During collaborative object manipulation, the interaction forces provide a communication channel through which humans coordinate their actions. In order for the robots to engage in physical ...collaboration with humans, it is necessary to understand this coordination process. Unfortunately, there is no intrinsic way to define the interaction forces. In this study, we propose a model that allows us to compute the interaction force during a dyadic cooperative object manipulation task. The model is derived directly from the existing theories on human arm movements. The results of a user study with 22 human subjects prove the validity of the proposed model. The model is then embedded in a control strategy that enables the robot to engage in a cooperative task with a human. The performance evaluation of the controller through simulation shows that the control strategy is a promising candidate for a cooperative human-robot interaction.
Phenotypic convergence across distantly related taxa can be driven by similar selective pressures from the environment or intrinsic constraints. The roles of these processes on physiological ...strategies, such as homeothermy, are poorly understood. We studied the evolution of thermal properties of mammalian pelage in a diverse community of rodents inhabiting the Mojave Desert, USA. We used a heat flux device to measure the thermal insulation of museum specimens and determined whether thermal properties were associated with habitat preferences while assessing phylogenetic dependence. Species that prefer arid habitats exhibited lower conductivity and thinner pelage relative to species with other habitat preferences. Despite being thinner, the pelage of arid species exhibited comparable insulation to the pelage of the other species due to its lower conductivity. Thus, arid species have insulative pelage while simultaneously benefitting from thin pelage that promotes convective cooling. We found no evidence of intrinsic constraints or phylogenetic dependence, indicating pelage readily evolves to environmental pressures. Thermoregulatory simulations demonstrated that arid specialists reduced energetic costs required for homeothermy by 14.5% by evolving lower conductivity, providing support for adaptive evolution of pelage. Our study indicates that selection for lower energetic requirements of homeothermy has shaped evolution of pelage thermal properties.
Many species have experienced dramatic changes in their abundance and distribution during recent climate change, but it is often unclear whether such ecological responses are accompanied by ...evolutionary change. We used targeted exon sequencing of 294 museum specimens (160 historic, 134 modern) to generate independent temporal genomic contrasts spanning a century of climate change (1911-2012) for two co-distributed chipmunk species: an endemic alpine specialist (Tamias alpinus) undergoing severe range contraction and a stable mid-elevation species (T. speciosus). Using a novel analytical approach, we reconstructed the demographic histories of these populations and tested for evidence of recent positive directional selection. Only the retracting species showed substantial population genetic fragmentation through time and this was coupled with positive selection and substantial shifts in allele frequencies at a gene, Alox15, involved in regulation of inflammation and response to hypoxia. However, these rapid population and gene-level responses were not detected in an analogous temporal contrast from another area where T. alpinus has also undergone severe range contraction. Collectively, these results highlight that evolutionary responses may be variable and context dependent across populations, even when they show seemingly synchronous ecological shifts. Our results demonstrate that temporal genomic contrasts can be used to detect very recent evolutionary responses within and among contemporary populations, even in the face of complex demographic changes. Given the wealth of specimens archived in natural history museums, comparative analyses of temporal population genomic data have the potential to improve our understanding of recent and ongoing evolutionary responses to rapidly changing environments.
We studied reach adaptation to a 30° visuomotor rotation to determine whether augmented error feedback can promote faster and more complete motor learning. Four groups of healthy adults reached with ...their unseen arm to visual targets surrounding a central starting point. A manipulandum tracked hand motion and projected a cursor onto a display immediately above the horizontal plane of movement. For one group, deviations from the ideal movement were amplified with a gain of 2 whereas another group experienced a gain of 3.1. The third group experienced an offset equal to the average error seen in the initial perturbations, while a fourth group served as controls. Learning in the gain 2 and offset groups was nearly twice as fast as controls. Moreover, the offset group averaged more reduction in error. Such error augmentation techniques may be useful for training novel visuomotor transformations as required of robotic teleoperators or in movement rehabilitation of the neurologically impaired.
Analysis of tongue movement would benefit from a reference showcasing healthy tongue capability. We aimed to develop a reference of tongue capability and evaluated the role of visual feedback on the ...expression of movement.
Using a wireless tracking intraoral wearable device, we composed probability distributions of the tongue tip as subjects were asked to explore the entire sensing surface area. Half of the 32 subjects received live visual feedback of the location of the center of the tongue tip contact.
We observed that the visual feedback group was 51.0% more consistent with each other in the position domain, explored 21.5% more sensing surface area, and was 50.7% more uniformly distributed. We found less consistent results when we evaluated velocity and acceleration.
Visual feedback best established a healthy capability reference which can be used for designing new interfaces, quantifying tongue ability, developing new diagnostic and rehabilitation techniques, and studying underlying mechanisms of tongue motor control.
We provide a century-scale view of small-mammal responses to global warming, without confounding effects of land-use change, by repeating Grinnell's early-20th century survey across a ...3000-meter-elevation gradient that spans Yosemite National Park, California, USA. Using occupancy modeling to control for variation in detectability, we show substantial (~500 meters on average) upward changes in elevational limits for half of 28 species monitored, consistent with the observed ~3°C increase in minimum temperatures. Formerly low-elevation species expanded their ranges and high-elevation species contracted theirs, leading to changed community composition at mid- and high elevations. Elevational replacement among congeners changed because species' responses were idiosyncratic. Though some high-elevation species are threatened, protection of elevation gradients allows other species to respond via migration.
Our study addresses the critical question of how learners acquire skills without the constant crutch of feedback, utilizing a specialized training approach with intermittent feedback. Despite ...recognized benefits in skill retention, the underlying mechanisms of intermittent feedback in motor control neuroscience remain elusive. Leveraging a previously published dataset from visuomotor learning experiments with intermittent feedback, we tested a wide range of proxy-process models that posit the presence of an inferred error signal even when an explicit sensory performance is not present. Furthermore, these proxy-process models investigated the impact of error-augmentation (EA) training on visuomotor learning dynamics. Rigorous cross-validation consistently identified a second-order proxy-process model structure accurately predicting motor learning across subjects and learning tasks. Model parameters elucidated the varying influences of EA settings on the rates of change in error, inter-trial variability, and steady-state performance. We then introduced a dynamic-Proxy support Multi-Rate Motor Learning (dPxMRML) model, which shed light on EA's effects on the fast and slow learning dynamics. The dPxMRML model accurately predicted subjects' performance during and beyond training phases, highlighting EA settings conducive to long-term retention. This research yields crucial insights for personalized training program design, applicable in neuro-rehabilitation, sports, and performance training.
We examined geographic trends in 4 morphological data sets (both craniodental and colorimetric measurements and scores of cranial foramina and qualitative craniodental variables) within and among 5 ...subspecies of the California vole, Microtus californicus, that occur within or adjacent to the Mojave Desert in eastern California. These analyses are corollary to those previously published on the same samples using both mitochondrial and nuclear gene sequences and microsatellite loci. The morphological and molecular data sets are generally concordant in supporting the existing infraspecific taxonomy, although important conflicts are evident. With the combination of data sets, we are able to assign previously unknown samples to these infraspecific taxa. We define and provide an emended diagnosis of each subspecies using the criteria established by Willi Hennig in his 1966 assessment of the qualities and characteristics of infraspecific taxa, which he understood to be fundamentally different than the hierarchical phylogenetic system he established as the conceptual framework for taxa at the species level and above. Hennig's views are contrary to how the subspecies concept has been applied in much of recent mammalian taxonomy.
It is not fully clear which measurable factors can reliably predict chronic stroke patients' recovery of motor ability. In this analysis, we investigate the impact of patient demographic ...characteristics, movement features, and a three-week upper-extremity intervention on the post-treatment change in two widely used clinical outcomes-the Upper Extremity portion of the Fugl-Meyer and the Wolf Motor Function Test. Models based on LASSO, which in validation tests account for 65% and 86% of the variability in Fugl-Meyer and Wolf, respectively, were used to identify the set of salient demographic and movement features. We found that age, affected limb, and several measures describing the patient's ability to efficiently direct motions with a single burst of speed were the most consequential in predicting clinical recovery. On the other hand, the upper-extremity intervention was not a significant predictor of recovery. Beyond a simple prognostic tool, these results suggest that focusing therapy on the more important features is likely to improve recovery. Such validation-intensive methods are a novel approach to determining the relative importance of patient-specific metrics and may help guide the design of customized therapy.
Although brain-computer interfaces (BCIs) can be used in several different ways to restore communication, communicative BCI has not approached the rate or efficiency of natural human speech. ...Electrocorticography (ECoG) has precise spatiotemporal resolution that enables recording of brain activity distributed over a wide area of cortex, such as during speech production. In this study, we sought to decode elements of speech production using ECoG.
We investigated words that contain the entire set of phonemes in the general American accent using ECoG with four subjects. Using a linear classifier, we evaluated the degree to which individual phonemes within each word could be correctly identified from cortical signal.
We classified phonemes with up to 36% accuracy when classifying all phonemes and up to 63% accuracy for a single phoneme. Further, misclassified phonemes follow articulation organization described in phonology literature, aiding classification of whole words. Precise temporal alignment to phoneme onset was crucial for classification success.
We identified specific spatiotemporal features that aid classification, which could guide future applications. Word identification was equivalent to information transfer rates as high as 3.0 bits s(-1) (33.6 words min(-1)), supporting pursuit of speech articulation for BCI control.
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