NSF/SBE-BSF:Integration of kinesthetic and tactile information in perception, action, and learning

NSF/SBE-BSF：感知、行动和学习中动觉和触觉信息的整合

基本信息

批准号：
1632259
负责人：
Ferdinando Mussa-Ivaldi
金额：
$ 47.57万
依托单位：
Rehabilitation Institute of Chicago
依托单位国家：
美国
项目类别：
Continuing Grant
财政年份：
2016
资助国家：
美国
起止时间：
2016-09-15 至 2021-08-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1632259&HistoricalAwards=false
关键词：
NSF SBE BSF Integration kinesthetic

项目摘要

Simple acts such as opening a jar or lighting a match depend on the ability to grasp objects with different shapes and to apply well-regulated forces and movements in different directions. When we hold a glass of water, the forces applied by the fingers are directed against the surface of the glass, and our brain coordinates these forces to prevent slippage and maintain the orientation of the glass. The planned studies will combine computational methods derived from control engineering and robotics with techniques and theories from neuroscience to understand how the brain controls grip forces when lifting and manipulating objects and how it estimates an object's mechanical properties. The investigations will consider how grasping an object is affected by uncertainties about the object properties (e.g., it's hardness, slipperiness, texture, etc) and how fundamental manipulation skills may be enhanced by artificially augmenting tactile information. The outcomes of these studies will influence several domains including (1) neuroscience (understanding our ability to control and manipulate objects with our hands); (2) technology (for presenting force information to users of robotic devices such as teleoperation and robot-assisted surgery); and (3) neurorehabilitation (for developing intelligent robotic prostheses and new exercises to promote the recovery of lost manual skills). These studies will establish a collaborative interaction between scientists in the United States and Israel having a range of expertise that includes robotics, control, motor systems neuroscience and neurorehabilitation.Getting the fingers to cooperate during dexterous manipulation requires the integration of different types of information. The fingers have a rich array of tactile sensors that generate signals related to the interaction with the object. However, for the brain to know the magnitude and direction of these forces, it must also know the orientation of the fingers in space. This information is obtained by other sources that form the basis for the sense of position of the body in space. The control of grasp can also be informed by kinesthetic force sensors in the muscles that in turn are integrated with the sense of the joint's configuration in space. This project takes advantage of a new technology that allows applying controlled stretches to the skin of the fingers. Skin stretch devices mounted on a robotic manipulator will be used to apply a variety of controlled perturbations while subjects are performing manipulation tasks. Perturbations will be applied to increase or decrease the consistency between tactile and kinesthetic feedback, and to investigate how the brain adapts the ability to maintain a stable grasp during both unpredictable and predictable forces. The approach will combine theory and experiments to tackle the integration of multiple information sources in perception and in controlling manipulation and grip forces.This project is being supported by a partnership between the National Science Foundation and the U.S.-Israel Binational Science Foundation.

打开罐子或点燃火柴等简单动作取决于抓住不同形状的物体以及在不同方向上施加良好调节的力和运动的能力。当我们拿着一杯水时，手指施加的力直接作用在玻璃表面上，我们的大脑协调这些力以防止滑动并保持玻璃的方向。计划中的研究将把来自控制工程和机器人学的计算方法与来自神经科学的技术和理论结合起来，以了解大脑在举起和操纵物体时如何控制握力，以及如何估计物体的机械特性。研究将考虑物体属性的不确定性（例如硬度、光滑度、纹理等）如何影响抓取物体，以及如何通过人为增强触觉信息来增强基本操作技能。这些研究的结果将影响多个领域，包括（1）神经科学（了解我们用手控制和操纵物体的能力）；（2）技术（向远程操作和机器人辅助手术等机器人设备的用户呈现力信息）； (3) 神经康复（开发智能机器人假肢和新练习，以促进丧失的手工技能的恢复）。这些研究将在美国和以色列拥有机器人、控制、运动系统神经科学和神经康复等一系列专业知识的科学家之间建立协作互动。在灵巧的操作过程中让手指配合需要整合不同类型的信息。手指有丰富的触觉传感器，可以生成与物体交互相关的信号。然而，为了让大脑知道这些力的大小和方向，它还必须知道手指在空间中的方向。该信息是通过其他来源获得的，这些来源构成了身体在空间中的位置感的基础。抓握的控制也可以通过肌肉中的动觉力传感器来通知，而这些传感器又与关节在空间中的配置的感觉相结合。该项目利用了一项新技术，可以对手指皮肤进行受控拉伸。安装在机器人操纵器上的皮肤拉伸装置将用于在受试者执行操纵任务时施加各种受控扰动。扰动将用于增加或减少触觉和动觉反馈之间的一致性，并研究大脑如何适应在不可预测和可预测的力下保持稳定抓握的能力。该方法将结合理论和实验，以解决感知以及控制操纵和握力方面的多个信息源的整合问题。该项目得到了美国国家科学基金会和美国-以色列两国科学基金会之间合作伙伴关系的支持。

项目成果

期刊论文数量（8）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Testing the Ability to Represent and Control a Contact Force.

测试表示和控制接触力的能力。

DOI：
10.1007/978-3-030-01845-0_159
发表时间：
2018-10
期刊：
Converging Clinical and Engineering Research on Neurorehabilitation III. ICNR 2018. Biosystems & Biorobotics
影响因子：
0
作者：
Galofaro, E.;Scheidt, R.A.;Mussa;Casadio, M.
通讯作者：
Casadio, M.

Stretching the skin immediately enhances perceived stiffness and gradually enhances the predictive control of grip force

拉伸皮肤立即增强感知僵硬并逐渐增强握力的预测控制