This communication addresses again the hypothesis that stabilization of balance during quiet standing is achieved by stiffness ankle muscles without anticipatory active control. It shown a recently proposed method estimating directly from analysis posturographic data incorrect because it ignores modulation motoneuronal activity and grossly overestimates real range values in relation with critical value stiffness. Moreover, new simulation study realistic model demonstrates mechanical...

Gribble, Paul L., David J. Ostry, Vittorio Sanguineti, and Rafael Laboissière. Are complex control signals required for human arm movement? Neurophysiol. 79: 1409–1424, 1998. It has been proposed that the underlying voluntary movement have a “complex” nonmonotonic time-varying form, number of empirical findings offered in support this idea. In paper, we address three such using model two-joint motion based on λ version equilibrium-point hypothesis. The includes six one- muscles, reflexes,...

This technical note describes a new robotic workstation for neurological rehabilitation, shortly named Braccio di Ferro. It has been designed by having in mind the range of forces and frequency bandwidth that characterize interaction between

Despite advances in mechatronic design, the widespread adoption of wearable robots for supporting human mobility has been hampered by 1) ergonomic limitations rigid exoskeletal structures and 2) lack human-machine interfaces (HMIs) capable sensing musculoskeletal states translating them into robot-control commands. We have developed a framework that combines, first time, model-based HMI with soft arm exosuit potential to address key current HMIs robots. The proposed was tested on six healthy...

This paper summarizes findings on the growing field of role assignment policies for human–robot motor interaction. topic has been investigated by researchers in psychological theory joint action, human intention detection, force control, human–human physical interaction, as well roboticists interested developing robots with capabilities efficient interaction humans. Our goal is to promote fruitful between these distinct communities by: ( i) examining action experimental psychology and...

One of the key properties intelligent behaviors is capability to learn and adapt changing environmental conditions. These features are result continuous intense interaction brain with external world, mediated by body. For this reason "embodiment" represents an innovative very suitable experimental paradigm when studying neural processes underlying learning new adapting unpredicted situations. To purpose, we developed a novel bidirectional interface. We interconnected in vitro neurons,...

Although robot therapy is progressively becoming an accepted method of treatment for stroke survivors, few studies have investigated how to adapt the robot/subject interaction forces in automatic way. The paper a feasibility study novel self-adaptive controller be applied with continuous tracking movements. haptic Braccio di Ferro used, relation task. proposed control architecture based on three main modules: 1) force field generator that combines non linear attractive and viscous field; 2)...

Lack of social skills and/or a reduced ability to determine when use them are common symptoms Autism Spectrum Disorder (ASD). Here we examine whether an integrated approach based on virtual environments and natural interfaces is effective in teaching safety adults with ASD. We specifically focus pedestrian skills, namely street crossing or without traffic lights, following road signs.Seven ASD explored environment (VE) representing city (buildings, sidewalks, streets, squares), which was...

To move a hard table together, humans may coordinate by following the dominant partner's motion [1–4], but this strategy is unsuitable for soft mattress where perceived forces are small. How do partners readily in such differing interaction dynamics? address this, we investigated how pairs tracked target using flexion-extension of their wrists, which were coupled hard, medium or virtual elastic band. Tracking performance monotonically increased with stiffer band worse partner, who had higher...

We have created a hybrid neuro-robotic system that establishes two-way communication between the brain of lamprey and small mobile robot. The purpose this is to offer new paradigm for investigating behavioral, computational, neurobiological mechanisms sensory-motor learning in unified context. robot acts as an artificial body delivers sensory information neural tissue receives command signals from it. encodes intensity light generated by fixed source. closed-loop interaction generates...

Abstract This article presents a distributed computational architecture for the motor planning functions of posterior parietal cortex, which is organized as map and combines paradigm self-organization (for building robust coherent maps different spaces) with an attractor dynamics run-time integration task constraints). The model, named SO-BoS (self-organizing body-schema), illustrated simple simulation results. Key Words: body schemacortical mapsneural networksself-organization

The sway-density curve (SDC) is computed by counting, for each time instant, the number of consecutive samples statokinesigram falling inside a circle “small” radius R . authors evaluated sensitivity to variation and found that in range 3–5 mm was low, indicating SDC robust descriptor posturographic patterns. In addition, they investigated relationship between underlying postural stabilization process decomposing total ankle torque into three components: tonic component (over 69% torque), an...

Cerebellar symptoms are extremely disabling and common in Multiple Sclerosis (MS) subjects. In this feasibility study, we developed tested a robot therapy protocol, aimed at the rehabilitation of incoordination MS Eight subjects with clinically defined performed planar reaching movements while grasping handle robotic manipulandum, which generated forces that either reduced (error-reducing, ER) or enhanced (error-enhancing, EE) curvature their movements, assessed beginning each session. The...

Quantitative descriptions of the process recovery motor functions in impaired subjects during robot-assisted exercise might help to understand how use these devices make faster and more effective. Linear dynamical models have been used describe dynamics sensorimotor adaptation. Here, we extend this formalism characterize neuromotor process. We focus on a robot therapy experiment that involved chronic stroke survivors, based arm extension task. The results suggest modeling with is feasible,...

Neurological diseases causing motor/cognitive impairments are among the most common causes of adult-onset disability. More than one billion people affected worldwide, and this number is expected to increase in upcoming years, because rapidly aging population. The frequent lack complete recovery makes it desirable develop novel neurorehabilitative treatments, suited patients, better targeting specific To date, rehabilitation therapy can be aided by technological support robotic-based therapy,...

We present an approach to learn a model estimate the dynamical states at continuous and discrete inference levels when trajectory information is available. from sparse data probabilistic switching that generates trajectories associated with stationary plan of agent. The learned generative used within Markov Jump Linear System (MJLSs) switch among set space dependent linear filters analyze new detect deviations based on internal innovation measurements. show examples application proposed for...

A model of the midsagittal plane motion tongue, jaw, hyoid bone, and larynx is presented, based on λ version equilibrium point hypothesis. The includes muscle properties realistic geometrical arrangement muscles, modeled neural inputs reflexes, dynamics soft tissue bony structures. focus organization control signals underlying vocal tract motions dynamic behavior articulators. number synergies or “basic motions” system are identified. In particular, it shown that systematic sources variation...