CPS:Small:Cyber-physical system challenges in man-machine interfaces: context-dependent control of smart artificial hands through enhanced touch perception and mechatronic reflexes

CPS：小号：人机界面中的信息物理系统挑战：通过增强触摸感知和机电反射实现智能假手的上下文相关控制本研究的目标是将用户控制与人机界面中的自动反射相结合。 该方法从生物学中获得灵感，分析了脑机接口中的控制切换问题。 一种非人类灵长类动物将执行一项手动任务，同时记录与运动和触摸相关的大脑信号。 当机器人手重放动作时，电子信号将从机器人上的触摸传感器记录下来。的手指，然后映射到基于触摸的大脑信号，并用于通过直接皮层刺激给予受试者触觉。基于传感器信号和命令信号之间的关系，将开发主体和反射式控制之间的上下文相关的权限转移。混合权限和上下文感知问题在人机系统中具有普遍适用性。 这项研究提出了从远程操纵器提供触觉反馈的方法，根据人类和机器的能力划分控制，并以平滑，上下文相关的方式转移权限。 这些原则对于任何需要在不确定性、控制延迟或有限信息流面前保持鲁棒性的信息物理系统都是必不可少的。由此产生的人机通信和控制的变革方法将应用于机器人技术（太空、水下、军事、救援、手术、辅助、假肢）、触觉、生物力学和神经科学。 代表性不足的本科生将从亚利桑那州立大学和墨西哥竞争激烈的大学课程中招募？s Tec de蒙特雷大学。 外展项目将通过互动式实验室图尔斯参观、教学模块和关于机器人、人机系统以及神经假体的社会和伦理影响的公开讲座，吸引公众和代表性不足的学龄儿童。

CPS: Small: Cyber-physical system challenges in man-machine interfaces: context-dependent control of smart artificial hands through enhanced touch perception and mechatronic reflexesThe objective of this research is to integrate user control with automated reflexes in the human-machine interface. The approach, taking inspiration from biology, analyzes control-switching issues in brain-computer interfaces. A nonhuman primate will perform a manual task while movement- and touch-related brain signals are recorded. While a robotic hand replays the movements, electronic signals will be recorded from touch sensors on the robot?s fingers, then mapped to touch-based brain signals, and used to give the subject tactile sensation via direct cortical stimulation. Context-dependent transfers of authority between the subject and reflex-like controls will be developed based on relationships between sensor signals and command signals.Issues of mixed authority and context awareness have general applicability in human-machine systems. This research advances methods for providing tactile feedback from a remote manipulator, dividing control appropriate to human and machine capabilities, and transferring authority in a smooth, context-dependent manner. These principles are essential to any cyber-physical system requiring robustness in the face of uncertainty, control delays, or limited information flow.The resulting transformative methods of human-machine communication and control will have applications for robotics (space, underwater, military, rescue, surgery, assistive, prosthetic), haptics, biomechanics, and neuroscience. Underrepresented undergraduates will be recruited from competitive university programs at Arizona State University and Mexico?s Tec de Monterrey University. Outreach projects will engage the public and underrepresented school-aged children through interactive lab tours, instructional modules, and public lectures on robotics, human-machine systems, and social and ethical implications of neuroprostheses.