Maneuverability of Impedance-Controlled Motion in a Human-Robot Cooperative Task System

2017 ◽  
Vol 29 (4) ◽  
pp. 746-756 ◽  
Author(s):  
Toru Tsumugiwa ◽  
Yoshiki Takeuchi ◽  
Ryuichi Yokogawa ◽  
◽  
Keyword(s):  
Quantitative Evaluation ◽  
Impedance Control ◽  
Control Strategies ◽  
Brain Activity ◽  
Human Motion ◽  
Higher Order ◽  
Human Robot Interaction ◽  
Robot Motion ◽  
Functional Near Infrared Spectroscopy ◽  
The Relationship

This paper presents an evaluation of the maneuverability of impedance-controlled robot motion during a human-robot cooperative positioning task. The objectives of this study are to reveal the results of a quantitative evaluation of the maneuverability of robot motion and to investigate the relationship between the results of the quantitative evaluation and an operator’s higher-order brain activity. Control strategies for the robot that are adequate for human-robot interaction have not yet been explicitly determined because of the difficulty in evaluating the maneuverability of robot motion. First, we analyzed the time normalized position and force/torque trajectories to reveal the characteristics of human motion and performed subjective evaluations for three types of impedance-controlled robot motion, which were controlled using the following strategies: (i) ordinary impedance control, (ii) impedance control with virtual Coulomb friction involved in the robot motion, and (iii) impedance control with a trajectory guidance force. Second, to confirm the analysis results based on the observed trajectories, we investigated differences in the operator’s higher-order brain activity when using the different control strategies by using a functional near-infrared spectroscopy system. The experimental results confirmed the relationship between the analysis results of the control strategies, the motion of the operator, and higher-order brain activity. Consequently, the investigation conducted in this study is effective for evaluating the maneuverability of robot motion during a human-robot cooperative task.

Experimental Research on Trajectory Control of Walking Rehabilitation Training Robot

2012 ◽  
Vol 187 ◽  
pp. 177-185 ◽  
Author(s):  
Zhong Wen ◽  
Jin Wu Qian ◽  
Lin Yong Shen ◽  
Ya Nan Zhang
Keyword(s):  
Impedance Control ◽  
Control Strategies ◽  
Experimental Tests ◽  
Training Model ◽  
Interaction Force ◽  
Human Robot Interaction ◽  
Rehabilitation Training ◽  
Position Servo Control ◽  
Walking Rehabilitation ◽  
Active Rehabilitation

In order to improve the effect of smooth motion, the impedance control is introduced into the control system of walking rehabilitation training robot. An impedance control strategy for active rehabilitation training model is proposed and analyzed, and an adaptive control algorithm is proposed on that basis. The experimental tests of three control methods including PD position servo control, impedance control and adaption control are implemented on the robot prototype. The experimental results show that the robot can continuously adjust its gait trajectory according to the human-robot interaction force to meet the expected gait characteristics under the latter two control strategies. The feasibility and validity of the two control strategies is proved, which will be used in active rehabilitation training.

scholarly journals A Functional NIRS Study of Brain Functional Networks Induced by Social Time Coordination

2019 ◽  
Vol 9 (2) ◽  
pp. 43
Author(s):  
Megumi Mizuno ◽  
Tomoyuki Hiroyasu ◽  
Satoru Hiwa
Keyword(s):  
Brain Function ◽  
Data Clustering ◽  
Near Infrared ◽  
Brain Activity ◽  
Brain Regions ◽  
Functional Networks ◽  
Functional Near Infrared Spectroscopy ◽  
Social Time ◽  
The Relationship ◽  
The Brain

The ability to coordinate one’s behavior with the others’ behavior is essential to achieve a joint action in daily life. In this paper, the brain activity during synchronized tapping task was measured using functional near infrared spectroscopy (fNIRS) to investigate the relationship between time coordination and brain function. Furthermore, using brain functional network analysis based on graph theory, we examined important brain regions and network structures that serve as the hub when performing the synchronized tapping task. Using the data clustering method, two types of brain function networks were extracted and associated with time coordination, suggesting that they were involved in expectation and imitation behaviors.

Making social neuroscience less WEIRD: Using fNIRS to measure neural signatures of persuasive influence in a Middle East participant sample

2019 ◽  
Author(s):  
Shannon Burns ◽  
Lianne N. Barnes ◽  
Ian A. McCulloh ◽  
Munqith M. Dagher ◽  
Emily B. Falk ◽  
...  
Keyword(s):  
Prefrontal Cortex ◽  
Near Infrared ◽  
Brain Activity ◽  
Health And Safety ◽  
Social Neuroscience ◽  
Functional Near Infrared Spectroscopy ◽  
Future Directions ◽  
Neuroscience Research ◽  
Neuropsychological Functions ◽  
Arabic Speaking

The large majority of social neuroscience research uses WEIRD populations – participants from Western, educated, industrialized, rich, and democratic locations. This makes it difficult to claim whether neuropsychological functions are universal or culture specific. In this study, we demonstrate one approach to addressing the imbalance by using portable neuroscience equipment in a study of persuasion conducted in Jordan with an Arabic-speaking sample. Participants were shown persuasive videos on various health and safety topics while their brain activity was measured using functional near infrared spectroscopy (fNIRS). Self-reported persuasiveness ratings for each video were then recorded. Consistent with previous research conducted with American subjects, this work found that activity in the dorsomedial and ventromedial prefrontal cortex predicted how persuasive participants found the videos and how much they intended to engage in the messages’ endorsed behaviors. Further, activity in the left ventrolateral prefrontal cortex was associated with persuasiveness ratings, but only in participants for whom the message was personally relevant. Implications for these results on the understanding of the brain basis of persuasion and on future directions for neuroimaging in diverse populations are discussed.

The role and relationship of mindreading and social attunement in HRI – position statements of interdisciplinary researchers. Workshop HRI'20

2020 ◽  
Author(s):  
Agnieszka Wykowska ◽  
Jairo Pérez-Osorio ◽  
Stefan Kopp
Keyword(s):  
Mental States ◽  
Human Robot Interaction ◽  
Human Interaction ◽  
Artificial Agents ◽  
The Novel ◽  
Robot Interaction ◽  
Novel Coronavirus ◽  
Relationship Of ◽  
The Relationship

This booklet is a collection of the position statements accepted for the HRI’20 conference workshop “Social Cognition for HRI: Exploring the relationship between mindreading and social attunement in human-robot interaction” (Wykowska, Perez-Osorio & Kopp, 2020). Unfortunately, due to the rapid unfolding of the novel coronavirus at the beginning of the present year, the conference and consequently our workshop, were canceled. On the light of these events, we decided to put together the positions statements accepted for the workshop. The contributions collected in these pages highlight the role of attribution of mental states to artificial agents in human-robot interaction, and precisely the quality and presence of social attunement mechanisms that are known to make human interaction smooth, efficient, and robust. These papers also accentuate the importance of the multidisciplinary approach to advance the understanding of the factors and the consequences of social interactions with artificial agents.

Shall I trust you? From child human-robot interaction to trusting relationships

2019 ◽  
Author(s):  
Cinzia Di Dio ◽  
Federico Manzi ◽  
Giulia Peretti ◽  
Angelo Cangelosi ◽  
Paul L. Harris ◽  
...  
Keyword(s):  
Behavioral Pattern ◽  
Human Robot Interaction ◽  
School Age Children ◽  
Social Relevance ◽  
Robot Interaction ◽  
Cognitive Correlates ◽  
The Social ◽  
The Relationship

Studying trust within human-robot interaction is of great importance given the social relevance of robotic agents in a variety of contexts. We investigated the acquisition, loss and restoration of trust when preschool and school-age children played with either a human or a humanoid robot in-vivo. The relationship between trust and the quality of attachment relationships, Theory of Mind, and executive function skills was also investigated. No differences were found in children’s trust in the play-partner as a function of agency (human or robot). Nevertheless, 3-years-olds showed a trend toward trusting the human more than the robot, while 7-years-olds displayed the reverse behavioral pattern, thus highlighting the developing interplay between affective and cognitive correlates of trust.

scholarly journals Cortical Activity Linked to Clocking in Deaf Adults: fNIRS Insights with Static and Animated Stimuli Presentation

2021 ◽  
Vol 11 (2) ◽  
pp. 196
Author(s):  
Sébastien Laurent ◽  
Laurence Paire-Ficout ◽  
Jean-Michel Boucheix ◽  
Stéphane Argon ◽  
Antonio Hidalgo-Muñoz
Keyword(s):  
Near Infrared ◽  
Brain Activity ◽  
Time Estimation ◽  
Cognitive Effort ◽  
Deaf People ◽  
Vehicle Speed ◽  
Neural Basis ◽  
Functional Near Infrared Spectroscopy ◽  
The Road ◽  
Deaf Adults

The question of the possible impact of deafness on temporal processing remains unanswered. Different findings, based on behavioral measures, show contradictory results. The goal of the present study is to analyze the brain activity underlying time estimation by using functional near infrared spectroscopy (fNIRS) techniques, which allow examination of the frontal, central and occipital cortical areas. A total of 37 participants (19 deaf) were recruited. The experimental task involved processing a road scene to determine whether the driver had time to safely execute a driving task, such as overtaking. The road scenes were presented in animated format, or in sequences of 3 static images showing the beginning, mid-point, and end of a situation. The latter presentation required a clocking mechanism to estimate the time between the samples to evaluate vehicle speed. The results show greater frontal region activity in deaf people, which suggests that more cognitive effort is needed to process these scenes. The central region, which is involved in clocking according to several studies, is particularly activated by the static presentation in deaf people during the estimation of time lapses. Exploration of the occipital region yielded no conclusive results. Our results on the frontal and central regions encourage further study of the neural basis of time processing and its links with auditory capacity.

scholarly journals The relationship between fasting-induced torpor, sleep and waking in laboratory mice

SLEEP ◽  
2021 ◽  
Author(s):  
Yi-Ge Huang ◽  
Sarah J Flaherty ◽  
Carina A Pothecary ◽  
Russell G Foster ◽  
Stuart N Peirson ◽  
...  
Keyword(s):  
Body Temperature ◽  
Rem Sleep ◽  
Brain Activity ◽  
Mammalian Species ◽  
Nrem Sleep ◽  
Laboratory Mice ◽  
State Classification ◽  
Metabolic Suppression ◽  
The Relationship ◽  
Electroencephalogram Eeg

Abstract Study objectives Torpor is a regulated and reversible state of metabolic suppression used by many mammalian species to conserve energy. Whereas the relationship between torpor and sleep has been well-studied in seasonal hibernators, less is known about the effects of fasting-induced torpor on states of vigilance and brain activity in laboratory mice. Methods Continuous monitoring of electroencephalogram (EEG), electromyogram (EMG) and surface body temperature was undertaken in adult, male C57BL/6 mice over consecutive days of scheduled restricted feeding. Results All animals showed bouts of hypothermia that became progressively deeper and longer as fasting progressed. EEG and EMG were markedly affected by hypothermia, although the typical electrophysiological signatures of NREM sleep, REM sleep and wakefulness enabled us to perform vigilance-state classification in all cases. Consistent with previous studies, hypothermic bouts were initiated from a state indistinguishable from NREM sleep, with EEG power decreasing gradually in parallel with decreasing surface body temperature. During deep hypothermia, REM sleep was largely abolished, and we observed shivering-associated intense bursts of muscle activity. Conclusions Our study highlights important similarities between EEG signatures of fasting-induced torpor in mice, daily torpor in Djungarian hamsters and hibernation in seasonally-hibernating species. Future studies are necessary to clarify the effects on fasting-induced torpor on subsequent sleep.

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