A robotic wheelchair trainer: design overview and a feasibility study

<p>Abstract</p> <p>Background</p> <p>Experiencing independent mobility is important for children with a severe movement disability, but learning to drive a powered wheelchair can be labor intensive, requiring hand-over-hand assistance from a skilled therapist.</p> <p>Methods</p> <p>To improve accessibility to training, we developed a robotic wheelchair trainer that steers itself along a course marked by a line on the floor using computer vision, haptically guiding the driver's hand in appropriate steering motions using a force feedback joystick, as the driver tries to catch a mobile robot in a game of "robot tag". This paper provides a detailed design description of the computer vision and control system. In addition, we present data from a pilot study in which we used the chair to teach children without motor impairment aged 4-9 (n = 22) to drive the wheelchair in a single training session, in order to verify that the wheelchair could enable learning by the non-impaired motor system, and to establish normative values of learning rates.</p> <p>Results and Discussion</p> <p>Training with haptic guidance from the robotic wheelchair trainer improved the steering ability of children without motor impairment significantly more than training without guidance. We also report the results of a case study with one 8-year-old child with a severe motor impairment due to cerebral palsy, who replicated the single-session training protocol that the non-disabled children participated in. This child also improved steering ability after training with guidance from the joystick by an amount even greater than the children without motor impairment.</p> <p>Conclusions</p> <p>The system not only provided a safe, fun context for automating driver's training, but also enhanced motor learning by the non-impaired motor system, presumably by demonstrating through intuitive movement and force of the joystick itself exemplary control to follow the course. The case study indicates that a child with a motor system impaired by CP can also gain a short-term benefit from driver's training with haptic guidance.</p

Adaptation of the difficulty level in an infant-robot movement contingency study

19th International Workshop of Physical Agents (WAF). Madrid (22-23 Noviembre 2018)ABSTRACT: This paper presents a personalized contingency feedback adaptation system that aims to encourage infants aged 6 to 8 months to gradually increase the peak acceleration of their leg movements. The ultimate challenge is to determine if a socially assistive humanoid robot can guide infant learning using contingent rewards, where the reward threshold is personalized for each infant using a reinforcement learning algorithm. The model learned from the data captured by wearable inertial sensors measuring infant leg movement accelerations in an earlier study. Each infant generated a unique model that determined the behavior of the robot. The presented results were obtained from the distributions of the participants' acceleration peaks and demonstrate that the resulting model is sensitive to the degree of differentiation among the participants; each participant (infant) should have his/her own learned policy.This work was supported by NSF award 1706964 (PI: Smith, Co-PI: Matarić). In addition, this work was developed during an international mobility program at the University of Southern California being also partially funded by the European Union ECHORD++ project (FP7-ICT-601116), the LifeBots project (TIN2015-65686-C5) and THERAPIST project (TIN2012-38079)

Embodiment and the origin of interval timing: kinematic and electromyographic data

Recent evidence suggests that interval timing (the judgment of durations lasting from approximately 500 ms. to a few minutes) is closely coupled to the action control system. We used surface electromyography (EMG) and motion capture technology to explore the emergence of this coupling in 4-, 6-, and 8-month-olds. We engaged infants in an active and socially relevant arm-raising task with 7 cycles and response period. In one condition cycles were slow (every 4 seconds) in another they were fast (every 2 seconds). In the slow condition, we found evidence of time locked sub-threshold EMG activity even in the absence of any observed overt motor responses at all 3 ages. This study shows that EMGs can be a more sensitive measure of interval timing in early development than overt behavior

Embodiment and the origin of interval timing: kinematic and electromyographic data

Recent evidence suggests that interval timing (the judgment of durations lasting from approximately 500 ms. to a few minutes) is closely coupled to the action control system. We used surface electromyography (EMG) and motion capture technology to explore the emergence of this coupling in 4-, 6-, and 8-month-olds. We engaged infants in an active and socially relevant arm-raising task with seven cycles and response period. In one condition, cycles were slow (every 4 s); in another, they were fast (every 2 s). In the slow condition, we found evidence of time-locked sub-threshold EMG activity even in the absence of any observed overt motor responses at all three ages. This study shows that EMGs can be a more sensitive measure of interval timing in early development than overt behavior

Empirical and Phenomenological Studies of Embodied Cognition

This surveys central results in empirical and phenomenological studies of embodied cognition. The central effort is to show how Husserl's phenomenology and emphasis on kinaesthesis leads to an argument that cognition must inherently be embodied