Deep Haptic Model Predictive Control for Robot-Assisted Dressing

Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The physical implications of dressing are complicated by non-rigid garments, which can result in a robot indirectly applying high forces to a person's body. We present a deep recurrent model that, when given a proposed action by the robot, predicts the forces a garment will apply to a person's body. We also show that a robot can provide better dressing assistance by using this model with model predictive control. The predictions made by our model only use haptic and kinematic observations from the robot's end effector, which are readily attainable. Collecting training data from real world physical human-robot interaction can be time consuming, costly, and put people at risk. Instead, we train our predictive model using data collected in an entirely self-supervised fashion from a physics-based simulation. We evaluated our approach with a PR2 robot that attempted to pull a hospital gown onto the arms of 10 human participants. With a 0.2s prediction horizon, our controller succeeded at high rates and lowered applied force while navigating the garment around a persons fist and elbow without getting caught. Shorter prediction horizons resulted in significantly reduced performance with the sleeve catching on the participants' fists and elbows, demonstrating the value of our model's predictions. These behaviors of mitigating catches emerged from our deep predictive model and the controller objective function, which primarily penalizes high forces.Comment: 8 pages, 12 figures, 1 table, 2018 IEEE International Conference on Robotics and Automation (ICRA

Towards Contextual Action Recognition and Target Localization with Active Allocation of Attention

Exploratory gaze movements are fundamental for gathering the most relevant information regarding the partner during social interactions. We have designed and implemented a system for dynamic attention allocation which is able to actively control gaze movements during a visual action recognition task. During the observation of a partners reaching movement, the robot is able to contextually estimate the goal position of the partner hand and the location in space of the candidate targets, while moving its gaze around with the purpose of optimizing the gathering of information relevant for the task. Experimental results on a simulated environment show that active gaze control provides a relevant advantage with respect to typical passive observation, both in term of estimation precision and of time required for action recognition. © 2012 Springer-Verlag

Eigenvector Centrality Distribution for Characterization of Protein Allosteric Pathways

Determining the principal energy pathways for allosteric communication in biomolecules, that occur as a result of thermal motion, remains challenging due to the intrinsic complexity of the systems involved. Graph theory provides an approach for making sense of such complexity, where allosteric proteins can be represented as networks of amino acids. In this work, we establish the eigenvector centrality metric in terms of the mutual information, as a mean of elucidating the allosteric mechanism that regulates the enzymatic activity of proteins. Moreover, we propose a strategy to characterize the range of the physical interactions that underlie the allosteric process. In particular, the well known enzyme, imidazol glycerol phosphate synthase (IGPS), is utilized to test the proposed methodology. The eigenvector centrality measurement successfully describes the allosteric pathways of IGPS, and allows to pinpoint key amino acids in terms of their relevance in the momentum transfer process. The resulting insight can be utilized for refining the control of IGPS activity, widening the scope for its engineering. Furthermore, we propose a new centrality metric quantifying the relevance of the surroundings of each residue. In addition, the proposed technique is validated against experimental solution NMR measurements yielding fully consistent results. Overall, the methodologies proposed in the present work constitute a powerful and cost effective strategy to gain insight on the allosteric mechanism of proteins

Allo-network drugs: Extension of the allosteric drug concept to protein-protein interaction and signaling networks

Allosteric drugs are usually more specific and have fewer side effects than orthosteric drugs targeting the same protein. Here, we overview the current knowledge on allosteric signal transmission from the network point of view, and show that most intra-protein conformational changes may be dynamically transmitted across protein-protein interaction and signaling networks of the cell. Allo-network drugs influence the pharmacological target protein indirectly using specific inter-protein network pathways. We show that allo-network drugs may have a higher efficiency to change the networks of human cells than those of other organisms, and can be designed to have specific effects on cells in a diseased state. Finally, we summarize possible methods to identify allo-network drug targets and sites, which may develop to a promising new area of systems-based drug design