Morphological computation of perception and action

感知和行动的形态学计算

• 批准号: EP/N03211X/2
• 负责人: Thrishantha Nanayakkara
• 金额: $ 33.53万
• 依托单位: Imperial College London
• 依托单位国家: 英国
• 项目类别: Research Grant
• 财政年份: 2017
• 资助国家: 英国
• 起止时间: 2017 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=EP%2FN03211X%2F2
• 关键词: Morphological; computation; perception; action

Living beings share the same embodiment for sensing and action. For instance, the spindle sensors that provide the feeling of a joint angle and speed are embedded on the muscles that actuate this joint. The tendon sensors that provide the feeling of force too are directly involved in actuation of the joint. Do the function of these sensors change when the muscles are activated to take action? Does the co-activation of antagonistic muscles play a role not only in actuation, but also in perception? This project will investigate these questions through targeted experiments with human participants and controllable stiffness soft robots that provide greater access to internal variables. Recent experiments we have conducted on localising hard nodules in soft tissues using soft robotic probes have shown that tuning the stiffness of the probe can maximise information gain of perceiving the hard nodule. We have also noticed that human participants use distinct force-velocity modulation strategies in the same task of localising a hard nodule in a soft tissue using the index finger. This raises the question as to whether we can find quantitative criteria to control the internal impedance of a soft robotic probe to maximise the efficacy of manipulating a soft object to perceive its hidden properties like in physical examination of a patient's abdomen. In this project, we will thus use carefully designed probing tasks done by both human participants and a soft robotic probe with controllable stiffness to access various levels of measurable information such as muscle co-contraction, change of speed and force, to test several hypotheses about the role of internal impedance in perception and action. Finally, we will use a human-robot collaborative physical examination task to test the effectiveness of a new soft robotic probe with controllable stiffness together with its stiffness and behaviour control algorithms. We will design and fabricate the novel soft robotic probe so that we can control the stiffness of its soft tissue in which sensors will be embedded to obtain embodied haptic perception. We will also design and fabricate a novel soft abdomen phantom with controllable stiffness internal organs to conduct palpation experiments. The innovation process of the above two designs - the novel probe and the abdomen phantom - will be done in collaboration with three leading industrial partners in the respective areas. The new insights will make a paradigm shift in the way we design soft robots that can share the controllable stiffness embodiment for both perception and action in a number of applications like remote medical interventions, robotic proxies in shopping, disaster response, games, museums, security screening, and manufacturing.

生物共享相同的传感和动作实施例。例如，提供关节角度和速度感觉的主轴传感器嵌入在启动该关节的肌肉上。提供力感觉的肌腱传感器也直接参与了关节的致动。当激活肌肉以采取行动时，这些传感器的功能会发生变化吗？拮抗肌肉的共同激活不仅在致动，而且在感知中起作用吗？该项目将通过针对人类参与者的针对性实验和可控的刚度软机器人来调查这些问题，从而为内部变量提供更大的访问。我们最近使用软机器人探针在软组织中进行局部硬结节进行的实验表明，调整探针的刚度可以最大程度地提高感知硬结节的信息获得。我们还注意到，人类参与者在使用食指在软组织中定位硬结节的同一任务中使用了不同的力 - 速度调制策略。这就提出了一个问题，即我们是否可以找到定量标准来控制软机器人探测器的内部阻抗，以最大程度地发挥操纵软对象来感知其隐藏特性的功效，例如对患者的腹部进行身体检查。在这个项目中，我们将使用人参与者完成精心设计的探测任务和具有可控刚度的软机器人探测器，以访问各种可测量的信息，例如肌肉共同取回，速度和力量的变化，以测试有关几个关于关于的假设的假设。内部阻抗在感知和行动中的作用。最后，我们将使用人类机器人协作的身体检查任务来测试具有可控刚度的新软机器人探针以及其刚度和行为控制算法的有效性。我们将设计和制造新型的软机器人探针，以便我们可以控制其软组织的刚度，其中传感器将嵌入以获得体现的触觉感知。我们还将设计和制造具有可控刚度内部器官的新型软腹部幻影，以进行触诊实验。上述两种设计的创新过程 - 新颖的探针和腹部幻影 - 将与各个地区的三个主要工业伙伴合作完成。新的见解将使我们设计软机器人的方式进行范式转变，该机器人可以在许多应用程序，远程医疗干预措施，购物中的机器人代理，灾难响应，游戏，博物馆，安全，安全，安全性，安全性，安全性，安全性，安全性，安全性，安全性，安全性，安全性，安全性，安全性，安全性，安全性，安全性，安全性，安全性，安全性，安全性，安全性，安全性，博物馆，安全性，筛选和制造。

项目成果

Author Correction: Adapting the visuo-haptic perception through muscle coactivation.

• DOI: 10.1038/s41598-022-23215-8
• 发表时间: 2022-11-02
• 期刊: Scientific reports
• 影响因子: 4.6

The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands

• DOI: 10.1109/tsmc.2016.2531679
• 发表时间: 2017-07
• 期刊: IEEE Transactions on Systems, Man, and Cybernetics: Systems
• 作者: Giuseppe Cotugno;K. Althoefer;T. Nanayakkara

Modelling the structure of object-independent human affordances of approaching to grasp for robotic hands.

对机器人手接近抓取的独立于对象的人类可供性结构进行建模。

• DOI: 10.1371/journal.pone.0208228
• 发表时间: 2018
• 期刊: PloS one
• 影响因子: 3.7
• 作者: Cotugno G

Origami Inspired Design for Capsule Endoscope to Retrograde Using Intestinal Peristalsis

受折纸启发的胶囊内窥镜利用肠道蠕动逆行的设计

• DOI: 10.1109/lra.2022.3157406
• 发表时间: 2022
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Ge Y

A State-Dependent Damping Method to Reduce Collision Force and Its Variability

一种减少碰撞力的状态相关阻尼方法及其变异性

• DOI: 10.1109/lra.2021.3062307
• 发表时间: 2021
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: Hamid E