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Bayesian Body Schema Estimation using Tactile Information obtained through Coordinated Random Movements [article]

Tomohiro Mimura, Yoshinobu Hagiwara, Tadahiro Taniguchi, Tetsunari Inamura
2016 arXiv   pre-print
They also suggest that a certain degree of motor coordination in random movements and the sufficient dimension of state space that represents the body map are important to estimate body schema correctly  ...  Another experiment showed that the degree of motor coordination in random movements affects the result of body schema formation strongly.  ...  Experiment 1: Body Schema Estimation To verify if the proposed computational model can estimate body schema using tactile information obtained through random movements, the following experiment was performed  ... 
arXiv:1612.00305v1 fatcat:4wg6tng4qvh6vpjhorbf42onli

Sensorimotor Representation Learning for an "Active Self" in Robots: A Model Survey

Phuong D. H. Nguyen, Yasmin Kim Georgie, Ezgi Kayhan, Manfred Eppe, Verena Vanessa Hafner, Stefan Wermter
2021 Künstliche Intelligenz  
schema, peripersonal space, and the active self in humans.  ...  In humans, these capabilities are thought to be related to our ability to perceive our body in space, sensing the location of our limbs during movement, being aware of other objects and agents, and controlling  ...  PDHN, ME, SW acknowledge funding by the DFG through the IDEAS (402776968) and LeCAREbot (433323019) projects.  ... 
doi:10.1007/s13218-021-00703-z fatcat:rs5pdqct2ra7ljg2gl77nipime

Development of reaching to the body in early infancy: From experiments to robotic models

Matej Hoffmann, Lisa K. Chinn, Eszter Somogyi, Tobias Heed, Jacqueline Fagard, Jeffrey J. Lockman, J. Kevin O'Regan
2017 2017 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)  
Responses included in particular movement of the stimulated body part and successful reaching for and removal of the buzzer.  ...  Later goal-oriented motor behavior occurs, with self-touch as a possible effective tool to induce informative contingencies.  ...  and postural schema [1] , body schema, body image, corporeal schema, etc.  ... 
doi:10.1109/devlrn.2017.8329795 dblp:conf/icdl-epirob/HoffmannCSHFLO17 fatcat:woyvqrphw5ax5nm5mnflkcnagi

Body Schema in Robotics: A Review

Matej Hoffmann, Hugo Marques, Alejandro Arieta, Hidenobu Sumioka, Max Lungarella, Rolf Pfeifer
2010 IEEE Transactions on Autonomous Mental Development  
Despite substantial efforts, the mysteries of body representations are far from uncovered. The most widely used notions-body image and body schema-are still waiting to be clearly defined.  ...  their complex bodies, adapting to growth, failures, or using tools.  ...  The brain areas which are often mentioned in the context of body schema and coordinate transformations are: the lateral intraparietal area (LIP), which encodes information relevant for saccadic eye movements  ... 
doi:10.1109/tamd.2010.2086454 fatcat:47x4dl5btbaeppzgu3ioazbaz4

Body schema acquisition through active learning

Ruben Martinez-Cantin, Manuel Lopes, Luis Montesano
2010 2010 IEEE International Conference on Robotics and Automation  
We present an active learning algorithm for the problem of body schema learning, i.e. estimating a kinematic model of a serial robot.  ...  The learning process is done online using Recursive Least Squares (RLS) estimation, which outperforms gradient methods usually applied in the literature.  ...  RECURSIVE LEAST SQUARES FOR BODY SCHEMA LEARNING Online learning of the body schema can be formalized as a sequential parameter estimation problem.  ... 
doi:10.1109/robot.2010.5509406 dblp:conf/icra/Martinez-CantinLM10 fatcat:m4uo32l7u5et3i3pybmkmz55qm

Neuroscience-inspired perception-action in robotics: applying active inference for state estimation, control and self-perception [article]

Pablo Lanillos, Marcel van Gerven
2021 arXiv   pre-print
Here we discuss how neuroscience findings open up opportunities to improve current estimation and control algorithms in robotics.  ...  Unlike robots, humans learn, adapt and perceive their bodies by interacting with the world.  ...  The brain keeps track of a body posture or schema (Hoffmann et al., 2010; Lanillos et al., 2017) by fusing information from all available sensory inputs.  ... 
arXiv:2105.04261v1 fatcat:2txatgypojfldklvdqb63l6q2y

Movement and the Rubber Hand Illusion

Timothy Dummer, Alexandra Picot-Annand, Tristan Neal, Chris Moore
2009 Perception  
Hence, the brain is able to coordinate movements according to a statistical estimation of sensory and motor effects by means of Bayesian probability theorem.  ...  Tsakiris and Haggard (2005b) assessed the role of body scheme representations on the RHI using a visual-tactile procedure.  ...  ISSN 0301-0066 (print) Conditions of use. This article may be downloaded from the Perception website for personal research by members of subscribing organisations.  ... 
doi:10.1068/p5921 pmid:19400435 fatcat:xfkoayigurhfxb2sy4phjjzdmm

Where is my mouth? Rapid experience‐dependent plasticity of perceived mouth position in humans

Davide Bono, Patrick Haggard
2019 European Journal of Neuroscience  
These studies largely focus on sensorimotor coordination required to reach the mouth with the hand. However, hand-to-mouth movement depends on representing the location of the mouth.  ...  When participants used their right index finger to touch the teeth of an unseen dental model in synchrony with the experimenter's tactile stimulation of the participant's own teeth, participants felt that  ...  An important tradition in developmental psychology suggests that the perceived position of the mouth may be specified by a fixed body schema acquired before birth, since accurate hand to mouth coordination  ... 
doi:10.1111/ejn.14508 pmid:31286587 fatcat:azheixl4pvekliwqkufzbh2g7a

From statistical regularities in multisensory inputs to peripersonal space representation and body ownership: insights from a neural network model

Tommaso Bertoni, Elisa Magosso, Andrea Serino
2020 European Journal of Neuroscience  
We thus propose that PPS representation and body ownership may emerge through a unified neurocomputational process; the integration of multisensory information consistently with a model of the body in  ...  , and tactile receptive fields covering the same body parts.  ...  Here, we demonstrated how qualitatively similar results can be obtained in a neural network model that shares with Bayesian models the use of a probabilistic framework to describe brain function, but is  ... 
doi:10.1111/ejn.14981 pmid:32965729 fatcat:7fqt5jg54regtml3n2jarb7sum

Online Body Schema Adaptation Based on Internal Mental Simulation and Multisensory Feedback

Pedro Vicente, Lorenzo Jamone, Alexandre Bernardino
2016 Frontiers in Robotics and AI  
These predictions are compared to the actual images using sequential Monte Carlo techniques to feed a particle-based Bayesian estimation method to estimate the parameters of the body schema.  ...  Predictions obtained through a mental simulation of the body are combined with the real sensory feedback to achieve two objectives simultaneously: body schema adaptation and markerless 6D hand pose estimation  ...  While the body schema adaptation and pose estimation can be performed during each reaching movement, the adaptation parameters obtained during one movement generalize well to other areas of the workspace  ... 
doi:10.3389/frobt.2016.00007 fatcat:wiezcd7yn5cspmnjvc4qj6du7e

Sensory integration for reaching [chapter]

Philip N. Sabes
2011 Progress in Brain Research  
Coordinates of auditory signals. J Neurophysiol 57, 35-55. Johnson, P.  ...  S. (2002) Humans integrate visual and haptic information in a statistically optimal fashion. Nature 415, 429-433.  ...  Since visual and proprioceptive information about target location travels in different directions through this transformation, a biased estimate of gaze location results in oppositely signed errors for  ... 
doi:10.1016/b978-0-444-53752-2.00004-7 pmid:21741553 pmcid:PMC3361512 fatcat:6u76jrbymnau5oyd5dypfdr7ye

Developmental Perception of the Self and Action

Ryo Saegusa, Giorgio Metta, Giulio Sandini, Lorenzo Natale
2014 IEEE Transactions on Neural Networks and Learning Systems  
The key idea of the framework is that action generation develops the agent's perception of its own body and actions.  ...  The robot voluntarily generates actions and develops the ability to perceive its own body and the effect that it generates on the environment.  ...  ACKNOWLEDGMENTS This work is partially supported by EU FP7 project CHRIS (Cooperative Human Robot Interaction Systems FP7 215805) and EU FP7 project Xperience (Robots Bootstrapped through Learning and  ... 
doi:10.1109/tnnls.2013.2271793 pmid:24806653 fatcat:64vrq3eqorcj5puqqbxykb4u7m

Touch as an auxiliary proprioceptive cue for movement control

A. Moscatelli, M. Bianchi, S. Ciotti, G. C. Bettelani, C. V. Parise, F. Lacquaniti, A. Bicchi
2019 Science Advances  
We used a well-established perceptual phenomenon to dissociate the estimates of reaching direction from touch and musculoskeletal proprioception.  ...  Tactile motion estimates were biased by ridge orientation, inducing a systematic deviation in hand trajectories in accordance with our hypothesis.  ...  We used b * 0 to correct the estimate of the tactile bias estimated in the model.  ... 
doi:10.1126/sciadv.aaw3121 pmid:31183406 pmcid:PMC6551167 fatcat:ba42dukrkze3tephr4xqw6rzo4

Multisensory Stimulation Can Induce an Illusion of Larger Belly Size in Immersive Virtual Reality

Jean-Marie Normand, Elias Giannopoulos, Bernhard Spanlang, Mel Slater, Martin Giurfa
2011 PLoS ONE  
correlation between real and virtual arm movements, and (c) self-induced synchronous visual-tactile stimulation in the stomach area.  ...  Here we use immersive virtual reality to investigate whether the illusion of a dramatic increase in belly size can be induced in males through (a) first person perspective position (b) synchronous visual-motor  ...  The illusion induced is that the participant is significantly fatter than he really is, demonstrated by subjective evidence using a questionnaire, and additionally through direct estimates of body size  ... 
doi:10.1371/journal.pone.0016128 pmid:21283823 pmcid:PMC3023777 fatcat:emwvss5zi5exrbcrixum26arzq

Body Schema Learning [chapter]

Jürgen Sturm, Christian Plagemann, Wolfram Burgard
2012 Springer Tracts in Advanced Robotics  
We introduce a flexible model based on Bayesian networks that allows a robot to simultaneously identify its kinematic structure and to learn the geometrical relationships between its body parts as a function  ...  Specifically, the approach is to learn the kinematic model of a robotic manipulator from scratch using self-observation via a single monocular camera.  ...  For example, Fiala [1994] and later Natale [2004] used neural networks to learn reaching movements, Gaskett and Cheng [2003] proposed self-organizing maps to coordinate hand-eye movements, and Kumar  ... 
doi:10.1007/978-3-642-25116-0_12 fatcat:7qxvy3tdlneqtpoe2mnnlyltfi
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