The implications of embodiment for behavior and cognition: animal and robotic case studies

In this paper, we will argue that if we want to understand the function of the brain (or the control in the case of robots), we must understand how the brain is embedded into the physical system, and how the organism interacts with the real world. While embodiment has often been used in its trivial meaning, i.e. 'intelligence requires a body', the concept has deeper and more important implications, concerned with the relation between physical and information (neural, control) processes. A number of case studies are presented to illustrate the concept. These involve animals and robots and are concentrated around locomotion, grasping, and visual perception. A theoretical scheme that can be used to embed the diverse case studies will be presented. Finally, we will establish a link between the low-level sensory-motor processes and cognition. We will present an embodied view on categorization, and propose the concepts of 'body schema' and 'forward models' as a natural extension of the embodied approach toward first representations.Comment: Book chapter in W. Tschacher & C. Bergomi, ed., 'The Implications of Embodiment: Cognition and Communication', Exeter: Imprint Academic, pp. 31-5

Adaptation to visual and nonvisual rearrangement

Role of informational feedback in producing visual adaptation to visual rearrangement and to various head, eye, and arm position

Augmenting Sensorimotor Control Using “Goal-Aware” Vibrotactile Stimulation during Reaching and Manipulation Behaviors

We describe two sets of experiments that examine the ability of vibrotactile encoding of simple position error and combined object states (calculated from an optimal controller) to enhance performance of reaching and manipulation tasks in healthy human adults. The goal of the first experiment (tracking) was to follow a moving target with a cursor on a computer screen. Visual and/or vibrotactile cues were provided in this experiment, and vibrotactile feedback was redundant with visual feedback in that it did not encode any information above and beyond what was already available via vision. After only 10 minutes of practice using vibrotactile feedback to guide performance, subjects tracked the moving target with response latency and movement accuracy values approaching those observed under visually guided reaching. Unlike previous reports on multisensory enhancement, combining vibrotactile and visual feedback of performance errors conferred neither positive nor negative effects on task performance. In the second experiment (balancing), vibrotactile feedback encoded a corrective motor command as a linear combination of object states (derived from a linear-quadratic regulator implementing a trade-off between kinematic and energetic performance) to teach subjects how to balance a simulated inverted pendulum. Here, the tactile feedback signal differed from visual feedback in that it provided information that was not readily available from visual feedback alone. Immediately after applying this novel “goal-aware” vibrotactile feedback, time to failure was improved by a factor of three. Additionally, the effect of vibrotactile training persisted after the feedback was removed. These results suggest that vibrotactile encoding of appropriate combinations of state information may be an effective form of augmented sensory feedback that can be applied, among other purposes, to compensate for lost or compromised proprioception as commonly observed, for example, in stroke survivors

Interior maps in posterior pareital cortex

The posterior parietal cortex (PPC), historically believed to be a sensory structure, is now viewed as an area important for sensory-motor integration. Among its functions is the forming of intentions, that is, high-level cognitive plans for movement. There is a map of intentions within the PPC, with different subregions dedicated to the planning of eye movements, reaching movements, and grasping movements. These areas appear to be specialized for the multisensory integration and coordinate transformations required to convert sensory input to motor output. In several subregions of the PPC, these operations are facilitated by the use of a common distributed space representation that is independent of both sensory input and motor output. Attention and learning effects are also evident in the PPC. However, these effects may be general to cortex and operate in the PPC in the context of sensory-motor transformations

Music Maker – A Camera-based Music Making Tool for Physical Rehabilitation

The therapeutic effects of playing music are being recognized increasingly in the field of rehabilitation medicine. People with physical disabilities, however, often do not have the motor dexterity needed to play an instrument. We developed a camera-based human-computer interface called "Music Maker" to provide such people with a means to make music by performing therapeutic exercises. Music Maker uses computer vision techniques to convert the movements of a patient's body part, for example, a finger, hand, or foot, into musical and visual feedback using the open software platform EyesWeb. It can be adjusted to a patient's particular therapeutic needs and provides quantitative tools for monitoring the recovery process and assessing therapeutic outcomes. We tested the potential of Music Maker as a rehabilitation tool with six subjects who responded to or created music in various movement exercises. In these proof-of-concept experiments, Music Maker has performed reliably and shown its promise as a therapeutic device.National Science Foundation (IIS-0308213, IIS-039009, IIS-0093367, P200A01031, EIA-0202067 to M.B.); National Institutes of Health (DC-03663 to E.S.); Boston University (Dudley Allen Sargent Research Fund (to A.L.)

Pointing as an Instrumental Gesture : Gaze Representation Through Indication

The research of the first author was supported by a Fulbright Visiting Scholar Fellowship and developed in 2012 during a period of research visit at the University of Memphis.Peer reviewedPublisher PD

Beyond Gazing, Pointing, and Reaching: A Survey of Developmental Robotics

Developmental robotics is an emerging field located at the intersection of developmental psychology and robotics, that has lately attracted quite some attention. This paper gives a survey of a variety of research projects dealing with or inspired by developmental issues, and outlines possible future directions

A Low-Dimensional Model of Coordinated Eye and Head Movements

Eye and head movement data, were recorded under head fixed and head-free conditions, and compared with theoretical results obtained using a nonlinear model of eye-head coordination. The model explains slow, or pursuit movement correlated closely to target movement, and saccades, or quick phases of eye movement. Eye movement under head-fixed conditions was modeled by an externally forced Duffing equation, whilst properties of head movement are described by a second externally forced Duffing equation with lower eigen frequency. In the more natural, head-free conditions where both eye and head movements are used synergetically to pursue a visual target, the vestibulocular reflex (VOR) is represented by coefficients defining the mutual coupling between these two oscillatory systems. In the present model, the oscillator that models eye movement has an inhibitory influence on head movement; head to eye coupling coefficients are included to model the influence of the VOR mechanism. Individual eye and head movement patterns in different subjects can be adequately modeled by altering the coupling coefficients. In order to adequatcly simulate those changes introduced by microgravity conditions, the coefficients defining eye-head coordination (mutual coupling) must be changed. It may be hypothesized tlmt such changes in the neurovestibular system could introduce the instability in eye-head coordination, which is known to lead to space sickness.Whitehall Foundation (S93-24