The Visual Control of Grasping

抓取的视觉控制

• 批准号: 6313-2012
• 负责人: Goodale, Melvyn
• 金额: $ 6.56万
• 依托单位: University of Western Ontario
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2013
• 资助国家: 加拿大
• 起止时间: 2013-01-01 至 2014-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=520903
• 关键词: Visual; Control; Grasping

The human hand is a remarkable piece of engineering. As humans, we can reach out and grasp objects with exquisite accuracy - far better than any robot. One of the things that makes this possible is our keen sense of sight. Dr. Mel Goodale and his colleagues at the Centre for Brain and Mind at the University of Western Ontario are studying the different kinds of information that our visual system uses to guide the hand as it reaches out and grasps an object - and how previous experience with the object interacts with current visual information. To study how the hand is moving, Dr. Goodale uses special infra-red sensitive cameras to track tiny infra-red lights that have been attached to the fingertips, hand, and wrist. The data from these cameras can then be used to reconstruct the trajectory of the hand and fingers as the grasping movement unfolds. Previous work in Dr. Goodale's lab has shown that information from the two eyes - binocular vision - play an important role in the guidance of these movements. But there are other sources of information as well, including the motion of the world on our eyes as we move around and a whole host of cues called 'pictorial cues to depth'. These latter cues - perspective, familiar size, occlusion, shadows, and texture gradients - have been exploited by artists for centuries to depict a three-dimensional world on a two-dimensional canvas. Dr. Goodale and his team are exploring the role of all these different cues in the planning and control of grasping movements of the hand - and how these cues interact with previous experience and knowledge about the world. He is also looking at how we cope with visual illusions - and has already shown that illusions that deceive our eyes rarely fool our grasping hand! Recently, Dr. Goodale has begun to use brain imaging (functional magnetic resonance imaging, or fMRI) to explore how the brain computes the size of objects that we are trying to grasp. This work is not only providing basic information about how vision is used to control the human hand but is also helping in the design of better systems for controlling robot hands. This is not the first time that biology has provided engineering with some useful lessons in design.

人类的手是一项了不起的工程。作为人类，我们可以伸出手来，精确地抓住物体-远远优于任何机器人。使这成为可能的因素之一是我们敏锐的视觉。西安大略大学大脑与思维中心的梅尔·古德尔博士和他的同事们正在研究我们的视觉系统用来引导手伸出手来抓住物体的不同类型的信息，以及先前对物体的经验如何与当前的视觉信息相互作用。为了研究手是如何移动的，古德尔博士使用特殊的红外敏感相机来跟踪附着在指尖、手和手腕上的微小红外光。然后，来自这些摄像机的数据可以用于重建手和手指在抓取运动展开时的轨迹。古德尔博士实验室以前的工作表明，来自两只眼睛的信息--双眼视觉--在指导这些运动中发挥着重要作用。但也有其他的信息来源，包括当我们四处走动时，我们眼中的世界的运动和一系列被称为“深度图像线索”的线索。后一种线索--透视、熟悉的大小、遮挡、阴影和纹理梯度--几个世纪以来一直被艺术家们用来在二维画布上描绘三维世界。古德尔博士和他的团队正在探索所有这些不同的线索在规划和控制手部抓握动作中的作用，以及这些线索如何与先前的经验和对世界的知识相互作用。他还研究了我们如何科普视觉错觉--并且已经表明，欺骗我们眼睛的错觉很少能欺骗我们抓握的手！最近，古德尔博士开始使用脑成像（功能性磁共振成像，或fMRI）来探索大脑如何计算我们试图抓住的物体的大小。这项工作不仅提供了关于如何使用视觉来控制人手的基本信息，而且还有助于设计更好的控制机器人手的系统。这并不是生物学第一次为工程设计提供一些有用的教训。