Maldonado Cañón Jaime Leonardo, Kluss Thorsten, Zetzsche Christoph
Cognitive Neuroinformatics, University of Bremen, Bremen, Germany.
Front Robot AI. 2019 Jul 24;6:63. doi: 10.3389/frobt.2019.00063. eCollection 2019.
The investigation of human perception and movement kinematics during manipulation tasks provides insights that can be applied in the design of robotic systems in order to perform human-like manipulations in different contexts and with different performance requirements. In this paper we investigate control in a motor task, in which a tool is moved vertically until it touches a support surface. We evaluate how acoustic and haptic sensory information generated at the moment of contact modulates the kinematic parameters of the movement. Experimental results show differences in the achieved motor control precision and adaptation rate across conditions. We describe how the experimental results can be used in robotics applications in the fields of unsupervised learning, supervised learning from human demonstrators and teleoperations.
对人类在操作任务中的感知和运动运动学进行研究，可提供一些见解，这些见解可应用于机器人系统的设计，以便在不同情境下并根据不同性能要求执行类人操作。在本文中，我们研究了一项运动任务中的控制，即工具垂直移动直至接触到支撑表面。我们评估接触瞬间产生的声学和触觉感官信息如何调节运动的运动学参数。实验结果表明，不同条件下实现的运动控制精度和适应率存在差异。我们描述了实验结果如何用于无监督学习、从人类示范者进行监督学习以及远程操作等领域的机器人应用中。
