scholarly journals Handlebar Robotic System for Bimanual Motor Control and Learning Research

Sensors ◽  
2021 ◽  
Vol 21 (18) ◽  
pp. 5991
Author(s):  
Lucas R. L. Cardoso ◽  
Leonardo M. Pedro ◽  
Arturo Forner-Cordero
Keyword(s):  
Motor Control ◽  
Motor Learning ◽  
Impedance Control ◽  
Human Interaction ◽  
Unexpected Result ◽  
Dominant Hand ◽  
Movement Velocity ◽  
Bimanual Task ◽  
Learning Research ◽  
Robotic Devices

Robotic devices can be used for motor control and learning research. In this work, we present the construction, modeling and experimental validation of a bimanual robotic device. We tested some hypotheses that may help to better understand the motor learning processes involved in the interlimb coordination function. The system emulates a bicycle handlebar with rotational motion, thus requiring bilateral upper limb control and a coordinated sequence of joint sub-movements. The robotic handlebar is compact and portable and can register in a fast rate both position and forces independently from arms, including prehension forces. An impedance control system was implemented in order to promote a safer environment for human interaction and the system is able to generate force fields, suitable for implementing motor learning paradigms. The novelty of the system is the decoupling of prehension and manipulation forces of each hand, thus paving the way for the investigation of hand dominance function in a bimanual task. Experiments were conducted with ten healthy subjects, kinematic and dynamic variables were measured during a rotational set of movements. Statistical analyses showed that movement velocity decreased with practice along with an increase in reaction time. This suggests an increase of the task planning time. Prehension force decreased with practice. However, an unexpected result was that the dominant hand did not lead the bimanual task, but helped to correct the movement, suggesting different roles for each hand during a cooperative bimanual task.

scholarly journals Human-machine-human interaction in motor control and rehabilitation: a review

2021 ◽  
Vol 18 (1) ◽  
Author(s):  
Emek Barış Küçüktabak ◽  
Sangjoon J. Kim ◽  
Yue Wen ◽  
Kevin Lynch ◽  
Jose L. Pons
Keyword(s):  
Motor Control ◽  
Motor Learning ◽  
Task Performance ◽  
Human Interaction ◽  
Future Research ◽  
Physical Interaction ◽  
Interaction Type ◽  
Partner Characteristics ◽  
The Impact ◽  
Individual Motor

Abstract Background Human-human (HH) interaction mediated by machines (e.g., robots or passive sensorized devices), which we call human-machine-human (HMH) interaction, has been studied with increasing interest in the last decade. The use of machines allows the implementation of different forms of audiovisual and/or physical interaction in dyadic tasks. HMH interaction between two partners can improve the dyad’s ability to accomplish a joint motor task (task performance) beyond either partner’s ability to perform the task solo. It can also be used to more efficiently train an individual to improve their solo task performance (individual motor learning). We review recent research on the impact of HMH interaction on task performance and individual motor learning in the context of motor control and rehabilitation, and we propose future research directions in this area. Methods A systematic search was performed on the Scopus, IEEE Xplore, and PubMed databases. The search query was designed to find studies that involve HMH interaction in motor control and rehabilitation settings. Studies that do not investigate the effect of changing the interaction conditions were filtered out. Thirty-one studies met our inclusion criteria and were used in the qualitative synthesis. Results Studies are analyzed based on their results related to the effects of interaction type (e.g., audiovisual communication and/or physical interaction), interaction mode (collaborative, cooperative, co-active, and competitive), and partner characteristics. Visuo-physical interaction generally results in better dyadic task performance than visual interaction alone. In cases where the physical interaction between humans is described by a spring, there are conflicting results as to the effect of the stiffness of the spring. In terms of partner characteristics, having a more skilled partner improves dyadic task performance more than having a less skilled partner. However, conflicting results were observed in terms of individual motor learning. Conclusions Although it is difficult to draw clear conclusions as to which interaction type, mode, or partner characteristic may lead to optimal task performance or individual motor learning, these results show the possibility for improved outcomes through HMH interaction. Future work that focuses on selecting the optimal personalized interaction conditions and exploring their impact on rehabilitation settings may facilitate the transition of HMH training protocols to clinical implementations.

OnPoint: A package for online experiments in motor control and motor learning

2020 ◽  
Author(s):  
Jonathan Sanching Tsay ◽  
Alan S. Lee ◽  
Guy Avraham ◽  
Darius E. Parvin ◽  
Jeremy Ho ◽  
...  
Keyword(s):  
Motor Control ◽  
Motor Learning ◽  
Open Source Software ◽  
Research Progress ◽  
Global Pandemic ◽  
Large N ◽  
Open Source Software Package ◽  
Potential Applications ◽  
Temporal And Spatial ◽  
The One

Motor learning experiments are typically run in-person, exploiting finely calibrated setups (digitizing tablets, robotic manipulandum, full VR displays) that provide high temporal and spatial resolution. However, these experiments come at a cost, not limited to the one-time expense of purchasing equipment but also the substantial time devoted to recruiting participants and administering the experiment. Moreover, exceptional circumstances that limit in-person testing, such as a global pandemic, may halt research progress. These limitations of in-person motor learning research have motivated the design of OnPoint, an open-source software package for motor control and motor learning researchers. As with all online studies, OnPoint offers an opportunity to conduct large-N motor learning studies, with potential applications to do faster pilot testing, replicate previous findings, and conduct longitudinal studies (GitHub repository: https://github.com/alan-s-lee/OnPoint).

scholarly journals A Human-Inspired Control Strategy for Improving Seamless Robot-To-Human Handovers

2021 ◽  
Vol 11 (10) ◽  
pp. 4437
Author(s):  
Paramin Neranon ◽  
Tanapong Sutiphotinun
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Impedance Control ◽  
Human Interaction ◽  
Robotic Control ◽  
Natural Manner ◽  
Object Handover ◽  
Overall Performance ◽  
Survey Responses ◽  
Test Outcomes

One of the challenging aspects of robotics research is to successfully establish a human-like behavioural control strategy for human–robot handover, since a robotic controller is further complicated by the dynamic nature of the human response. This paper consequently highlights the development of an appropriate set of behaviour-based control for robot-to-human object handover by first understanding an equivalent human–human handover. The optimized hybrid position and impedance control was implemented to ensure good stability, adaptability and comfort of the robot in the object handover tasks. Moreover, a questionnaire technique was employed to gather information from the participants concerning their evaluations of the developed control system. The results demonstrate that the quantitative measurement of performance of the human-inspired control strategy can be considered acceptable for seamless human–robot handovers. This also provided significant satisfaction with the overall control performance in the robotic control system, in which the robot can dexterously pass the object to the receiver in a timely and natural manner without the risk of harm or injury by the robot. Furthermore, the survey responses were in agreement with the parallel test outcomes, demonstrating significant satisfaction with the overall performance of the robot–human interaction, as measured by an average rating of 4.20 on a five-point scale.

Motor Subcircuits Mediating the Control of Movement Velocity: A PET Study

1998 ◽  
Vol 80 (4) ◽  
pp. 2162-2176 ◽  
Author(s):  
Robert S. Turner ◽  
Scott T. Grafton ◽  
John R. Votaw ◽  
Mahlon R. Delong ◽  
John M. Hoffman
Keyword(s):  
Motor Control ◽  
Basal Ganglia ◽  
Right Hemisphere ◽  
Movement Velocity ◽  
Rate Effects ◽  
Regression Slopes ◽  
The Right ◽  
Parietal Cortices ◽  
Linear Contrasts ◽  
Rate Of Movement

Turner, Robert S., Scott T. Grafton, John R. Votaw, Mahlon R. DeLong, and John M. Hoffman. Motor subcircuits mediating the control of movement velocity: a PET study. J. Neurophysiol. 80: 2162–2176, 1998. The influence of changes in the mean velocity of movement on regional cerebral blood flow (rCBF) was studied using positron emission tomography (PET) in nine healthy right-handed adults while they performed a smooth pursuit visuomanual tracking task. Images of relative rCBF were obtained while subjects moved a hand-held joystick to track the movement of a target at three different rates of a sinusoidal displacement (0.1, 0.4, and 0.7 Hz). Significant changes in rCBF between task conditions were detected using analysis of variance and weighted linear contrasts. The kinematics of arm and eye movements indicated that subjects performed tasks in a similar manner, particularly during the faster two tracking conditions. Significant increases in rCBF during arm movement (relative to an eye tracking only control condition) were detected in a widespread network of areas known for their involvement in motor control. The activated areas included primary sensorimotor (M1S1), dorsal and mesial premotor, and dorsal parietal cortices in the left hemisphere and to a lesser extent the sensorimotor and superior parietal cortices in the right hemisphere. Subcortically, activations were found in the left putamen, globus pallidus (GP), and thalamus, in the right basal ganglia, and in the right anterior cerebellum. Within the cerebral volume activated with movement, three areas had changes in rCBF that correlated positively with the rate of movement: left M1S1, left GP, and right anterior cerebellum. No movement-related sites had rCBF that correlated negatively with the rate of movement. Regressions of mean percent change (MPC) in rCBF onto mean hand velocity yielded two nonoverlapping subpopulations of movement-related loci, the three sites with significant rate effects and regression slopes steeper than 0.17 MPC⋅cm−1⋅s−1 and all other sites with nonsignificant rate effects and regression slopes below 0.1 MPC⋅cm−1⋅s−1. Moreover, the effects of movement per se and of movement velocity varied in magnitude independently. These results confirm previous reports that movement-related activations of M1S1 and cerebellum are sensitive to movement frequency or some covarying parameter of movement. The activation of GP with increasing movement velocity, not described in previous functional-imaging studies, supports the hypothesis that the basal ganglia motor circuit may be involved preferentially in controlling or monitoring the scale and/or dynamics of arm movements. The remaining areas that were activated equally for all movement rates may be involved in controlling higher level aspects of motor control that are independent of movement dynamics.

scholarly journals Controlling of a ROS-based robotic system in accordance to the assist-as-needed principle in end-effector based rehabilitation systems

2018 ◽  
Vol 4 (1) ◽  
pp. 199-202
Author(s):  
Sebastian Becker ◽  
Wiebke Hinterlang ◽  
Tim Eschert ◽  
Catherine Disselhorst-Klug
Keyword(s):  
Impedance Control ◽  
Proximal Part ◽  
The Elderly ◽  
Subjective Assessment ◽  
Robot Kinematics ◽  
Robotic Rehabilitation ◽  
End Effector ◽  
3 Dimensional ◽  
The Central Nervous System ◽  
Robotic Devices

AbstractStroke is one of the most frequent diseases among the elderly and often leads to an ongoing failure of functions in the central nervous system. Due to the plasticity of the brain affected may regain lost motor function by repetitive training. Robotic devices can be an approach to accelerate the rehabilitation process by maximizing patients’ training intensity. End-effector based robotic systems are particularly suitable for this purpose and often an advantage over exoskeletons since the proximal part of the upper limb remains under the control of the patient. Furthermore, the integration of the assistas- needed principle (AAN) into these devices enables individualized, adaptable robotic support to patients during therapy. In this study an end-effector based robotic rehabilitation device based on the Robot Operating System (ROS) framework is introduced. The system allows patients to perform 3- dimensional movements without a therapist’s assistance. With regard to the AAN, focus was based on impedance control and an additional real-time adaption of the impedance control parameters by using a feedback loop. 10 healthy subjects took part in this study to evaluate the overall concept with regard to usability and quality of the supported movement. Hence, the three most promising adaption models of AAN (without adaption, adaption according to position and time, adaption according to velocity) under three different levels of movement support (0%, 50%, 100%) were investigated by administering a self-designed questionnaire and the robot kinematics. The results showed no significant differences between the three different adaption models of AAN. However, the subjective assessment of the movements was in keeping with robot kinematics and the control approaches as well as the overall system have experienced remarkable support.

Contemporary issues and theories of motor control, motor learning, and neuroplasticity

2013 ◽  
pp. 69-98 ◽  
Author(s):  
MARGARET L. ROLLER ◽  
ROLANDO T. LAZARO ◽  
NANCY N. BYL ◽  
DARCY A. UMPHRED
Keyword(s):  
Motor Control ◽  
Motor Learning
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