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: 2014
• 资助国家: 加拿大
• 起止时间: 2014-01-01 至 2015-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=544340
• 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.

人类的手是一件了不起的工程学作品。作为人类，我们可以精确地伸手抓住物体--比任何机器人都要好得多。使这成为可能的一件事是我们敏锐的视觉。西安大略大学大脑和思维中心的梅尔·古代尔博士和他的同事们正在研究我们的视觉系统在手伸手和抓住物体时使用的不同类型的信息--以及以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，古代尔博士使用了特殊的红外线敏感相机来跟踪安装在指尖、手和手腕上的微小红外光。然后，这些摄像头的数据可以用来重建抓取运动展开时手和手指的轨迹。古代尔博士的实验室之前的研究表明，来自两只眼睛的信息--双目视觉--在引导这些动作方面发挥着重要作用。但也有其他信息来源，包括我们四处走动时眼睛上世界的运动，以及一大堆被称为“深度的图片线索”的线索。这些后一种线索--透视、熟悉的大小、遮挡、阴影和纹理渐变--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。古代尔博士和他的团队正在探索所有这些不同的线索在计划和控制手的抓握动作中所起的作用，以及这些线索如何与之前对世界的经验和知识相互作用。他还研究了我们如何处理视觉错觉--并且已经证明，欺骗我们眼睛的错觉很少能愚弄我们贪婪的手！最近，古代尔博士开始使用脑成像(功能性磁共振成像，简称fMRI)来探索大脑如何计算出我们试图抓住的物体的大小。这项工作不仅提供了关于视觉如何控制人类手的基本信息，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学提供一些设计方面的有用课程。