CRCNS US-German-Israeli Collaborative Research Proposal: Hierarchical Coordination of Complex Actions

CRCNS 美国-德国-以色列合作研究提案：复杂行动的分层协调

基本信息

批准号：
1723998
负责人：
Dagmar Sternad
金额：
$ 31.99万
依托单位：
Northeastern University
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2017
资助国家：
美国
起止时间：
2017-09-01 至 2022-10-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1723998&HistoricalAwards=false
关键词：
CRCNS US German Israeli Collaborative

项目摘要

There are many arenas where humans outperform machines. For example, when coordinated interaction with the physical environment is needed, humans (and animals) vastly out-perform modern robots. This occurs despite the biological systems having far slower 'hardware' and 'wetware' and much greater complexity than even the most modern robots. This research project seeks to understand the role of complexity in human sensory and motor performance. Human walking under challenging balance conditions will be studied and the use of canes to enhance stability will be included. The investigators emphasis on learning to balance in challenging environments should lead to new rehabilitation therapies (with or without robotic assistance) to aid recovery of balance and walking (e.g., after stroke). The researchers will create educational units suitable for online presentation to K-12 students and will devise exhibits based on their research for the Museum of Science in Boston.The central hypothesis to be tested in this project is that complex movements involving physical interaction with objects are organized as a hierarchy formed of modules or primitives. Experiments will study how unimpaired humans learn to walk on narrow beams. Beams of different roundness will vary the challenge. Hand-held canes will alter the available support (like training wheels on a child's bicycle). Computer simulations combined with machine learning will study the benefits and drawbacks of organization as a hierarchy. New mathematical tools will be developed and tested to see if they enable insightful description of human performance in challenging conditions. The research involves a multinational collaboration among scientists from the U.S., Israel, and Germany, each with complementary expertise. The bridge between experimental and theoretical work and the diverse Principal Investigators will help to attract women into the traditionally male-dominated fields of computational neuroscience, robotics and control engineering.Companion projects are being funded by the Federal Ministry of Education and Research, Germany (BMBF) and the US-Israel Binational Science Foundation (BSF).

在许多领域，人类的表现都优于机器。例如，当需要与物理环境进行协调交互时，人类（和动物）的表现远远优于现代机器人。尽管生物系统的“硬件”和“湿软件”比最现代的机器人慢得多，而且复杂性也高得多，但这种情况还是发生了。该研究项目旨在了解复杂性在人类感觉和运动表现中的作用。将研究人类在具有挑战性的平衡条件下行走，并包括使用手杖来增强稳定性。研究人员强调在具有挑战性的环境中学习平衡应该导致新的康复疗法（有或没有机器人辅助），以帮助恢复平衡和行走（例如中风后）。研究人员将创建适合向 K-12 学生在线演示的教育单元，并将根据他们为波士顿科学博物馆的研究设计展览。该项目要测试的中心假设是，涉及与物体的物理交互的复杂运动是组织为由模块或原语组成的层次结构。实验将研究健康的人类如何学会在窄梁上行走。不同圆度的光束会带来不同的挑战。手持手杖会改变可用的支撑（就像儿童自行车上的辅助轮）。计算机模拟与机器学习相结合将研究层次结构组织的优点和缺点。我们将开发和测试新的数学工具，看看它们是否能够在充满挑战的条件下对人类表现进行富有洞察力的描述。这项研究涉及来自美国、以色列和德国的科学家之间的跨国合作，他们各自拥有互补的专业知识。实验和理论工作以及多元化的首席研究员之间的桥梁将有助于吸引女性进入传统上由男性主导的计算神经科学、机器人和控制工程领域。配套项目由德国联邦教育和研究部 (BMBF) 资助）和美国-以色列两国科学基金会（BSF）。

项目成果

期刊论文数量（11）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Human-inspired balance model to account for foot-beam interaction mechanics

DOI：
10.1109/icra.2019.8793981
发表时间：
2019-01-01
期刊：
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
影响因子：
0
作者：
Lee, Jongwoo;Huber, Meghan E.;Hogan, Neville
通讯作者：
Hogan, Neville

Neural Encoding and Representation of Time for Sensorimotor Control and Learning

DOI：
10.1523/jneurosci.1652-20.2020
发表时间：
2021-02-03
期刊：
JOURNAL OF NEUROSCIENCE
影响因子：
5.3
作者：
Balasubramaniam, Ramesh;Haegens, Saskia;Song, Joo-Hyun
通讯作者：
Song, Joo-Hyun

Robot Controllers Compatible with Human Beam Balancing Behavior

DOI：
10.1109/iros.2018.8593549
发表时间：
2018-01-01
期刊：
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
影响因子：
0
作者：
Lee, Jongwoo;Huber, Meghan E.;Hogan, Neville
通讯作者：
Hogan, Neville

Control of goal-directed movements within (or beyond) reach?

控制目标导向的运动在（或超出）范围内？