ∼ .65×.40×.20m(3)). We implement this Haptic fMRI platform with a novel haptic device, the Haptic fMRI Interface (HFI), and demonstrate its suitability for motor neuroimaging studies. HFI has three degrees-of-freedom (DOF), uses electromagnetic motors to enable high-fidelity haptic rendering (>350Hz), integrates radio frequency (RF) shields to prevent electromagnetic interference with fMRI (temporal SNR >100), and is kinematically designed to minimize currents induced by the MRI scanner's magnetic field during motor displacement (<2cm). HFI possesses uniform inertial and force transmission properties across the workspace, and has low friction (.05-.30N). HFI's RF noise levels, in addition, are within a 3 Tesla fMRI scanner's baseline noise variation (∼.85±.1%). Finally, HFI is haptically transparent and does not interfere with human motor tasks (tested for .4m reaches). By allowing fMRI experiments involving complex three-dimensional manipulation with haptic interaction, Haptic fMRI enables-for the first time-non-invasive neuroscience experiments involving interactive motor tasks, object manipulation, tactile perception, and visuo-motor integration.

Performance evaluation of the Personal Mobility and Manipulation Appliance (PerMMA).

PubMed

Wang, Hongwu; Xu, Jijie; Grindle, Garrett; Vazquez, Juan; Salatin, Ben; Kelleher, Annmarie; Ding, Dan; Collins, Diane M; Cooper, Rory A

2013-11-01

The Personal Mobility and Manipulation Appliance (PerMMA) is a recently developed personal assistance robot created to provide people with severe physical disabilities enhanced assistance in both mobility and manipulation. PerMMA aims to improve functional independence when a personal care attendant is not available on site. PerMMA integrates both a smart powered wheelchair and two dexterous robotic arms to assist its users in completing essential mobility and manipulation tasks during basic and instrumental activities of daily living (ADL). Two user interfaces were developed: a local control interface and a remote operator controller. This paper reports on the evaluation of PerMMA with end users completing basic ADL tasks. Participants with both lower and upper extremity impairments (N=15) were recruited to operate PerMMA and complete up to five ADL tasks in a single session of no more than two hours (to avoid fatigue or frustration of the participants). The performance of PerMMA was evaluated by participants completing ADL tasks with two different control modes: local mode and cooperative control. The users' task completion performance and answers on pre/post-evaluation questionnaires demonstrated not only the ease in learning and usefulness of PerMMA, but also their attitudes toward assistance from advanced technology like PerMMA. As a part of the iterative development process, results of this work will serve as supporting evidence to identify design criteria and other areas for improvement of PerMMA. Copyright © 2013 IPEM. All rights reserved.

Is color an intrinsic property of object representation?

PubMed

Naor-Raz, Galit; Tarr, Michael J; Kersten, Daniel

2003-01-01

The role of color in object representation was examined by using a variation of the Stroop paradigm in which observers named the displayed colors of objects or words. In experiment 1, colors of color-diagnostic objects were manipulated to be either typical or atypical of the object (eg a yellow banana versus a purple banana). A Stroop-like effect was obtained, with faster color-naming times for the typical as compared to the atypical condition. In experiment 2, naming colors on words specifying these same color-diagnostic objects reversed this pattern, with the typical condition producing longer response times than the atypical condition. In experiment 3, a blocked condition design that used the same words and colors as experiment 2 produced the standard Stroop-like facilitation for the typical condition. These results indicate that color is an intrinsic property of an object's representation at multiple levels. In experiment 4, we examined the specific level(s) at which color-shape associations arise by following the tasks used in experiments 1 and 2 with a lexical-decision task in which some items were conceptually related to items shown during color naming (eg banana/monkey). Priming for these associates was observed following color naming of words, but not pictures, providing further evidence that the color-shape associations responsible for the differing effects obtained in experiments 1 and 2 are due to the automatic activation of color-shape associations at different levels of representation.

The diversity effect of inductive reasoning under segment manipulation of complex cognition.

PubMed

Chen, Antao; Li, Hong; Feng, Tingyong; Gao, Xuemei; Zhang, Zhongming; Li, Fuhong; Yang, Dong

2005-12-01

The present study proposed the idea of segment manipulation of complex cognition (SMCC), and technically made it possible the quantitative treatment and systematical manipulation on the premise diversity. The segment manipulation of complex cognition divides the previous inductive strengths judgment task into three distinct steps, attempting to particularly distinguish the psychological processes and their rules. The results in Experiment 1 showed that compared with the traditional method, the quantitative treatment and systematical manipulation of SMCC on the diversity did not change the task's nature, and remain rational and a good measurement of inductive strength judgment. The results in Experiment 2 showed that the participants' response rules in the triple-step task were expected from our proposal, and that in Step 2 the "feeling of surprise" (FOS), which seems implausible but predicted from the diversity premises, was measured, and its component might be the critical part that produced the diversity effect. The "feeling of surprise" may reflect the impact of emotion on cognition, representing a strong revision to premise probability principle of pure rational hypothesis proposed by Lo et al., and its roles in the diversity effect are worthy of further research. In this regards were discussed the mistakes that the premise probability principle makes when it takes posterity probability as prior probability.

Earth orbital teleoperator manipulator system evaluation program

NASA Technical Reports Server (NTRS)

Brye, R. G.; Frederick, P. N.; Kirkpatrick, M., III; Shields, N. L., Jr.

1977-01-01

The operator's ability to perform five manipulator tip movements while using monoptic and stereoptic video systems was assessed. Test data obtained were compared with previous results to determine the impact of camera placement and stereoptic viewing on manipulator system performance. The tests were performed using the NASA MSFC extendible stiff arm Manipulator and an analog joystick controller. Two basic manipulator tasks were utilized. The minimum position change test required the operator to move the manipulator arm to touch a target contract. The dexterity test required removal and replacement of pegs.

Attention and memory protection: Interactions between retrospective attention cueing and interference.

PubMed

Makovski, Tal; Pertzov, Yoni

2015-01-01

Visual working memory (VWM) and attention have a number of features in common, but despite extensive research it is still unclear how the two interact. Can focused attention improve VWM precision? Can it protect VWM from interference? Here we used a partial-report, continuous-response orientation memory task to examine how attention and interference affect different aspects of VWM and how they interact with one another. Both attention and interference were orthogonally manipulated during the retention interval. Attention was manipulated by presenting informative retro-cues, whereas interference was manipulated by introducing a secondary interfering task. Mixture-model analyses revealed that retro-cues, compared to uninformative cues, improved all aspects of performance: Attention increased recall precision and decreased guessing rate and swap-errors (reporting a wrong item in memory). Similarly, performing a secondary task impaired all aspects of the VWM task. In particular, an interaction between retro-cue and secondary task interference was found primarily for swap-errors. Together these results suggest that both the quantity and quality of VWM representations are sensitive to attention cueing and interference modulations, and they highlight the role of attention in protecting the feature-location associations needed to access the correct items in memory.

Distinct functional contributions of primary sensory and association areas to audiovisual integration in object categorization.

PubMed

Werner, Sebastian; Noppeney, Uta

2010-02-17

Multisensory interactions have been demonstrated in a distributed neural system encompassing primary sensory and higher-order association areas. However, their distinct functional roles in multisensory integration remain unclear. This functional magnetic resonance imaging study dissociated the functional contributions of three cortical levels to multisensory integration in object categorization. Subjects actively categorized or passively perceived noisy auditory and visual signals emanating from everyday actions with objects. The experiment included two 2 x 2 factorial designs that manipulated either (1) the presence/absence or (2) the informativeness of the sensory inputs. These experimental manipulations revealed three patterns of audiovisual interactions. (1) In primary auditory cortices (PACs), a concurrent visual input increased the stimulus salience by amplifying the auditory response regardless of task-context. Effective connectivity analyses demonstrated that this automatic response amplification is mediated via both direct and indirect [via superior temporal sulcus (STS)] connectivity to visual cortices. (2) In STS and intraparietal sulcus (IPS), audiovisual interactions sustained the integration of higher-order object features and predicted subjects' audiovisual benefits in object categorization. (3) In the left ventrolateral prefrontal cortex (vlPFC), explicit semantic categorization resulted in suppressive audiovisual interactions as an index for multisensory facilitation of semantic retrieval and response selection. In conclusion, multisensory integration emerges at multiple processing stages within the cortical hierarchy. The distinct profiles of audiovisual interactions dissociate audiovisual salience effects in PACs, formation of object representations in STS/IPS and audiovisual facilitation of semantic categorization in vlPFC. Furthermore, in STS/IPS, the profiles of audiovisual interactions were behaviorally relevant and predicted subjects' multisensory benefits in performance accuracy.

Understanding what is visible in a mirror or through a window before and after updating the position of an object.

PubMed

Bertamini, Marco

2014-01-01

In the Venus effect observers assume that Venus is admiring her own reflection in the mirror (Bertamini et al., 2003a). However, since the observer sees her face in the mirror, Venus is actually looking at the reflection of the painter. This effect is general because it is not specific to paintings or to images of people. This study tests whether people have difficulties in estimating what is visible from a given viewpoint using a paper and pencil task. Participants (N = 80) judged what is visible in a scene that could include a mirror or an aperture. The object in the scene (a train) was already located in front of the mirror or behind the aperture, or the same object had to be imagined to move to that location. The hypothesis was that this extra step (spatial transformation) is always part of how people reason about mirrors because they have to imagine the location of the reflection based on the location of the physical object. If so, this manipulation would equate the difficulty of the mirror and of the aperture conditions. Results show that performance on the paper and pencil task was better than expected, probably because of the asymmetric nature of the object used. However, an additional cost in reasoning about mirrors was confirmed.

Kinematic modeling of a 7-degree of freedom spatial hybrid manipulator for medical surgery.

PubMed

Singh, Amanpreet; Singla, Ekta; Soni, Sanjeev; Singla, Ashish

2018-01-01

The prime objective of this work is to deal with the kinematics of spatial hybrid manipulators. In this direction, in 1955, Denavit and Hartenberg proposed a consistent and concise method, known as D-H parameters method, to deal with kinematics of open serial chains. From literature review, it is found that D-H parameter method is widely used to model manipulators consisting of lower pairs. However, the method leads to ambiguities when applied to closed-loop, tree-like and hybrid manipulators. Furthermore, in the dearth of any direct method to model closed-loop, tree-like and hybrid manipulators, revisions of this method have been proposed from time-to-time by different researchers. One such kind of revision using the concept of dummy frames has successfully been proposed and implemented by the authors on spatial hybrid manipulators. In that work, authors have addressed the orientational inconsistency of the D-H parameter method, restricted to body-attached frames only. In the current work, the condition of body-attached frames is relaxed and spatial frame attachment is considered to derive the kinematic model of a 7-degree of freedom spatial hybrid robotic arm, along with the development of closed-loop constraints. The validation of the new kinematic model has been performed with the help of a prototype of this 7-degree of freedom arm, which is being developed at Council of Scientific & Industrial Research-Central Scientific Instruments Organisation Chandigarh to aid the surgeon during a medical surgical task. Furthermore, the developed kinematic model is used to develop the first column of the Jacobian matrix, which helps in providing the estimate of the tip velocity of the 7-degree of freedom manipulator when the first joint velocity is known.

The Effects of Cognitive Task Complexity on L2 Oral Production

ERIC Educational Resources Information Center

Levkina, Mayya; Gilabert, Roger

2012-01-01

This paper examines the impact of task complexity on L2 production. The study increases task complexity by progressively removing pre-task planning time and increasing the number of elements. The combined effects of manipulating these two variables of task complexity simultaneously are also analyzed. Using a repeated measures design, 42…

Telerobot control system

NASA Technical Reports Server (NTRS)

Backes, Paul G. (Inventor); Tso, Kam S. (Inventor)

1993-01-01

This invention relates to an operator interface for controlling a telerobot to perform tasks in a poorly modeled environment and/or within unplanned scenarios. The telerobot control system includes a remote robot manipulator linked to an operator interface. The operator interface includes a setup terminal, simulation terminal, and execution terminal for the control of the graphics simulator and local robot actuator as well as the remote robot actuator. These terminals may be combined in a single terminal. Complex tasks are developed from sequential combinations of parameterized task primitives and recorded teleoperations, and are tested by execution on a graphics simulator and/or local robot actuator, together with adjustable time delays. The novel features of this invention include the shared and supervisory control of the remote robot manipulator via operator interface by pretested complex tasks sequences based on sequences of parameterized task primitives combined with further teleoperation and run-time binding of parameters based on task context.

The Social Dimension of Stress: Experimental Manipulations of Social Support and Social Identity in the Trier Social Stress Test

PubMed Central

Frisch, Johanna U.; Häusser, Jan A.; van Dick, Rolf; Mojzisch, Andreas

2015-01-01

In many situations humans are influenced by the behavior of other people and their relationships with them. For example, in stressful situations supportive behavior of other people as well as positive social relationships can act as powerful resources to cope with stress. In order to study the interplay between these variables, this protocol describes two effective experimental manipulations of social relationships and supportive behavior in the laboratory. In the present article, these two manipulations are implemented in the Trier Social Stress Test (TSST)—a standard stress induction paradigm in which participants are subjected to a simulated job interview. More precisely, we propose (a) a manipulation of the relationship between different protagonists in the TSST by making a shared social identity salient and (b) a manipulation of the behavior of the TSST-selection committee, which acts either supportively or unsupportively. These two experimental manipulations are designed in a modular fashion and can be applied independently of each other but can also be combined. Moreover, these two manipulations can also be integrated into other stress protocols and into other standardized social interactions such as trust games, negotiation tasks, or other group tasks. PMID:26649856

The effects of fatigue on performance in simulated nursing work.

PubMed

Barker, Linsey M; Nussbaum, Maury A

2011-09-01

Fatigue is associated with increased rates of medical errors and healthcare worker injuries, yet existing research in this sector has not considered multiple dimensions of fatigue simultaneously. This study evaluated hypothesised causal relationships between mental and physical fatigue and performance. High and low levels of mental and physical fatigue were induced in 16 participants during simulated nursing work tasks in a laboratory setting. Task-induced changes in fatigue dimensions were quantified using both subjective and objective measures, as were changes in performance on physical and mental tasks. Completing the simulated work tasks increased total fatigue, mental fatigue and physical fatigue in all experimental conditions. Higher physical fatigue adversely affected measures of physical and mental performance, whereas higher mental fatigue had a positive effect on one measure of mental performance. Overall, these results suggest causal effects between manipulated levels of mental and physical fatigue and task-induced changes in mental and physical performance. STATEMENT OF RELEVANCE: Nurse fatigue and performance has implications for patient and provider safety. Results from this study demonstrate the importance of a multidimensional view of fatigue in understanding the causal relationships between fatigue and performance. The findings can guide future work aimed at predicting fatigue-related performance decrements and designing interventions.

Impact of virtual reality simulation on learning barriers of phacoemulsification perceived by residents

PubMed Central

Ng, Danny Siu-Chun; Sun, Zihan; Young, Alvin Lerrmann; Ko, Simon Tak-Chuen; Lok, Jerry Ka-Hing; Lai, Timothy Yuk-Yau; Sikder, Shameema; Tham, Clement C

2018-01-01

Objective To identify residents’ perceived barriers to learning phacoemulsification surgical procedures and to evaluate whether virtual reality simulation training changed these perceptions. Design The ophthalmology residents undertook a simulation phacoemulsification course and proficiency assessment on the Eyesi system using the previously validated training modules of intracapsular navigation, anti-tremor, capsulorrhexis, and cracking/chopping. A cross-sectional, multicenter survey on the perceived difficulties in performing phacoemulsification tasks on patients, based on the validated International Council of Ophthalmology’s Ophthalmology Surgical Competency Assessment Rubric (ICO-OSCAR), using a 5-point Likert scale (1 = least and 5 = most difficulty), was conducted among residents with or without prior simulation training. Mann–Whitney U tests were carried out to compare the mean scores, and multivariate regression analyses were performed to evaluate the association of lower scores with the following potential predictors: 1) higher level trainee, 2) can complete phacoemulsification most of the time (>90%) without supervisor’s intervention, and 3) prior simulation training. Setting The study was conducted in ophthalmology residency training programs in five regional hospitals in Hong Kong. Results Of the 22 residents, 19 responded (86.3%), of which 13 (68.4%) had completed simulation training. Nucleus cracking/chopping was ranked highest in difficulty by all respondents followed by capsulorrhexis completion and nucleus rotation/manipulation. Respondents with prior simulation training had significantly lower difficulty scores on these three tasks (nucleus cracking/chopping 3.85 vs 4.75, P = 0.03; capsulorrhexis completion 3.31 vs 4.40, P = 0.02; and nucleus rotation/manipulation 3.00 vs 4.75, P = 0.01). In multivariate analyses, simulation training was significantly associated with lower difficulty scores on these three tasks. Conclusion Residents who had completed Eyesi simulation training had higher confidence in performing the most difficult tasks perceived during phacoemulsification. PMID:29785084

The effect of binaural beats on verbal working memory and cortical connectivity

NASA Astrophysics Data System (ADS)

Beauchene, Christine; Abaid, Nicole; Moran, Rosalyn; Diana, Rachel A.; Leonessa, Alexander

2017-04-01

Objective. Synchronization in activated regions of cortical networks affect the brain’s frequency response, which has been associated with a wide range of states and abilities, including memory. A non-invasive method for manipulating cortical synchronization is binaural beats. Binaural beats take advantage of the brain’s response to two pure tones, delivered independently to each ear, when those tones have a small frequency mismatch. The mismatch between the tones is interpreted as a beat frequency, which may act to synchronize cortical oscillations. Neural synchrony is particularly important for working memory processes, the system controlling online organization and retention of information for successful goal-directed behavior. Therefore, manipulation of synchrony via binaural beats provides a unique window into working memory and associated connectivity of cortical networks. Approach. In this study, we examined the effects of different acoustic stimulation conditions during an N-back working memory task, and we measured participant response accuracy and cortical network topology via EEG recordings. Six acoustic stimulation conditions were used: None, Pure Tone, Classical Music, 5 Hz binaural beats, 10 Hz binaural beats, and 15 Hz binaural beats. Main results. We determined that listening to 15 Hz binaural beats during an N-Back working memory task increased the individual participant’s accuracy, modulated the cortical frequency response, and changed the cortical network connection strengths during the task. Only the 15 Hz binaural beats produced significant change in relative accuracy compared to the None condition. Significance. Listening to 15 Hz binaural beats during the N-back task activated salient frequency bands and produced networks characterized by higher information transfer as compared to other auditory stimulation conditions.

A Novel Device for Grasping Assessment during Functional Tasks: Preliminary Results

PubMed Central

Rocha, Ana Carolinne Portela; Tudella, Eloisa; Pedro, Leonardo M.; Appel, Viviane Cristina Roma; da Silva, Louise Gracelli Pereira; Caurin, Glauco Augusto de Paula

2016-01-01

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, with seven to eight 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 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 three times for each child. A grasping hand posture evaluation is presented as an example to evaluate grasping quality. Additionally, motion patterns obtained with the trials 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. PMID:26942178

I Reach Faster When I See You Look: Gaze Effects in Human-Human and Human-Robot Face-to-Face Cooperation.

PubMed

Boucher, Jean-David; Pattacini, Ugo; Lelong, Amelie; Bailly, Gerrard; Elisei, Frederic; Fagel, Sascha; Dominey, Peter Ford; Ventre-Dominey, Jocelyne

2012-01-01

Human-human interaction in natural environments relies on a variety of perceptual cues. Humanoid robots are becoming increasingly refined in their sensorimotor capabilities, and thus should now be able to manipulate and exploit these social cues in cooperation with their human partners. Previous studies have demonstrated that people follow human and robot gaze, and that it can help them to cope with spatially ambiguous language. Our goal is to extend these findings into the domain of action, to determine how human and robot gaze can influence the speed and accuracy of human action. We report on results from a human-human cooperation experiment demonstrating that an agent's vision of her/his partner's gaze can significantly improve that agent's performance in a cooperative task. We then implement a heuristic capability to generate such gaze cues by a humanoid robot that engages in the same cooperative interaction. The subsequent human-robot experiments demonstrate that a human agent can indeed exploit the predictive gaze of their robot partner in a cooperative task. This allows us to render the humanoid robot more human-like in its ability to communicate with humans. The long term objectives of the work are thus to identify social cooperation cues, and to validate their pertinence through implementation in a cooperative robot. The current research provides the robot with the capability to produce appropriate speech and gaze cues in the context of human-robot cooperation tasks. Gaze is manipulated in three conditions: Full gaze (coordinated eye and head), eyes hidden with sunglasses, and head fixed. We demonstrate the pertinence of these cues in terms of statistical measures of action times for humans in the context of a cooperative task, as gaze significantly facilitates cooperation as measured by human response times.

Positioning the endoscope in laparoscopic surgery by foot: Influential factors on surgeons' performance in virtual trainer.

PubMed

Abdi, Elahe; Bouri, Mohamed; Burdet, Etienne; Himidan, Sharifa; Bleuler, Hannes

2017-07-01

We have investigated how surgeons can use the foot to position a laparoscopic endoscope, a task that normally requires an extra assistant. Surgeons need to train in order to exploit the possibilities offered by this new technique and safely manipulate the endoscope together with the hands movements. A realistic abdominal cavity has been developed as training simulator to investigate this multi-arm manipulation. In this virtual environment, the surgeon's biological hands are modelled as laparoscopic graspers while the viewpoint is controlled by the dominant foot. 23 surgeons and medical students performed single-handed and bimanual manipulation in this environment. The results show that residents had superior performance compared to both medical students and more experienced surgeons, suggesting that residency is an ideal period for this training. Performing the single-handed task improves the performance in the bimanual task, whereas the converse was not true.

A study of the method of the video image presentation for the manipulation of forceps.

PubMed

Kono, Soichi; Sekioka, Toshiharu; Matsunaga, Katsuya; Shidoji, Kazunori; Matsuki, Yuji

2005-01-01

Recently, surgical operations have sometimes been tried under laparoscopic video images using teleoperation robots or forceps manipulators. Therefore, in this paper, forceps manipulation efficiencies were evaluated when images for manipulation had some transmission delay (Experiment 1), and when the convergence point of the stereoscopic video cameras was either fixed and variable (Experiment 2). The operators' tasks in these experiments were sewing tasks which simulated telesurgery under 3-dimensional scenography. As a result of experiment 1, the operation at a 200+/-100 ms delay was kept at almost the same accuracy as that without delay. As a result of experiment 2, work accuracy was improved by using the zooming lens function; however the working time became longer. These results seemed to show the relation of a trade-off between working time and working accuracy.

Intelligent control of an IPMC actuated manipulator using emotional learning-based controller

NASA Astrophysics Data System (ADS)

Shariati, Azadeh; Meghdari, Ali; Shariati, Parham

2008-08-01

In this research an intelligent emotional learning controller, Takagi- Sugeno- Kang (TSK) is applied to govern the dynamics of a novel Ionic-Polymer Metal Composite (IPMC) actuated manipulator. Ionic-Polymer Metal Composites are active actuators that show very large deformation in existence of low applied voltage. In this research, a new IPMC actuator is considered and applied to a 2-dof miniature manipulator. This manipulator is designed for miniature tasks. The control system consists of a set of neurofuzzy controller whose parameters are adapted according to the emotional learning rules, and a critic with task to assess the present situation resulted from the applied control action in terms of satisfactory achievement of the control goals and provides the emotional signal (the stress). The controller modifies its characteristics so that the critic's stress decreased.

The gender congruency effect during bilingual spoken-word recognition

PubMed Central

Morales, Luis; Paolieri, Daniela; Dussias, Paola E.; Valdés kroff, Jorge R.; Gerfen, Chip; Bajo, María Teresa

2016-01-01

We investigate the ‘gender-congruency’ effect during a spoken-word recognition task using the visual world paradigm. Eye movements of Italian–Spanish bilinguals and Spanish monolinguals were monitored while they viewed a pair of objects on a computer screen. Participants listened to instructions in Spanish (encuentra la bufanda / ‘find the scarf’) and clicked on the object named in the instruction. Grammatical gender of the objects’ name was manipulated so that pairs of objects had the same (congruent) or different (incongruent) gender in Italian, but gender in Spanish was always congruent. Results showed that bilinguals, but not monolinguals, looked at target objects less when they were incongruent in gender, suggesting a between-language gender competition effect. In addition, bilinguals looked at target objects more when the definite article in the spoken instructions provided a valid cue to anticipate its selection (different-gender condition). The temporal dynamics of gender processing and cross-language activation in bilinguals are discussed. PMID:28018132

Task decomposition for a multilimbed robot to work in reachable but unorientable space

NASA Technical Reports Server (NTRS)

Su, Chau; Zheng, Yuan F.

1991-01-01

Robot manipulators installed on legged mobile platforms are suggested for enlarging robot workspace. To plan the motion of such a system, the arm-platform motion coordination problem is raised, and a task decomposition is proposed to solve the problem. A given task described by the destination position and orientation of the end effector is decomposed into subtasks for arm manipulation and for platform configuration, respectively. The former is defined as the end-effector position and orientation with respect to the platform, and the latter as the platform position and orientation in the base coordinates. Three approaches are proposed for the task decomposition. The approaches are also evaluated in terms of the displacements, from which an optimal approach can be selected.

Experiments evaluating compliance and force feedback effect on manipulator performance

NASA Technical Reports Server (NTRS)

Kugath, D. A.

1972-01-01

The performance capability was assessed of operators performing simulated space tasks using manipulator systems which had compliance and force feedback varied. Two manipulators were used, the E-2 electromechanical man-equivalent (force, reach, etc.) master-slave system and a modified CAM 1400 hydraulic master-slave with 100 lbs force capability at reaches of 24 ft. The CAM 1400 was further modified to operate without its normal force feedback. Several experiments and simulations were performed. The first two involved the E-2 absorbing the energy of a moving mass and secondly, guiding a mass thru a maze. Thus, both work and self paced tasks were studied as servo compliance was varied. Three simulations were run with the E-2 mounted on the CAM 1400 to evaluate the concept of a dexterous manipulator as an end effector of a boom-manipulator. Finally, the CAM 1400 performed a maze test and also simulated the capture of a large mass as the servo compliance was varied and with force feedback included and removed.

Kinematically redundant robot manipulators

NASA Technical Reports Server (NTRS)

Baillieul, J.; Hollerbach, J.; Brockett, R.; Martin, D.; Percy, R.; Thomas, R.

1987-01-01

Research on control, design and programming of kinematically redundant robot manipulators (KRRM) is discussed. These are devices in which there are more joint space degrees of freedom than are required to achieve every position and orientation of the end-effector necessary for a given task in a given workspace. The technological developments described here deal with: kinematic programming techniques for automatically generating joint-space trajectories to execute prescribed tasks; control of redundant manipulators to optimize dynamic criteria (e.g., applications of forces and moments at the end-effector that optimally distribute the loading of actuators); and design of KRRMs to optimize functionality in congested work environments or to achieve other goals unattainable with non-redundant manipulators. Kinematic programming techniques are discussed, which show that some pseudo-inverse techniques that have been proposed for redundant manipulator control fail to achieve the goals of avoiding kinematic singularities and also generating closed joint-space paths corresponding to close paths of the end effector in the workspace. The extended Jacobian is proposed as an alternative to pseudo-inverse techniques.

Surgical task analysis of simulated laparoscopic cholecystectomy with a navigation system.

PubMed

Sugino, T; Kawahira, H; Nakamura, R

2014-09-01

   Advanced surgical procedures, which have become complex and difficult, increase the burden of surgeons. Quantitative analysis of surgical procedures can improve training, reduce variability, and enable optimization of surgical procedures. To this end, a surgical task analysis system was developed that uses only surgical navigation information.    Division of the surgical procedure, task progress analysis, and task efficiency analysis were done. First, the procedure was divided into five stages. Second, the operating time and progress rate were recorded to document task progress during specific stages, including the dissecting task. Third, the speed of the surgical instrument motion (mean velocity and acceleration), as well as the size and overlap ratio of the approximate ellipse of the location log data distribution, was computed to estimate the task efficiency during each stage. These analysis methods were evaluated based on experimental validation with two groups of surgeons, i.e., skilled and "other" surgeons. The performance metrics and analytical parameters included incidents during the operation, the surgical environment, and the surgeon's skills or habits.    Comparison of groups revealed that skilled surgeons tended to perform the procedure in less time and involved smaller regions; they also manipulated the surgical instruments more gently.    Surgical task analysis developed for quantitative assessment of surgical procedures and surgical performance may provide practical methods and metrics for objective evaluation of surgical expertise.

The influence of time on task on mind wandering and visual working memory.

PubMed

Krimsky, Marissa; Forster, Daniel E; Llabre, Maria M; Jha, Amishi P

2017-12-01

Working memory relies on executive resources for successful task performance, with higher demands necessitating greater resource engagement. In addition to mnemonic demands, prior studies suggest that internal sources of distraction, such as mind wandering (i.e., having off-task thoughts) and greater time on task, may tax executive resources. Herein, the consequences of mnemonic demand, mind wandering, and time on task were investigated during a visual working memory task. Participants (N=143) completed a delayed-recognition visual working memory task, with mnemonic load for visual objects manipulated across trials (1 item=low load; 2 items=high load) and subjective mind wandering assessed intermittently throughout the experiment using a self-report Likert-type scale (1=on-task, 6=off-task). Task performance (correct/incorrect response) and self-reported mind wandering data were evaluated by hierarchical linear modeling to track trial-by-trial fluctuations. Performance declined with greater time on task, and the rate of decline was steeper for high vs low load trials. Self-reported mind wandering increased over time, and significantly varied asa function of both load and time on task. Participants reported greater mind wandering at the beginning of the experiment for low vs. high load trials; however, with greater time on task, more mind wandering was reported during high vs. low load trials. These results suggest that the availability of executive resources in support of working memory maintenance processes fluctuates in a demand-sensitive manner with time on task, and may be commandeered by mind wandering. Copyright © 2017 Elsevier B.V. All rights reserved.

Continuum robot arms inspired by cephalopods

NASA Astrophysics Data System (ADS)

Walker, Ian D.; Dawson, Darren M.; Flash, Tamar; Grasso, Frank W.; Hanlon, Roger T.; Hochner, Binyamin; Kier, William M.; Pagano, Christopher C.; Rahn, Christopher D.; Zhang, Qiming M.

2005-05-01

In this paper, we describe our recent results in the development of a new class of soft, continuous backbone ("continuum") robot manipulators. Our work is strongly motivated by the dexterous appendages found in cephalopods, particularly the arms and suckers of octopus, and the arms and tentacles of squid. Our ongoing investigation of these animals reveals interesting and unexpected functional aspects of their structure and behavior. The arrangement and dynamic operation of muscles and connective tissue observed in the arms of a variety of octopus species motivate the underlying design approach for our soft manipulators. These artificial manipulators feature biomimetic actuators, including artificial muscles based on both electro-active polymers (EAP) and pneumatic (McKibben) muscles. They feature a "clean" continuous backbone design, redundant degrees of freedom, and exhibit significant compliance that provides novel operational capacities during environmental interaction and object manipulation. The unusual compliance and redundant degrees of freedom provide strong potential for application to delicate tasks in cluttered and/or unstructured environments. Our aim is to endow these compliant robotic mechanisms with the diverse and dexterous grasping behavior observed in octopuses. To this end, we are conducting fundamental research into the manipulation tactics, sensory biology, and neural control of octopuses. This work in turn leads to novel approaches to motion planning and operator interfaces for the robots. The paper describes the above efforts, along with the results of our development of a series of continuum tentacle-like robots, demonstrating the unique abilities of biologically-inspired design.

Framing faces: Frame alignment impacts holistic face perception.

PubMed

Curby, Kim M; Entenman, Robert

2016-11-01

Traditional accounts of face perception emphasise the importance of the prototypical configuration of features within faces. However, here we probe influences of more general perceptual grouping mechanisms on holistic face perception. Participants made part-matching judgments about composite faces presented in intact external oval frames or frames made from misaligned oval parts. This manipulation served to disrupt basic perceptual grouping cues that facilitate the grouping of the two face halves together. This manipulation also produced an external face contour like that in the standard misaligned condition used within the classic composite face task. Notably, by introducing a discontinuity in the external contour, grouping of the face halves into a cohesive unit was discouraged, but face configuration was preserved. Conditions where both the face parts and the frames were misaligned together, as in the typical composite task paradigm, or where just the internal face parts where misaligned, were also included. Disrupting only the face frame similarly disrupted holistic face perception as disrupting both the frame and face configuration. However, misaligned face parts presented in aligned frames also incurred a cost to holistic perception. These findings provide support for the contribution of general-purpose perceptual grouping mechanisms to holistic face perception and are presented and discussed in the context of an enhanced object-based selection account of holistic perception.

Correlation between perceptual, visuo-spatial, and psychomotor aptitude to duration of training required to reach performance goals on the MIST-VR surgical simulator.

PubMed

McClusky, D A; Ritter, E M; Lederman, A B; Gallagher, A G; Smith, C D

2005-01-01

Given the dynamic nature of modern surgical education, determining factors that may improve the efficiency of laparoscopic training is warranted. The objective of this study was to analyze whether perceptual, visuo-spatial, or psychomotor aptitude are related to the amount of training required to reach specific performance-based goals on a virtual reality surgical simulator. Sixteen MS4 medical students participated in an elective skills course intended to train laparoscopic skills. All were tested for perceptual, visuo-spatial, and psychomotor aptitude using previously validated psychological tests. Training involved as many instructor-guided 1-hour sessions as needed to reach performance goals on a custom designed MIST-VR manipulation-diathermy task (Mentice AB, Gothenberg, Sweden). Thirteen subjects reached performance goals by the end of the course. Two were excluded from analysis due to previous experience with the MIST-VR (total n = 11). Perceptual ability (r = -0.76, P = 0.007) and psychomotor skills (r = 0.62, P = 0.04) significantly correlated with the number of trials required. Visuo-spatial ability did not significantly correlate with training duration. The number of trials required to train subjects to performance goals on the MIST-VR manipulation diathermy task is significantly related to perceptual and psychomotor aptitude.

Movement quality of conventional prostheses and the DEKA Arm during everyday tasks

PubMed Central

Cowley, Jeffrey; Resnik, Linda; Wilken, Jason; Walters, Lisa Smurr; Gates, Deanna

2017-01-01

Background Conventional prosthetic devices fail to restore the function and characteristic movement quality of the upper limb. The DEKA Arm is a new, advanced prosthesis featuring a compound, powered wrist and multiple grip configurations. Objectives The purpose of this study was to determine if the DEKA Arm improved the movement quality of upper limb prosthesis users compared to conventional prostheses. Study design Case series. Methods Three people with transradial amputation completed tasks of daily life with their conventional prosthesis and with the DEKA Arm. A total of 10 healthy controls completed the same tasks. The trajectory of the wrist joint center was analyzed to determine how different prostheses affected movement duration, speed, smoothness, and curvature compared to patients’ own intact limbs and controls. Results Movement quality decreased with the DEKA Arm for two participants, and increased for the third. Prosthesis users made slower, less smooth, more curved movements with the prosthetic limb compared to the intact limb and controls, particularly when grasping and manipulating objects. Conclusion The effects of one month of training with the DEKA Arm on movement quality varied with participants’ skill and experience with conventional prostheses. Future studies should examine changes in movement quality after long-term use of advanced prostheses. PMID:26932980

Electrophysiological evidence that top-down knowledge controls working memory processing for subsequent visual search.

PubMed

Kawashima, Tomoya; Matsumoto, Eriko

2016-03-23

Items in working memory guide visual attention toward a memory-matching object. Recent studies have shown that when searching for an object this attentional guidance can be modulated by knowing the probability that the target will match an item in working memory. Here, we recorded the P3 and contralateral delay activity to investigate how top-down knowledge controls the processing of working memory items. Participants performed memory task (recognition only) and memory-or-search task (recognition or visual search) in which they were asked to maintain two colored oriented bars in working memory. For visual search, we manipulated the probability that target had the same color as memorized items (0, 50, or 100%). Participants knew the probabilities before the task. Target detection in 100% match condition was faster than that in 50% match condition, indicating that participants used their knowledge of the probabilities. We found that the P3 amplitude in 100% condition was larger than in other conditions and that contralateral delay activity amplitude did not vary across conditions. These results suggest that more attention was allocated to the memory items when observers knew in advance that their color would likely match a target. This led to better search performance despite using qualitatively equal working memory representations.

Influence of mechanical noise inside a scanning electron microscope.

PubMed

de Faria, Marcelo Gaudenzi; Haddab, Yassine; Le Gorrec, Yann; Lutz, Philippe

2015-04-01

The scanning electron microscope is becoming a popular tool to perform tasks that require positioning, manipulation, characterization, and assembly of micro-components. However, some of these applications require a higher level of performance with respect to dynamics and precision of positioning. One limiting factor is the presence of unidentified noises and disturbances. This work aims to study the influence of mechanical disturbances generated by the environment and by the microscope, identifying how these can affect elements in the vacuum chamber. To achieve this objective, a dedicated setup, including a high-resolution vibrometer, was built inside the microscope. This work led to the identification and quantification of main disturbances and noise sources acting on a scanning electron microscope. Furthermore, the effects of external acoustic excitations were analysed. Potential applications of these results include noise compensation and real-time control for high accuracy tasks.

Fundamentally Distributed Information Processing Integrates the Motor Network into the Mental Workspace during Mental Rotation.

PubMed

Schlegel, Alexander; Konuthula, Dedeepya; Alexander, Prescott; Blackwood, Ethan; Tse, Peter U

2016-08-01

The manipulation of mental representations in the human brain appears to share similarities with the physical manipulation of real-world objects. In particular, some neuroimaging studies have found increased activity in motor regions during mental rotation, suggesting that mental and physical operations may involve overlapping neural populations. Does the motor network contribute information processing to mental rotation? If so, does it play a similar computational role in both mental and manual rotation, and how does it communicate with the wider network of areas involved in the mental workspace? Here we used multivariate methods and fMRI to study 24 participants as they mentally rotated 3-D objects or manually rotated their hands in one of four directions. We find that information processing related to mental rotations is distributed widely among many cortical and subcortical regions, that the motor network becomes tightly integrated into a wider mental workspace network during mental rotation, and that motor network activity during mental rotation only partially resembles that involved in manual rotation. Additionally, these findings provide evidence that the mental workspace is organized as a distributed core network that dynamically recruits specialized subnetworks for specific tasks as needed.

TMS-induced modulation of action sentence priming in the ventral premotor cortex.

PubMed

Tremblay, Pascale; Sato, Marc; Small, Steven L

2012-01-01

Despite accumulating evidence that cortical motor areas, particularly the lateral premotor cortex, are activated during language comprehension, the question of whether motor processes help mediate the semantic encoding of language remains controversial. To address this issue, we examined whether low frequency (1 Hz) repetitive transcranial magnetic stimulation (rTMS) of the left ventral premotor cortex (PMv) can interfere with the comprehension of sentences describing manual actions, visual properties of manipulable and non-manipulable objects, and actions of the lips and mouth. Using a primed semantic decision task, sixteen participants were asked to determine for a given sentence whether or not an auditorily presented target word was congruent with the sentence. We hypothesized that if the left PMv is contributing semantic information that is used to comprehend action and object related sentences, then TMS applied over PMv should result in a disruption of semantic priming. Our results show that TMS reduces semantic priming, induces a shift in response bias, and increases response sensitivity, but does so only during the processing of manual action sentences. This suggests a preferential contribution of PMv to the processing of sentences describing manual actions compared to other types of sentences. Copyright © 2011 Elsevier Ltd. All rights reserved.

Neuromorphic circuits impart a sense of touch

NASA Astrophysics Data System (ADS)

Bartolozzi, Chiara

2018-06-01

The sense of touch is the ability to perceive consistency, texture, and shape of objects that we manipulate, and the forces we exchange with them. Touch is a source of information that we effortlessly decode to smoothly and naturally grasp and manipulate objects, maintain our posture while walking, or avoid stumbling into obstacles, allowing us to plan, adapt, and correct actions in an ever-changing external world. As such, artificial devices, such as robots or prostheses, that aim to accomplish similar tasks must possess artificial tactile-sensing systems. On page 998 of this issue, Kim et al. (1) report on a “neuromorphic” tactile sensory system based on organic, flexible, electronic circuits that can measure the force applied on the sensing regions. The encoding of the signal is similar to that used by human nerves that are sensitive to tactile stimuli (mechanoreceptors), so the device outputs can substitute for them and communicate with other nerves (e.g., residual nerve fibers of amputees or motor neurons). The proposed system exploits organic electronics that allow for three-dimensional printing of flexible structures that conform to large curved surfaces, as required for placing sensors on robots (2) and prostheses.

Backwards Fading to Speed Task Learning

DTIC Science & Technology

2013-09-01

estimates.) Table 1 Finalized Task List Task Domain Task Name Knot Tying Hand Cuff Rappel First Aid Fracture Bleed Map Reading* Resection...materials used. Hand Cuff . There are 10 steps in this task. To complete this task, the learner must manipulate a short length of rope (e.g...Design for Experiment 1 – Step Fade Experiment 1 (Step Fade) Task Type: Knot Tying Task Type: First Aid Task Complexity: Low (1) Hand Cuff (10

Functional Contour-following via Haptic Perception and Reinforcement Learning.

PubMed

Hellman, Randall B; Tekin, Cem; van der Schaar, Mihaela; Santos, Veronica J

2018-01-01

Many tasks involve the fine manipulation of objects despite limited visual feedback. In such scenarios, tactile and proprioceptive feedback can be leveraged for task completion. We present an approach for real-time haptic perception and decision-making for a haptics-driven, functional contour-following task: the closure of a ziplock bag. This task is challenging for robots because the bag is deformable, transparent, and visually occluded by artificial fingertip sensors that are also compliant. A deep neural net classifier was trained to estimate the state of a zipper within a robot's pinch grasp. A Contextual Multi-Armed Bandit (C-MAB) reinforcement learning algorithm was implemented to maximize cumulative rewards by balancing exploration versus exploitation of the state-action space. The C-MAB learner outperformed a benchmark Q-learner by more efficiently exploring the state-action space while learning a hard-to-code task. The learned C-MAB policy was tested with novel ziplock bag scenarios and contours (wire, rope). Importantly, this work contributes to the development of reinforcement learning approaches that account for limited resources such as hardware life and researcher time. As robots are used to perform complex, physically interactive tasks in unstructured or unmodeled environments, it becomes important to develop methods that enable efficient and effective learning with physical testbeds.

Force related hemodynamic responses during execution and imagery of a hand grip task: A functional near infrared spectroscopy study.

PubMed

Wriessnegger, Selina C; Kirchmeyr, Daniela; Bauernfeind, Günther; Müller-Putz, Gernot R

2017-10-01

We examined force related hemodynamic changes during the performance of a motor execution (ME) and motor imagery (MI) task by means of multichannel functional near infrared spectroscopy (fNIRS). The hemodynamic responses of fourteen healthy participants were measured while they performed a hand grip execution or imagery task with low and high grip forces. We found an overall higher increase of [oxy-Hb] concentration changes during ME for both grip forces but with a delayed peak maximum for the lower grip force. During the MI task with lower grip force, the [oxy-Hb] level increases are stronger compared to the MI with higher grip force. The facilitation in performing MI with higher grip strength might thus indicate less inhibition of the actual motor act which could also explain the later increase onset of [oxy-Hb] in the ME task with the lower grip force. Our results suggest that execution and imagery of a hand grip task with high and low grip forces, leads to different cortical activation patterns. Since impaired control of grip forces during object manipulation in particular is one aspect of fine motor control deficits after stroke, our study will contribute to future rehabilitation programs enhancing patient's grip force control. Copyright © 2017 Elsevier Inc. All rights reserved.

The Effects of Task Fluency and Concurrent Reinforcement Schedules on Student Choice Allocation between Math Tasks

ERIC Educational Resources Information Center

Zaman, Maliha

2010-01-01

Students may avoid working on difficult tasks because it takes them longer to complete those tasks, which results in a delay to reinforcement. Research studies show that reinforcer and response dimensions can be manipulated within a concurrent operants framework to bias choice allocation toward more difficult tasks. The current study extends…

The special status of verbal knowledge in semantic memory: evidence from performance of semantically impaired subjects on verbalizable and non-verbalizable versions of the object decision task.

PubMed

Zannino, Gian Daniele; Perri, Roberta; Monaco, Marco; Caltagirone, Carlo; Luzzi, Simona; Carlesimo, Giovanni A

2014-01-01

According to the semantic hub hypothesis, a supramodal semantic hub is equally needed to deal with verbal and extraverbal "surface" representations. Damage to the supramodal hub is thought to underlie the crossmodal impairment observed in selective semantic deficits. In the present paper, we provide evidence supporting an alternative view: we hold that semantic impairment is not equal across domains but affects verbal behavior disproportionately. We investigated our hypothesis by manipulating the verbal load in an object decision task. Two pathological groups showing different levels of semantic impairment were enrolled together with their normal controls. The severe group included 10 subjects with semantic dementia and the mild group 10 subjects with Alzheimer's disease. In keeping with our hypothesis, when shifting from the low verbal load to the high verbal load condition, brain-damaged individuals, as compared to controls, showed a disproportionate impairment as a function of the severity of their semantic deficit. Copyright © 2013 Elsevier Inc. All rights reserved.

Planning of visually guided reach-to-grasp movements: inference from reaction time and contingent negative variation (CNV).

PubMed

Zaepffel, Manuel; Brochier, Thomas

2012-01-01

We performed electroencephalogram (EEG) recording in a precuing task to investigate the planning processes of reach-to-grasp movements in human. In this reaction time (RT) task, subjects had to reach, grasp, and pull an object as fast as possible after a visual GO signal. We manipulated two parameters: the hand shape for grasping (precision grip or side grip) and the force required to pull the object (high or low). Three seconds before the GO onset, a cue provided advance information about force, grip, both parameters, or no information at all. EEG data show that reach-to-grasp movements generate differences in the topographic distribution of the late Contingent Negative Variation (ICNV) amplitude between the 4 precuing conditions. Along with RT data, it confirms that two distinct functional networks are involved with different time courses in the planning of grip and force. Finally, we outline the composite nature of the lCNV that might reflect both high- and low-level planning processes. Copyright © 2011 Society for Psychophysiological Research.

Tele-Manipulation with Two Asymmetric Slaves: Two Operators Perform Better Than One.

PubMed

van Oosterhout, Jeroen; Heemskerk, Cock J M; de Baar, Marco R; van der Helm, Frans C T; Abbink, David A

2018-01-01

Certain tele-manipulation tasks require manipulation by two asymmetric slaves, for example, a crane for hoisting and a dexterous robotic arm for fine manipulation. It is unclear how to best design human-in-the-loop control over two asymmetric slaves. The goal of this paper is to quantitatively compare the standard approach of two co-operating operators that each control a single subtask, to a single operator performing bi-manual control over the two subtasks, and a uni-manual control approach. In a human factors experiment, participants performed a heavy load maneuvering and mounting task using a vertical crane and a robotic arm. We hypothesize that bi-manual control yields worse task performance and control activity compared to co-operation, because of conflicting spatial and temporal constraints. Literature suggests that uni-manual operators should perform better than co-operation, as co-operators critically depend on each other's actions. However, other literature provides evidence that individual operators have limited capabilities in controlling asymmetric axes of two dynamic systems. The results show that the two co-operators perform the maneuvering and mounting task faster than either bi- or uni-manual operators. Compared to co-operators, uni-manual operators required more control activity for the vertical crane and less for the robotic arm. In conclusion, this study suggests that when controlling two asymmetric slaves, a co-operating pair of operators performs better than a single operator.

Intelligent Control of Flexible-Joint Robotic Manipulators

NASA Technical Reports Server (NTRS)

Colbaugh, R.; Gallegos, G.

1997-01-01

This paper considers the trajectory tracking problem for uncertain rigid-link. flexible.joint manipulators, and presents a new intelligent controller as a solution to this problem. The proposed control strategy is simple and computationally efficient, requires little information concerning either the manipulator or actuator/transmission models and ensures uniform boundedness of all signals and arbitrarily accurate task-space trajectory tracking.

Toward an integrated account of object and action selection: A computational analysis and empirical findings from reaching-to-grasp and tool-use

PubMed Central

Botvinick, Matthew M.; Buxbaum, Laurel J.; Bylsma, Lauren M.; Jax, Steven A.

2014-01-01

The act of reaching for and acting upon an object involves two forms of selection: selection of the object as a target, and selection of the action to be performed. While these two forms of selection are logically dissociable, and are evidently subserved by separable neural pathways, they must also be closely coordinated. We examine the nature of this coordination by developing and analyzing a computational model of object and action selection first proposed by Ward [Ward, R. (1999). Interactions between perception and action systems: a model for selective action. In G. W. Humphreys, J. Duncan, & A. Treisman (Eds.), Attention, Space and Action: Studies in Cognitive Neuroscience. Oxford: Oxford University Press]. An interesting tenet of this account, which we explore in detail, is that the interplay between object and action selection depends critically on top-down inputs representing the current task set or plan of action. A concrete manifestation of this, established through a series of simulations, is that the impact of distractor objects on reaching times can vary depending on the nature of the current action plan. In order to test the model's predictions in this regard, we conducted two experiments, one involving direct object manipulation, the other involving tool-use. In both experiments we observed the specific interaction between task set and distractor type predicted by the model. Our findings provide support for the computational model, and more broadly for an interactive account of object and action selection. PMID:19100758

Task motivation influences alpha suppression following errors.

PubMed

Compton, Rebecca J; Bissey, Bryn; Worby-Selim, Sharoda

2014-07-01

The goal of the present research is to examine the influence of motivation on a novel error-related neural marker, error-related alpha suppression (ERAS). Participants completed an attentionally demanding flanker task under conditions that emphasized either speed or accuracy or under conditions that manipulated the monetary value of errors. Conditions in which errors had greater motivational value produced greater ERAS, that is, greater alpha suppression following errors compared to correct trials. A second study found that a manipulation of task difficulty did not affect ERAS. Together, the results confirm that ERAS is both a robust phenomenon and one that is sensitive to motivational factors. Copyright © 2014 Society for Psychophysiological Research.

ATHLETE as a Mobile ISRU and Regolith Construction Platform

NASA Technical Reports Server (NTRS)

Howe, A. Scott; Wilcox, Brian; Barmatz, Martin; Voecks, Gerald

2016-01-01

The All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robotic mobility platform can provide precision positioning and mobility for site preparation and regolith construction needs. ATHLETE is a multi-use platform designed to use swap-out tools and implements that can be applied to any number of tasks that need precision limb manipulation or mobility. Major capabilities include off-loading habitats, transporting surface assets, robotically assembling outposts from multiple mission manifests, and supporting science and technology objectives. This paper describes conceptual approaches for supporting NASA regolith construction research, such as additive construction, modular brick and panel factory, and mobile ISRU platform.

Recognition-induced forgetting is not due to category-based set size.

PubMed

Maxcey, Ashleigh M

2016-01-01

What are the consequences of accessing a visual long-term memory representation? Previous work has shown that accessing a long-term memory representation via retrieval improves memory for the targeted item and hurts memory for related items, a phenomenon called retrieval-induced forgetting. Recently we found a similar forgetting phenomenon with recognition of visual objects. Recognition-induced forgetting occurs when practice recognizing an object during a two-alternative forced-choice task, from a group of objects learned at the same time, leads to worse memory for objects from that group that were not practiced. An alternative explanation of this effect is that category-based set size is inducing forgetting, not recognition practice as claimed by some researchers. This alternative explanation is possible because during recognition practice subjects make old-new judgments in a two-alternative forced-choice task, and are thus exposed to more objects from practiced categories, potentially inducing forgetting due to set-size. Herein I pitted the category-based set size hypothesis against the recognition-induced forgetting hypothesis. To this end, I parametrically manipulated the amount of practice objects received in the recognition-induced forgetting paradigm. If forgetting is due to category-based set size, then the magnitude of forgetting of related objects will increase as the number of practice trials increases. If forgetting is recognition induced, the set size of exemplars from any given category should not be predictive of memory for practiced objects. Consistent with this latter hypothesis, additional practice systematically improved memory for practiced objects, but did not systematically affect forgetting of related objects. These results firmly establish that recognition practice induces forgetting of related memories. Future directions and important real-world applications of using recognition to access our visual memories of previously encountered objects are discussed.

T-Pattern Analysis and Cognitive Load Manipulation to Detect Low-Stake Lies: An Exploratory Study.

PubMed

Diana, Barbara; Zurloni, Valentino; Elia, Massimiliano; Cavalera, Cesare; Realdon, Olivia; Jonsson, Gudberg K; Anguera, M Teresa

2018-01-01

Deception has evolved to become a fundamental aspect of human interaction. Despite the prolonged efforts in many disciplines, there has been no definite finding of a univocally "deceptive" signal. This work proposes an approach to deception detection combining cognitive load manipulation and T-pattern methodology with the objective of: (a) testing the efficacy of dual task-procedure in enhancing differences between truth tellers and liars in a low-stakes situation; (b) exploring the efficacy of T-pattern methodology in discriminating truthful reports from deceitful ones in a low-stakes situation; (c) setting the experimental design and procedure for following research. We manipulated cognitive load to enhance differences between truth tellers and liars, because of the low-stakes lies involved in our experiment. We conducted an experimental study with a convenience sample of 40 students. We carried out a first analysis on the behaviors' frequencies coded through the observation software, using SPSS (22). The aim was to describe shape and characteristics of behavior's distributions and explore differences between groups. Datasets were then analyzed with Theme 6.0 software which detects repeated patterns (T-patterns) of coded events (non-verbal behaviors) that regularly or irregularly occur within a period of observation. A descriptive analysis on T-pattern frequencies was carried out to explore differences between groups. An in-depth analysis on more complex patterns was performed to get qualitative information on the behavior structure expressed by the participants. Results show that the dual-task procedure enhances differences observed between liars and truth tellers with T-pattern methodology; moreover, T-pattern detection reveals a higher variety and complexity of behavior in truth tellers than in liars. These findings support the combination of cognitive load manipulation and T-pattern methodology for deception detection in low-stakes situations, suggesting the testing of directional hypothesis on a larger probabilistic sample of population.

T-Pattern Analysis and Cognitive Load Manipulation to Detect Low-Stake Lies: An Exploratory Study

PubMed Central

Diana, Barbara; Zurloni, Valentino; Elia, Massimiliano; Cavalera, Cesare; Realdon, Olivia; Jonsson, Gudberg K.; Anguera, M. Teresa

2018-01-01

Deception has evolved to become a fundamental aspect of human interaction. Despite the prolonged efforts in many disciplines, there has been no definite finding of a univocally “deceptive” signal. This work proposes an approach to deception detection combining cognitive load manipulation and T-pattern methodology with the objective of: (a) testing the efficacy of dual task-procedure in enhancing differences between truth tellers and liars in a low-stakes situation; (b) exploring the efficacy of T-pattern methodology in discriminating truthful reports from deceitful ones in a low-stakes situation; (c) setting the experimental design and procedure for following research. We manipulated cognitive load to enhance differences between truth tellers and liars, because of the low-stakes lies involved in our experiment. We conducted an experimental study with a convenience sample of 40 students. We carried out a first analysis on the behaviors’ frequencies coded through the observation software, using SPSS (22). The aim was to describe shape and characteristics of behavior’s distributions and explore differences between groups. Datasets were then analyzed with Theme 6.0 software which detects repeated patterns (T-patterns) of coded events (non-verbal behaviors) that regularly or irregularly occur within a period of observation. A descriptive analysis on T-pattern frequencies was carried out to explore differences between groups. An in-depth analysis on more complex patterns was performed to get qualitative information on the behavior structure expressed by the participants. Results show that the dual-task procedure enhances differences observed between liars and truth tellers with T-pattern methodology; moreover, T-pattern detection reveals a higher variety and complexity of behavior in truth tellers than in liars. These findings support the combination of cognitive load manipulation and T-pattern methodology for deception detection in low-stakes situations, suggesting the testing of directional hypothesis on a larger probabilistic sample of population. PMID:29551986

The combination of perception of other individuals and exogenous manipulation of arousal enhances social facilitation as an aftereffect: re-examination of Zajonc's drive theory.

PubMed

Ukezono, Masatoshi; Nakashima, Satoshi F; Sudo, Ryunosuke; Yamazaki, Akira; Takano, Yuji

2015-01-01

Zajonc's drive theory postulates that arousal enhanced through the perception of the presence of other individuals plays a crucial role in social facilitation (Zajonc, 1965). Here, we conducted two experiments to examine whether the elevation of arousal through a stepping exercise performed in front of others as an exogenous factor causes social facilitation of a cognitive task in a condition where the presence of others does not elevate the arousal level. In the main experiment, as an "aftereffect of social stimulus," we manipulated the presence or absence of others and arousal enhancement before participants conducted the primary cognitive task. The results showed that the strongest social facilitation was induced by the combination of the perception of others and arousal enhancement. In a supplementary experiment, we manipulated these factors by adding the presence of another person during the task. The results showed that the effect of the presence of the other during the primary task is enough on its own to produce facilitation of task performance regardless of the arousal enhancement as an aftereffect of social stimulus. Our study therefore extends the framework of Zajonc's drive theory in that the combination of the perception of others and enhanced arousal as an "aftereffect" was found to induce social facilitation especially when participants did not experience the presence of others while conducting the primary task.

Executive functions in mild cognitive impairment: emergence and breakdown of neural plasticity.

PubMed

Clément, Francis; Gauthier, Serge; Belleville, Sylvie

2013-05-01

Our goal was to test the effect of disease severity on the brain activation associated with two executive processes: manipulation and divided attention. This was achieved by administrating a manipulation task and a divided attention task using functional magnetic resonance imaging to 24 individuals with mild cognitive impairment (MCI) and 14 healthy controls matched for age, sex and education. The Mattis Dementia Rating Scale was used to divide persons with MCI into those with better and worse cognitive performances. Both tasks were associated with more brain activation in the MCI group with higher cognition than in healthy controls, particularly in the left frontal areas. Correlational analyses indicated that greater activation in a frontostriatal network hyperactivated by the higher-cognition group was related with better task performance, suggesting that these activations may support functional reorganization of a compensatory nature. By contrast, the lower-cognition group failed to show greater cerebral hyperactivation than controls during the divided attention task and, during the manipulation task, and showed less brain activation than controls in the left ventrolateral cortex, a region commonly hypoactivated in patients with Alzheimer's disease. These findings indicate that, during the early phase of MCI, executive functioning benefits from neural reorganization, but that a breakdown of this brain plasticity characterizes the late stages of MCI. Copyright © 2012 Elsevier Ltd. All rights reserved.

Performance norms for a rhesus monkey neuropsychological testing battery: acquisition and long-term performance.

PubMed

Weed, M R; Taffe, M A; Polis, I; Roberts, A C; Robbins, T W; Koob, G F; Bloom, F E; Gold, L H

1999-10-25

A computerized behavioral battery based upon human neuropsychological tests (CANTAB, CeNeS, Cambridge, UK) has been developed to assess cognitive behaviors of rhesus monkeys. Monkeys reliably performed multiple tasks, providing long-term assessment of changes in a number of behaviors for a given animal. The overall goal of the test battery is to characterize changes in cognitive behaviors following central nervous system (CNS) manipulations. The battery addresses memory (delayed non-matching to sample, DNMS; spatial working memory, using a self-ordered spatial search task, SOSS), attention (intra-/extra-dimensional shift, ID/ED), motivation (progressive-ratio, PR), reaction time (RT) and motor coordination (bimanual task). As with human neuropsychological batteries, different tasks are thought to involve different neural substrates, and therefore performance profiles should assess function in particular brain regions. Monkeys were tested in transport cages, and responding on a touch sensitive computer monitor was maintained by food reinforcement. Parametric manipulations of several tasks demonstrated the sensitivity of performance to increases in task difficulty. Furthermore, the factors influencing difficulty for rhesus monkeys were the same as those shown to affect human performance. Data from this study represent performance of a population of healthy normal monkeys that will be used for comparison in subsequent studies of performance following CNS manipulations such as infection with simian immunodeficiency virus (NeuroAIDS) or drug administration.

Easy-To-Use Connector-Assembly Tool

NASA Technical Reports Server (NTRS)

Redmon, John W., Jr.; Jankowski, Fred

1988-01-01

Tool compensates for user's loss of dexterity under awkward conditions. Has jaws that swivel over 180 degree so angle adjusts with respect to handles. Oriented and held in position most comfortable and effective for user in given situation. Jaws lined with rubber pads so they conform to irregularly shaped parts and grips firmly but gently. Once tool engages part, it locks on it so user can release handles without losing part. Ratchet mechanism in tool allows user to work handles back and forth in confined space to connect or disconnect part. Quickly positioned, locked, and released. Gives user feel of its grip on part. Frees grasping muscles from work during part of task, giving user greater freedom to move hand. Operates with only one hand, leaving user's other hand free to manipulate wiring or other parts. Also adapts to handling and positioning extremely-hot or extremely-cold fluid lines, contaminated objects, abrasive or sharp objects, fragile items, and soft objects.

Effects of scaling task constraints on emergent behaviours in children's racquet sports performance.

PubMed

Fitzpatrick, Anna; Davids, Keith; Stone, Joseph A

2018-04-01

Manipulating task constraints by scaling key features like space and equipment is considered an effective method for enhancing performance development and refining movement patterns in sport. Despite this, it is currently unclear whether scaled manipulation of task constraints would impact emergent movement behaviours in young children, affording learners opportunities to develop relevant skills. Here, we sought to investigate how scaling task constraints during 8 weeks of mini tennis training shaped backhand stroke development. Two groups, control (n = 8, age = 7.2 ± 0.6 years) and experimental (n = 8, age 7.4 ± 0.4 years), underwent practice using constraints-based manipulations, with a specific field of affordances designed for backhand strokes as the experimental treatment. To evaluate intervention effects, pre- and post-test match-play characteristics (e.g. forehand and backhand percentage strokes) and measures from a tennis-specific skills test (e.g. forehand and backhand technical proficiency), were evaluated. Post intervention, the experimental group performed a greater percentage of backhand strokes out of total number of shots played (46.7 ± 3.3%). There was also a significantly greater percentage of backhand winners out of total backhand strokes observed (5.5 ± 3.0%), compared to the control group during match-play (backhands = 22.4 ± 6.5%; backhand winners = 1.0 ± 3.6%). The experimental group also demonstrated improvements in forehand and backhand technical proficiency and the ability to maintain a rally with a coach, compared to the control group. In conclusion, scaled manipulations implemented here elicited more functional performance behaviours than standard Mini Tennis Red constraints. Results suggested how human movement scientists may scale task constraint manipulations to augment young athletes' performance development. Crown Copyright © 2018. Published by Elsevier B.V. All rights reserved.

A balancing act: physical balance, through arousal, influences size perception.

PubMed

Geuss, Michael N; Stefanucci, Jeanine K; de Benedictis-Kessner, Justin; Stevens, Nicholas R

2010-10-01

Previous research has demonstrated that manipulating vision influences balance. Here, we question whether manipulating balance can influence vision and how it may influence vision--specifically, the perception of width. In Experiment 1, participants estimated the width of beams while balanced and unbalanced. When unbalanced, participants judged the widths to be smaller. One possible explanation is that unbalanced participants did not view the stimulus as long as when balanced because they were focused on remaining balanced. In Experiment 2, we tested this notion by limiting viewing time. Experiment 2 replicated the findings of Experiment 1, but viewing time had no effect on width judgments. In Experiment 3, participants' level of arousal was manipulated, because the balancing task likely produced arousal. While jogging, participants judged the beams to be smaller. In Experiment 4, participants completed another arousing task (counting backward by sevens) that did not involve movement. Again, participants judged the beams to be smaller when aroused. Experiment 5A raised participants' level of arousal before estimating the board widths (to control for potential dual-task effects) and showed that heightened arousal still influenced perceived width of the boards. Collectively, heightened levels of arousal, caused by multiple manipulations (including balance), influenced perceived width.

Compound Stimulus Presentation Does Not Deepen Extinction in Human Causal Learning

PubMed Central

Griffiths, Oren; Holmes, Nathan; Westbrook, R. Fred

2017-01-01

Models of associative learning have proposed that cue-outcome learning critically depends on the degree of prediction error encountered during training. Two experiments examined the role of error-driven extinction learning in a human causal learning task. Target cues underwent extinction in the presence of additional cues, which differed in the degree to which they predicted the outcome, thereby manipulating outcome expectancy and, in the absence of any change in reinforcement, prediction error. These prediction error manipulations have each been shown to modulate extinction learning in aversive conditioning studies. While both manipulations resulted in increased prediction error during training, neither enhanced extinction in the present human learning task (one manipulation resulted in less extinction at test). The results are discussed with reference to the types of associations that are regulated by prediction error, the types of error terms involved in their regulation, and how these interact with parameters involved in training. PMID:28232809

Energy efficiency analysis of the manipulation process by the industrial objects with the use of Bernoulli gripping devices

NASA Astrophysics Data System (ADS)

Savkiv, Volodymyr; Mykhailyshyn, Roman; Duchon, Frantisek; Mikhalishin, Mykhailo

2017-11-01

The article deals with the topical issue of reducing energy consumption for transportation of industrial objects. The energy efficiency of the process of objects manipulation with the use of the orientation optimization method while gripping with the help of different methods has been studied. The analysis of the influence of the constituent parts of inertial forces, that affect the object of manipulation, on the necessary force characteristics and energy consumption of Bernoulli gripping device has been proposed. The economic efficiency of the use of the optimal orientation of Bernoulli gripping device while transporting the object of manipulation in comparison to the transportation without re-orientation has been proved.

Why Do We Move Our Head to Look at an Object in Our Peripheral Region? Lateral Viewing Interferes with Attentive Search

PubMed Central

Nakashima, Ryoichi; Shioiri, Satoshi

2014-01-01

Why do we frequently fixate an object of interest presented peripherally by moving our head as well as our eyes, even when we are capable of fixating the object with an eye movement alone (lateral viewing)? Studies of eye-head coordination for gaze shifts have suggested that the degree of eye-head coupling could be determined by an unconscious weighing of the motor costs and benefits of executing a head movement. The present study investigated visual perceptual effects of head direction as an additional factor impacting on a cost-benefit organization of eye-head control. Three experiments using visual search tasks were conducted, manipulating eye direction relative to head orientation (front or lateral viewing). Results show that lateral viewing increased the time required to detect a target in a search for the letter T among letter L distractors, a serial attentive search task, but not in a search for T among letter O distractors, a parallel preattentive search task (Experiment 1). The interference could not be attributed to either a deleterious effect of lateral gaze on the accuracy of saccadic eye movements, nor to potentially problematic optical effects of binocular lateral viewing, because effect of head directions was obtained under conditions in which the task was accomplished without saccades (Experiment 2), and during monocular viewing (Experiment 3). These results suggest that a difference between the head and eye directions interferes with visual processing, and that the interference can be explained by the modulation of attention by the relative positions of the eyes and head (or head direction). PMID:24647634