The role of haptic feedback when manipulating nonrigid objects
The role of haptic feedback when manipulating nonrigid objects
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DOI：
10.1152/jn.00738.2011
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发表时间：
2012-01-01
影响因子：
2.5
通讯作者：
Flanagan, J. Randall
中科院分区：
文献类型：
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作者：
Danion, Frederic;Diamond, Jonathan S.;Flanagan, J. Randall
Danion F，Diamond JS，Flanagan JR.触觉反馈在操纵非刚性物体时的作用。J Neurophysiol 107：433 - 441，2012.首次发表于2011年10月19日; doi：10.1152/jn.00738.2011. -人类可以学会操纵具有复杂动力学的物体，包括具有内部自由度的非刚性物体。本研究的第一个目的是评估学习操纵非刚性物体时触觉反馈的贡献。第二个目的是评估没有触觉反馈的学习如何影响随后的触觉反馈学习，反之亦然。这项任务涉及移动一个模拟的质量-通过一个模拟的，阻尼弹簧连接到一个抓着的手柄-尽快到达目标。在触觉加视觉（HV）条件下，将适当的力施加到连接到机器人的手柄上。在仅视觉（V）条件下，这些力被关闭。参与者在每种条件下完成了80次试验，其中一半从HV条件开始。在两种情况下，两组都表现出显著的学习，以运动时间来衡量。对于第一次执行的条件，初始性能，学习率和最终性能更好的触觉反馈。之前在HV条件下的经验导致在V条件下更快的学习和更好的最终性能。然而，之前在V条件下的经验导致HV条件下的学习速度较慢且最终性能较差。在V条件下，所有参与者都倾向于将肿块靠近手。在HV条件下，从HV条件开始的参与者允许质量远离手，而从V条件开始的参与者继续保持质量靠近手。我们的结论是，触觉反馈，以及以前的经验与触觉反馈提高控制非刚性物体的能力，没有触觉反馈的训练可能会导致持续的不利影响，随后处理触觉反馈。
Danion F, Diamond JS, Flanagan JR. The role of haptic feedback when manipulating nonrigid objects. J Neurophysiol 107: 433-441, 2012. First published October 19, 2011; doi:10.1152/jn.00738.2011.-Humans can learn to manipulate objects with complex dynamics, including nonrigid objects with internal degrees of freedom. The first aim of this study was to assess the contribution of haptic feedback when learning to manipulate a nonrigid object. The second aim was to evaluate how learning without haptic feedback influences subsequent learning with haptic feedback and vice versa. The task involved moving a simulated mass-attached to a grasped handle via a simulated, damped spring-to a target as quickly as possible. In the haptic plus vision (HV) condition, appropriate forces were applied to the handle, which was attached to a robot. In the vision only (V) condition, these forces were turned off. Participants completed 80 trials in each condition, with one-half starting with the HV condition. Both groups exhibited significant learning, as measured by movement time, in both conditions. For the condition performed first, initial performance, learning rate, and final performance were better with haptic feedback. Prior experience in the HV condition led to faster learning and better final performance in the V condition. However, prior experience in the V condition led to slower learning and worse final performance in the HV condition. In the V condition, all participants tended to keep the mass close to the hand. In the HV condition, participants who started with the HV condition allowed the mass to move away from the hand, whereas participants who started with the V condition continued to keep the mass close to the hand. We conclude that haptic feedback as well as prior experience with haptic feedback enhance the ability to control nonrigid objects and that training without haptic feedback can lead to persisting detrimental effects when subsequently dealing with haptic feedback.