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Bayesian Body Schema Estimation using Tactile Information obtained through Coordinated Random Movements
[article]
2016
arXiv
pre-print
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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
2021
Künstliche Intelligenz
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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
2017
2017 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)
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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
2010
IEEE Transactions on Autonomous Mental Development
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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
2010
2010 IEEE International Conference on Robotics and Automation
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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]
2021
arXiv
pre-print
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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
2009
Perception
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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
2019
European Journal of Neuroscience
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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
2020
European Journal of Neuroscience
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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
2016
Frontiers in Robotics and AI
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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]
2011
Progress in Brain Research
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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
2014
IEEE Transactions on Neural Networks and Learning Systems
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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
2019
Science Advances
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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
2011
PLoS ONE
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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]
2012
Springer Tracts in Advanced Robotics
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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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