Pfeifer
Fakultäten » Wirtschaftswissenschaftliche Fakultät » Informatik, Institut für » Prof. Dr. Rolf Pfeifer » Pfeifer
Completed research project
| Title / Titel | Dynamical Coupling in Motor-Sensory Function Substitution | ||||||
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| Abstract (PDF, 14 KB) | |||||||
| Summary / Zusammenfassung | Background: One of the major scientific insights from our research at the Artificial Intelligence Laboratory over the last decade or so, has been that the dynamical interaction between an embodied system -a human or a robot -and its environment is of fundamental importance für the emergence of intelligent behavior. Moreover, behavior cannot be understood by focusing on the brain (or the controller) exclusively, hut morphological aspects, such as, shape, type and arrangement of sensors and actuators on the body, as weIl as material properties must be taken into account. These ideas have been applied successfu1ly in different types of robots für the acquisition of sensorimotor functions, such as walking and running. During the Eu'ropean projects: ADAPT (IST 2001-37173) and ROBOTCUB (IST-004370) we have been using a tendon driven anthropomorphic robotic band with interesting dynamics and various sensory capabilities to explore reaching, grasping, manipulation, and learning. This band has been developed by our collaborators in Japan. They also devised an online learning method für the control of the band via electromyography (EMG), so that it can be used as a prosthetic device für substituting motor and sensory functions of amputees. While the initial experiments with patients are highly promising, patients still experience the band as external to them. However, the ultimate goal of function substitution is to build assistive devices that could be used and feIt by the amputee as a part of their own body. Achieving this goal requires -and this is the mall hypothesis underlying this proposal -motions that are the result of the smooth cooperation of the assistive device and its human user. This in turn requires proper sensory feedback to the controller and to the human being. So that füll dynamical coupling can be achieved. Goal: The goal of this proposal is the development of a prosthetic band für motor-sensory function substitution which is dynamically coupled to an amputee's sensor and motor control system. The band will be based on EMG signals and various types of sensory feedback. By carefu1ly investigating human tipper limb dynamics and by taking into account morphological and material properties of assistive devices we hope to develop a scheme by which patients quickly learn to control the band with less and less cognitive awareness by the user. We believe that, as a consequence, patients will also integrate the band into their body schema and accept it as part of their own. Project summary: Given the fact that, long training and habituation periods are among the major reasons why patients get frustrated and lose motivation, it is crucial that there be methods für reducing this time-spaß. Towards this goal we propose to develop a method called dynamical coupling. We will proceed in three stages: (a) investigation of the general sensorimotor characteristics of humans and their replication on an existing robot shoulder-arm-band device. This will require the systematic exploration of morphological and material properties of the device so that it can be optima1ly tuned to its task- environment; (b) development of an interaction-based adaptation method to enable the dynamical coupling, based on the results from the previous stage; (c) realization of the prosthetic band control system that uses EMG and kinematic signals für forward control and bio-sensory stimulation für feedback control. The evaluation then will be performed to the integrated prosthetic band system. Importance: We hope this research will improve significantly the quality of activities of daily living (ADL) für disabled people by generally improving the utility of assistive devices. The proposed research could have a major impact on the fields of prosthetics and rehabilitation. Moreover, we expect a transfer of the insights gained to the fields of motor control (in neuroscience), designing band-arm-shoulder systems (in robotics), and body schema (in artificial intelligence and cognitive science). |
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| Publications / Publikationen | Hiroshi Yokoi, Kaori Kita, Tatuhiro Nakamura, Ryu Kato, Alejandro Hernandez, Tamio Arai, Katsunori Ikoma, Tamaki Miyamoto, Hitoshi Makino, Takeya Ito (2009). Mutually Adaptable EMG Devices for Prosthetic Hand, International Journal of Factory Automation, Robotics and Soft Computing ISSN 1828 – 6984.Ryu, K., Hiroshi, Y., Hernandez-Arieta, A., Yu, W., Arai, T. (2009). Mutual Adaptation among Man and Machine by using f-MRI analysis. Robotics and Autonomous Systems, Vol. 57, Issue 2, ISSM: 0921-8890, pp: 161-166.W. Yu, J. V. Gonzalez, Y. Ikemoto, C. Murai, B. Yuan, R. Acharya, A. Hernandez Arieta, H Yokoi, (2009). Functional Electrical Stimulation for Daily Walking Assist, in Distributed Diagnosis and Home Healthcare, ed. R. Acharya, et. al., American Scientific Publisher. | ||||||
| Keywords / Suchbegriffe | Prosthetic band, bio-sensory feedback, limb dynamics, morphological computation, skill acquisition, mutual adaptation, plasticity of internal model, self-action related sensorization | ||||||
| Project leadership and contacts / Projektleitung und Kontakte |
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| Funding source(s) / Unterstützt durch |
SNF (Personen- und Projektförderung) |
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| In collaboration with / In Zusammenarbeit mit |
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| Duration of Project / Projektdauer | Oct 2007 to Sep 2010 |