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Frontiers in Neurorobotics

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https://www.readbyqxmd.com/read/28223931/a-computational-model-for-spatial-navigation-based-on-reference-frames-in-the-hippocampus-retrosplenial-cortex-and-posterior-parietal-cortex
#1
Timo Oess, Jeffrey L Krichmar, Florian Röhrbein
Behavioral studies for humans, monkeys, and rats have shown that, while traversing an environment, these mammals tend to use different frames of reference and frequently switch between them. These frames represent allocentric, egocentric, or route-centric views of the environment. However, combinations of either of them are often deployed. Neurophysiological studies on rats have indicated that the hippocampus, the retrosplenial cortex, and the posterior parietal cortex contribute to the formation of these frames and mediate the transformation between those...
2017: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/28217092/neurodynamics-in-the-sensorimotor-loop-representing-behavior-relevant-external-situations
#2
Frank Pasemann
In the context of the dynamical system approach to cognition and supposing that brains or brain-like systems controlling the behavior of autonomous systems are permanently driven by their sensor signals, the paper approaches the question of neurodynamics in the sensorimotor loop in a purely formal way. This is carefully done by addressing the problem in three steps, using the time-discrete dynamics of standard neural networks and a fiber space representation for better clearness. Furthermore, concepts like meta-transients, parametric stability and dynamical forms are introduced, where meta-transients describe the effect of realistic sensor inputs, parametric stability refers to a class of sensor inputs all generating the "same type" of dynamic behavior, and a dynamical form comprises the corresponding class of parametrized dynamical systems...
2017: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/28194106/reacog-a-minimal-cognitive-controller-based-on-recruitment-of-reactive-systems
#3
Malte Schilling, Holk Cruse
It has often been stated that for a neuronal system to become a cognitive one, it has to be large enough. In contrast, we argue that a basic property of a cognitive system, namely the ability to plan ahead, can already be fulfilled by small neuronal systems. As a proof of concept, we propose an artificial neural network, termed reaCog, that, first, is able to deal with a specific domain of behavior (six-legged-walking). Second, we show how a minor expansion of this system enables the system to plan ahead and deploy existing behavioral elements in novel contexts in order to solve current problems...
2017: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/28179882/connecting-artificial-brains-to-robots-in-a-comprehensive-simulation-framework-the-neurorobotics-platform
#4
Egidio Falotico, Lorenzo Vannucci, Alessandro Ambrosano, Ugo Albanese, Stefan Ulbrich, Juan Camilo Vasquez Tieck, Georg Hinkel, Jacques Kaiser, Igor Peric, Oliver Denninger, Nino Cauli, Murat Kirtay, Arne Roennau, Gudrun Klinker, Axel Von Arnim, Luc Guyot, Daniel Peppicelli, Pablo Martínez-Cañada, Eduardo Ros, Patrick Maier, Sandro Weber, Manuel Huber, David Plecher, Florian Röhrbein, Stefan Deser, Alina Roitberg, Patrick van der Smagt, Rüdiger Dillman, Paul Levi, Cecilia Laschi, Alois C Knoll, Marc-Oliver Gewaltig
Combined efforts in the fields of neuroscience, computer science, and biology allowed to design biologically realistic models of the brain based on spiking neural networks. For a proper validation of these models, an embodiment in a dynamic and rich sensory environment, where the model is exposed to a realistic sensory-motor task, is needed. Due to the complexity of these brain models that, at the current stage, cannot deal with real-time constraints, it is not possible to embed them into a real-world task...
2017: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/28167910/adaptive-baseline-enhances-em-based-policy-search-validation-in-a-view-based-positioning-task-of-a-smartphone-balancer
#5
Jiexin Wang, Eiji Uchibe, Kenji Doya
EM-based policy search methods estimate a lower bound of the expected return from the histories of episodes and iteratively update the policy parameters using the maximum of a lower bound of expected return, which makes gradient calculation and learning rate tuning unnecessary. Previous algorithms like Policy learning by Weighting Exploration with the Returns, Fitness Expectation Maximization, and EM-based Policy Hyperparameter Exploration implemented the mechanisms to discard useless low-return episodes either implicitly or using a fixed baseline determined by the experimenter...
2017: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/28066228/is-the-prosthetic-homologue-necessary-for-embodiment
#6
Chelsea Dornfeld, Michelle Swanston, Joseph Cassella, Casey Beasley, Jacob Green, Yonatan Moshayev, Michael Wininger
Embodiment is the process by which patients with limb loss come to accept their peripheral device as a natural extension of self. However, there is little guidance as to how exacting the prosthesis must be in order for embodiment to take place: is it necessary for the prosthetic hand to look just like the absent hand? Here, we describe a protocol for testing whether an individual would select a hand that looks like their own from among a selection of five hands, and whether the hand selection (regardless of homology) is consistent across multiple exposures to the same (but reordered) set of candidate hands...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27999538/robotic-and-virtual-reality-bcis-using-spatial-tactile-and-auditory-oddball-paradigms
#7
REVIEW
Tomasz M Rutkowski
The paper reviews nine robotic and virtual reality (VR) brain-computer interface (BCI) projects developed by the author, in collaboration with his graduate students, within the BCI-lab research group during its association with University of Tsukuba, Japan. The nine novel approaches are discussed in applications to direct brain-robot and brain-virtual-reality-agent control interfaces using tactile and auditory BCI technologies. The BCI user intentions are decoded from the brainwaves in realtime using a non-invasive electroencephalography (EEG) and they are translated to a symbiotic robot or virtual reality agent thought-based only control...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27965567/biomechanical-reconstruction-using-the-tacit-learning-system-intuitive-control-of-prosthetic-hand-rotation
#8
Shintaro Oyama, Shingo Shimoda, Fady S K Alnajjar, Katsuyuki Iwatsuki, Minoru Hoshiyama, Hirotaka Tanaka, Hitoshi Hirata
Background: For mechanically reconstructing human biomechanical function, intuitive proportional control, and robustness to unexpected situations are required. Particularly, creating a functional hand prosthesis is a typical challenge in the reconstruction of lost biomechanical function. Nevertheless, currently available control algorithms are in the development phase. The most advanced algorithms for controlling multifunctional prosthesis are machine learning and pattern recognition of myoelectric signals...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27909406/assessment-of-a-wearable-force-and-electromyography-device-and-comparison-of-the-related-signals-for-myocontrol
#9
Mathilde Connan, Eduardo Ruiz Ramírez, Bernhard Vodermayer, Claudio Castellini
In the frame of assistive robotics, multi-finger prosthetic hand/wrists have recently appeared, offering an increasing level of dexterity; however, in practice their control is limited to a few hand grips and still unreliable, with the effect that pattern recognition has not yet appeared in the clinical environment. According to the scientific community, one of the keys to improve the situation is multi-modal sensing, i.e., using diverse sensor modalities to interpret the subject's intent and improve the reliability and safety of the control system in daily life activities...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27895574/robot-assisted-rehabilitation-of-ankle-plantar-flexors-spasticity-a-3-month-study-with-proprioceptive-neuromuscular-facilitation
#10
Zhihao Zhou, Yao Sun, Ninghua Wang, Fan Gao, Kunlin Wei, Qining Wang
In this paper, we aim to investigate the effect of proprioceptive neuromuscular facilitation (PNF)-based rehabilitation for ankle plantar flexors spasticity by using a Robotic Ankle-foot Rehabilitation System (RARS). A modified robot-assisted system was proposed, and seven poststroke patients with hemiplegic spastic ankles participated in a 3-month robotic PNF training. Their impaired sides were used as the experimental group, while their unimpaired sides as the control group. A robotic intervention for the experimental group started from a 2-min passive stretching to warming-up or relaxing the soleus and gastrocnemius muscles and also ended with the same one...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27891088/an-emg-interface-for-the-control-of-motion-and-compliance-of-a-supernumerary-robotic-finger
#11
Irfan Hussain, Giovanni Spagnoletti, Gionata Salvietti, Domenico Prattichizzo
In this paper, we propose a novel electromyographic (EMG) control interface to control motion and joints compliance of a supernumerary robotic finger. The supernumerary robotic fingers are a recently introduced class of wearable robotics that provides users additional robotic limbs in order to compensate or augment the existing abilities of natural limbs without substituting them. Since supernumerary robotic fingers are supposed to closely interact and perform actions in synergy with the human limbs, the control principles of extra finger should have similar behavior as human's ones including the ability of regulating the compliance...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27853431/developing-dynamic-field-theory-architectures-for-embodied-cognitive-systems-with-cedar
#12
Oliver Lomp, Mathis Richter, Stephan K U Zibner, Gregor Schöner
Embodied artificial cognitive systems, such as autonomous robots or intelligent observers, connect cognitive processes to sensory and effector systems in real time. Prime candidates for such embodied intelligence are neurally inspired architectures. While components such as forward neural networks are well established, designing pervasively autonomous neural architectures remains a challenge. This includes the problem of tuning the parameters of such architectures so that they deliver specified functionality under variable environmental conditions and retain these functions as the architectures are expanded...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27807418/evaluating-emg-feature-and-classifier-selection-for-application-to-partial-hand-prosthesis-control
#13
Adenike A Adewuyi, Levi J Hargrove, Todd A Kuiken
Pattern recognition-based myoelectric control of upper-limb prostheses has the potential to restore control of multiple degrees of freedom. Though this control method has been extensively studied in individuals with higher-level amputations, few studies have investigated its effectiveness for individuals with partial-hand amputations. Most partial-hand amputees retain a functional wrist and the ability of pattern recognition-based methods to correctly classify hand motions from different wrist positions is not well studied...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27807417/wrist-proprioception-amplitude-or-position-coding
#14
Francesca Marini, Valentina Squeri, Pietro Morasso, Lorenzo Masia
This work examines physiological mechanisms underlying the position sense of the wrist, namely, the codification of proprioceptive information related to pointing movements of the wrist toward kinesthetic targets. Twenty-four healthy subjects participated to a robot-aided assessment of their wrist proprioceptive acuity to investigate if the sensorimotor transformation involved in matching targets located by proprioceptive receptors relies on amplitude or positional cues. A joint position matching test was performed in order to explore such dichotomy...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27803661/closed-loop-robots-driven-by-short-term-synaptic-plasticity-emergent-explorative-vs-limit-cycle-locomotion
#15
Laura Martin, Bulcsú Sándor, Claudius Gros
We examine the hypothesis, that short-term synaptic plasticity (STSP) may generate self-organized motor patterns. We simulated sphere-shaped autonomous robots, within the LPZRobots simulation package, containing three weights moving along orthogonal internal rods. The position of a weight is controlled by a single neuron receiving excitatory input from the sensor, measuring its actual position, and inhibitory inputs from the other two neurons. The inhibitory connections are transiently plastic, following physiologically inspired STSP-rules...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27799908/assessment-of-myoelectric-controller-performance-and-kinematic-behavior-of-a-novel-soft-synergy-inspired-robotic-hand-for-prosthetic-applications
#16
Simone Fani, Matteo Bianchi, Sonal Jain, José Simões Pimenta Neto, Scott Boege, Giorgio Grioli, Antonio Bicchi, Marco Santello
Myoelectric artificial limbs can significantly advance the state of the art in prosthetics, since they can be used to control mechatronic devices through muscular activity in a way that mimics how the subjects used to activate their muscles before limb loss. However, surveys indicate that dissatisfaction with the functionality of terminal devices underlies the widespread abandonment of prostheses. We believe that one key factor to improve acceptability of prosthetic devices is to attain human likeness of prosthesis movements, a goal which is being pursued by research on social and human-robot interactions...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27752242/pragmatic-frames-for-teaching-and-learning-in-human-robot-interaction-review-and-challenges
#17
Anna-Lisa Vollmer, Britta Wrede, Katharina J Rohlfing, Pierre-Yves Oudeyer
One of the big challenges in robotics today is to learn from human users that are inexperienced in interacting with robots but yet are often used to teach skills flexibly to other humans and to children in particular. A potential route toward natural and efficient learning and teaching in Human-Robot Interaction (HRI) is to leverage the social competences of humans and the underlying interactional mechanisms. In this perspective, this article discusses the importance of pragmatic frames as flexible interaction protocols that provide important contextual cues to enable learners to infer new action or language skills and teachers to convey these cues...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27656140/deep-learning-with-convolutional-neural-networks-applied-to-electromyography-data-a-resource-for-the-classification-of-movements-for-prosthetic-hands
#18
Manfredo Atzori, Matteo Cognolato, Henning Müller
Natural control methods based on surface electromyography (sEMG) and pattern recognition are promising for hand prosthetics. However, the control robustness offered by scientific research is still not sufficient for many real life applications, and commercial prostheses are capable of offering natural control for only a few movements. In recent years deep learning revolutionized several fields of machine learning, including computer vision and speech recognition. Our objective is to test its methods for natural control of robotic hands via sEMG using a large number of intact subjects and amputees...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27597824/combining-vibrotactile-feedback-with-volitional-myoelectric-control-for-robotic-transtibial-prostheses
#19
Baojun Chen, Yanggang Feng, Qining Wang
In recent years, the development of myoelectric control for robotic lower-limb prostheses makes it possible for amputee users to volitionally control prosthetic joints. However, the human-centered control loop is not closed due to the lack of sufficient feedback of prosthetic joint movement, and it may result in poor control performance. In this research, we propose a vibrotactile stimulation system to provide the feedback of ankle joint position, and validate the necessity of combining it with volitional myoelectric control to achieve improved control performance...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27597823/the-reality-of-myoelectric-prostheses-understanding-what-makes-these-devices-difficult-for-some-users-to-control
#20
Alix Chadwell, Laurence Kenney, Sibylle Thies, Adam Galpin, John Head
Users of myoelectric prostheses can often find them difficult to control. This can lead to passive-use of the device or total rejection, which can have detrimental effects on the contralateral limb due to overuse. Current clinically available prostheses are "open loop" systems, and although considerable effort has been focused on developing biofeedback to "close the loop," there is evidence from laboratory-based studies that other factors, notably improving predictability of response, may be as, if not more, important...
2016: Frontiers in Neurorobotics
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