On neuromechanical approaches for the study of biological and robotic grasp and manipulation.
On neuromechanical approaches for the study of biological and robotic grasp and manipulation.
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DOI：
10.1186/s12984-017-0305-3
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发表时间：
2017-10-09
影响因子：
5.1
通讯作者：
Santello M
中科院分区：
文献类型：
--
作者：
Valero-Cuevas FJ;Santello M
生物和机器人的抓取和操纵在机械任务性能的水平上是相似的。然而，根据定义，它们的基本生物学与工程学机制是截然不同的，甚至可以是对立的。甚至我们对每一个的方法都是截然相反的：生物系统研究的归纳科学与机器人系统设计和建造的工程综合。在过去的20年里，这两个领域都取得了一些概念上的进步，并寻求将它们统一起来。其中最主要的是不情愿地承认，它们的基本机制实际上可能有有限的共同点，但却表现出许多根本性的差异。这一认识特别具有解放性，因为它使我们能够解决和超越最初合理地假设存在大量共同点而产生的多重悖论和矛盾。在这里，我们开始介绍神经力学的观点，它强调现实世界的行为出现在系统的物理结构，任务的机械要求，可行的神经控制行动，并通过与环境的相互作用，神经肌肉系统的适应能力之间的密切相互作用。这使我们能够对一些突出的概念悖论和矛盾进行简洁的概述，这些悖论和矛盾涉及欠确定与超确定机制，欠驱动与过度驱动控制，规定与新兴功能，学习与实施与适应，规定与描述协同作用，以及最佳与习惯性能。最后，我们提出了开放的问题，并为未来的研究方向提出建议。我们希望这种对最先进技术的坦率和开放的评估将鼓励和指导这些社区继续在神经力学，神经科学，康复和机器人技术的接口上进行互动并在这些重要领域取得进展。
Biological and robotic grasp and manipulation are undeniably similar at the level of mechanical task performance. However, their underlying fundamental biological vs. engineering mechanisms are, by definition, dramatically different and can even be antithetical. Even our approach to each is diametrically opposite: inductive science for the study of biological systems vs. engineering synthesis for the design and construction of robotic systems. The past 20 years have seen several conceptual advances in both fields and the quest to unify them. Chief among them is the reluctant recognition that their underlying fundamental mechanisms may actually share limited common ground, while exhibiting many fundamental differences. This recognition is particularly liberating because it allows us to resolve and move beyond multiple paradoxes and contradictions that arose from the initial reasonable assumption of a large common ground. Here, we begin by introducing the perspective of neuromechanics, which emphasizes that real-world behavior emerges from the intimate interactions among the physical structure of the system, the mechanical requirements of a task, the feasible neural control actions to produce it, and the ability of the neuromuscular system to adapt through interactions with the environment. This allows us to articulate a succinct overview of a few salient conceptual paradoxes and contradictions regarding under-determined vs. over-determined mechanics, under- vs. over-actuated control, prescribed vs. emergent function, learning vs. implementation vs. adaptation, prescriptive vs. descriptive synergies, and optimal vs. habitual performance. We conclude by presenting open questions and suggesting directions for future research. We hope this frank and open-minded assessment of the state-of-the-art will encourage and guide these communities to continue to interact and make progress in these important areas at the interface of neuromechanics, neuroscience, rehabilitation and robotics.
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DOI：
10.1108/01439910910980141
发表时间：
2009-01-01
期刊：
INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
影响因子：
--
作者：
Bogue, Robert
通讯作者：
Bogue, Robert
DOI：
10.1109/70.720349
发表时间：
1998-10-01
期刊：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
影响因子：
--
作者：
Bobrow, JE;McDonell, BW
通讯作者：
McDonell, BW
影响因子：
--
作者：
Bizzi, E.;Cheung, V. C. K.;Tresch, M.
通讯作者：
Tresch, M.
DOI：
10.1109/tnsre.2012.2217989
发表时间：
2013-01-01
影响因子：
4.9
作者：
Antfolk, Christian;D'Alonzo, Marco;Cipriani, Christian
通讯作者：
Cipriani, Christian
DOI：
10.1116/1.572085
发表时间：
1983-01-01
期刊：
JOURNAL OF VACUUM SCIENCE & TECHNOLOGY A-VACUUM SURFACES AND FILMS
影响因子：
--
作者：
AIKENHEAD, BA;DANIELL, RG;DAVIS, FM
通讯作者：
DAVIS, FM