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Heuer H. Imagery practice of motor skills without conscious awareness?: a commentary to Frank et al. PSYCHOLOGICAL RESEARCH 2024:10.1007/s00426-023-01907-8. [PMID: 38165421 DOI: 10.1007/s00426-023-01907-8] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/17/2023] [Accepted: 11/26/2023] [Indexed: 01/03/2024]
Abstract
Modifications of imagined sensory consequences will not benefit overt performance when they cannot be transformed into motor outflow that produces them. With physical practice, the acquisition of internal models of motor transformations is largely based on prediction errors that are absent in imagery practice. What can imagery practice nevertheless contribute to transformation learning? Explicit, strategic adjustments to novel transformations should be possible. This appears less likely for implicit adjustments. Are there variants of imagery practice that can produce adjustments without conscious awareness of the transformation and/or the resultant movement changes?
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Affiliation(s)
- Herbert Heuer
- Leibniz Research Centre for Working Environment and Human Factors, Dortmund, Germany.
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2
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Mostofinejad A, Goodman R, Loria T, Thaut M, Tremblay L. Substituting some unassisted practice with robotic guidance: Assessing the feasibility of auditory-cued mixed practice for music-based interventions. NeuroRehabilitation 2023:NRE220286. [PMID: 37248918 DOI: 10.3233/nre-220286] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/31/2023]
Abstract
BACKGROUND There is equivocal evidence regarding the effectiveness of robotic guidance on the (re)learning of voluntary motor skills. Robotic guidance can improve the performance of continuous/ tracking skills, although being seldom more effective than unassisted practice alone. However, most of the previous studies employed robotic guidance on all intervention trials. Recently, we showed that mixing robotic guidance with unassisted practice (i.e., mixed practice) can significantly improve the learning of a golf putting task. Yet, these mixed practice studies involved self-paced movements in a standing posture, thus less applicable to rehabilitation contexts. OBJECTIVE The current study aimed to investigate the influence of mixed practice on the timing accuracy of an upper-limb, rhythmic, sequential task. The goal was to assess the feasibility of integrating mixed practice with music-based interventions. METHODS Two groups of participants performed circle-drawing sequences in synchrony with rhythmic auditory signals. They completed a pre-test and an acquisition phase, followed by immediate retention and transfer tests. One group received robotic guidance on 50% of the acquisition trials (i.e., mixed practice), whereas another group always practiced unassisted. The pre-test, retention, and transfer tests were performed unassisted. RESULTS Both groups significantly improved their timing accuracy and precision between the pre-test and the retention test. CONCLUSION This study provides further evidence that mixed practice can facilitate the (re)learning of voluntary actions, especially with the type of externally paced upper-limb movements employed in music-based interventions.
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Affiliation(s)
- Amin Mostofinejad
- Faculty of Kinesiology and Physical Education, University of Toronto, Toronto, ON, Canada
| | - Rachel Goodman
- Faculty of Kinesiology and Physical Education, University of Toronto, Toronto, ON, Canada
| | - Tristan Loria
- Faculty of Music, University of Toronto, Toronto, ON, Canada
| | - Michael Thaut
- Faculty of Music, University of Toronto, Toronto, ON, Canada
| | - Luc Tremblay
- Faculty of Kinesiology and Physical Education, University of Toronto, Toronto, ON, Canada
- KITE Research Institute, Toronto Rehabilitation Institute, University Health Network, Toronto, ON, Canada
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3
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Ferrier-Barbut E, Gauthier P, Luengo V, Canlorbe G, Vitrani MA. Measuring the Quality of Learning in a Human–Robot Collaboration: A Study of Laparoscopic Surgery. ACM TRANSACTIONS ON HUMAN-ROBOT INTERACTION 2022. [DOI: 10.1145/3476414] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/17/2022]
Abstract
Robot-Assisted Laparoscopic Surgery (RALS) is now prevalent in operating rooms. This situation requires future surgeons to learn Classic Laparoscopic Surgery (CLS) and RALS simultaneously. Therefore, along with the investigation of the differences in performance between the two techniques, it is essential to study the impact of training in RALS on the skills mastered in CLS. In this article, we study comanipulated RALS (Co-RALS), one of the two designs for RALS, where the human and the robot share the execution of the task. We use a rarely used in Human–Robot Interaction measuring tool: gaze tracking and time recording to measure for the acquisition of skills in CLS when training in Co-RALS or in CLS and time recording to compare the learning curves between Co-RALS and CLS. These metrics allow us to observe differences in Co-RALS and CLS. Training in Co-RALS develops slightly better but not significantly better hand–eye coordination skills and significantly better timewise performance compared with training in CLS alone. Co-RALS enhances timewise performance in laparoscopic surgery on specific types of tasks that require precision rather than depth perception skills compared with CLS. The results obtained enable us to further define the Human–Robot Interaction quality in Co-RALS.
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Basalp E, Wolf P, Marchal-Crespo L. Haptic Training: Which Types Facilitate (re)Learning of Which Motor Task and for Whom? Answers by a Review. IEEE TRANSACTIONS ON HAPTICS 2021; 14:722-739. [PMID: 34388095 DOI: 10.1109/toh.2021.3104518] [Citation(s) in RCA: 16] [Impact Index Per Article: 5.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
The use of robots has attracted researchers to design numerous haptic training methods to support motor learning. However, investigations of new methods yielded inconclusive results regarding their effectiveness to enhance learning due to the diversity of tasks, haptic designs, participants' skill level, and study protocols. In this review, we developed a taxonomy to identify generalizable findings out of publications on haptic training. In the taxonomy, we grouped the results of studies on healthy learners based on participants' skill level and tasks' characteristics. Our inspection of included studies revealed that: i) Performance-enhancing haptic methods were beneficial for novices, ii) Training with haptics was as effective as training with other feedback modalities, and iii) Performance-enhancing and performance-degrading haptic methods were useful for the learning of temporal and spatial aspects, respectively. We also observed that these findings are in line with results from robot-aided neurorehabilitation studies on patients. Our review suggests that haptic training can be effective to foster learning, especially when the information cannot be provided with other feedback modalities. We believe the findings from the taxonomy constitute a general guide, which can assist researchers when designing studies to investigate the effectiveness of haptics on learning different tasks.
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Manjunatha H, Pareek S, Jujjavarapu SS, Ghobadi M, Kesavadas T, Esfahani ET. Upper Limb Home-Based Robotic Rehabilitation During COVID-19 Outbreak. Front Robot AI 2021; 8:612834. [PMID: 34109220 PMCID: PMC8181124 DOI: 10.3389/frobt.2021.612834] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/30/2020] [Accepted: 03/03/2021] [Indexed: 12/23/2022] Open
Abstract
The coronavirus disease (COVID-19) outbreak requires rapid reshaping of rehabilitation services to include patients recovering from severe COVID-19 with post-intensive care syndromes, which results in physical deconditioning and cognitive impairments, patients with comorbid conditions, and other patients requiring physical therapy during the outbreak with no or limited access to hospital and rehabilitation centers. Considering the access barriers to quality rehabilitation settings and services imposed by social distancing and stay-at-home orders, these patients can be benefited from providing access to affordable and good quality care through home-based rehabilitation. The success of such treatment will depend highly on the intensity of the therapy and effort invested by the patient. Monitoring patients' compliance and designing a home-based rehabilitation that can mentally engage them are the critical elements in home-based therapy's success. Hence, we study the state-of-the-art telerehabilitation frameworks and robotic devices, and comment about a hybrid model that can use existing telerehabilitation framework and home-based robotic devices for treatment and simultaneously assess patient's progress remotely. Second, we comment on the patients' social support and engagement, which is critical for the success of telerehabilitation service. As the therapists are not physically present to guide the patients, we also discuss the adaptability requirement of home-based telerehabilitation. Finally, we suggest that the reformed rehabilitation services should consider both home-based solutions for enhancing the activities of daily living and an on-demand ambulatory rehabilitation unit for extensive training where we can monitor both cognitive and motor performance of the patients remotely.
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Affiliation(s)
- Hemanth Manjunatha
- Human in the Loop Systems Laboratory, Department of Mechanical and Aerospace Engineering, University at Buffalo, Buffalo, NY, United States
| | - Shrey Pareek
- Health Care Engineering Systems Center, University of Illinois Urbana-Champaign, Champaign, IL, United States
| | - Sri Sadhan Jujjavarapu
- Human in the Loop Systems Laboratory, Department of Mechanical and Aerospace Engineering, University at Buffalo, Buffalo, NY, United States
| | - Mostafa Ghobadi
- Human in the Loop Systems Laboratory, Department of Mechanical and Aerospace Engineering, University at Buffalo, Buffalo, NY, United States
| | - Thenkurussi Kesavadas
- Health Care Engineering Systems Center, University of Illinois Urbana-Champaign, Champaign, IL, United States
| | - Ehsan T Esfahani
- Human in the Loop Systems Laboratory, Department of Mechanical and Aerospace Engineering, University at Buffalo, Buffalo, NY, United States
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6
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Caccianiga G, Mariani A, de Paratesi CG, Menciassi A, De Momi E. Multi-Sensory Guidance and Feedback for Simulation-Based Training in Robot Assisted Surgery: A Preliminary Comparison of Visual, Haptic, and Visuo-Haptic. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3063967] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
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7
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Beckers N, van Asseldonk EHF, van der Kooij H. Haptic human-human interaction does not improve individual visuomotor adaptation. Sci Rep 2020; 10:19902. [PMID: 33199831 PMCID: PMC7670433 DOI: 10.1038/s41598-020-76706-x] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/30/2019] [Accepted: 11/01/2020] [Indexed: 11/23/2022] Open
Abstract
Haptic interaction between two humans, for example, a physiotherapist assisting a patient regaining the ability to grasp a cup, likely facilitates motor skill acquisition. Haptic human–human interaction has been shown to enhance individual performance improvement in a tracking task with a visuomotor rotation perturbation. These results are remarkable given that haptically assisting or guiding an individual rarely benefits their individual improvement when the assistance is removed. We, therefore, replicated a study that reported that haptic interaction between humans was beneficial for individual improvement for tracking a target in a visuomotor rotation perturbation. In addition, we tested the effect of more interaction time and a stronger haptic coupling between the partners on individual improvement in the same task. We found no benefits of haptic interaction on individual improvement compared to individuals who practised the task alone, independent of interaction time or interaction strength.
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Affiliation(s)
- Niek Beckers
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands. .,Cognitive Robotics, Delft University of Technology, Delft, The Netherlands.
| | | | - Herman van der Kooij
- Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands.,Department of Biomechanical Engineering, Delft University of Technology, Delft, The Netherlands
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8
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Exploring disturbance as a force for good in motor learning. PLoS One 2020; 15:e0224055. [PMID: 32433704 PMCID: PMC7239483 DOI: 10.1371/journal.pone.0224055] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/02/2019] [Accepted: 04/27/2020] [Indexed: 11/19/2022] Open
Abstract
Disturbance forces facilitate motor learning, but theoretical explanations for this counterintuitive phenomenon are lacking. Smooth arm movements require predictions (inference) about the force-field associated with a workspace. The Free Energy Principle (FEP) suggests that such 'active inference' is driven by 'surprise'. We used these insights to create a formal model that explains why disturbance might help learning. In two experiments, participants undertook a continuous tracking task where they learned how to move their arm in different directions through a novel 3D force field. We compared baseline performance before and after exposure to the novel field to quantify learning. In Experiment 1, the exposure phases (but not the baseline measures) were delivered under three different conditions: (i) robot haptic assistance; (ii) no guidance; (iii) robot haptic disturbance. The disturbance group showed the best learning as our model predicted. Experiment 2 further tested our FEP inspired model. Assistive and/or disturbance forces were applied as a function of performance (low surprise), and compared to a random error manipulation (high surprise). The random group showed the most improvement as predicted by the model. Thus, motor learning can be conceptualised as a process of entropy reduction. Short term motor strategies (e.g. global impedance) can mitigate unexpected perturbations, but continuous movements require active inference about external force-fields in order to create accurate internal models of the external world (motor learning). Our findings reconcile research on the relationship between noise, variability, and motor learning, and show that information is the currency of motor learning.
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9
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Kager S, Hussain A, Budhota A, Dailey WD, Hughes CM, Deshmukh VA, Kuah CW, Ng CY, Yam LH, Xiang L, Ang MH, Chua KS, Campolo D. Work with me, not for me: Relationship between robotic assistance and performance in subacute and chronic stroke patients. J Rehabil Assist Technol Eng 2020; 6:2055668319881583. [PMID: 31949919 PMCID: PMC6952851 DOI: 10.1177/2055668319881583] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/21/2018] [Accepted: 08/29/2019] [Indexed: 11/15/2022] Open
Abstract
Introduction Studies in robotic therapy which applied the performance enhancement approach
report improvements in motor performance during training, though these
improvements do not always transfer to motor learning. Objectives We postulate that there exists an assistance threshold for which performance
saturates. Above this threshold, the robot’s input outweighs the patient’s
input and likely learning is not fostered. This study investigated the
relationship between assistance and performance changes in stroke patients
to find the assistance threshold for performance saturation. Methods Twelve subacute and chronic stroke patients engaged in five sessions (over
two weeks, each 60 min) in which they performed a reaching task with the
rehabilitation robot H-Man in presence of varying levels of haptic
assistance (50 N/m to 290 N/m, randomized order). In two additional
sessions, a therapist manually tuned the assistance to promote maximal motor
learning. Results Higher levels of assistance resulted in smoother and faster performance that
saturated at assistance levels with
K ≥ 110 N/m. Also, the therapist selected
assistance levels of K = 175 N/m or
below. Conclusion The findings of the study indicate that low levels of assistance
(K ≤ 175 N/m) can sufficiently induce
a significant change in performance.
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Affiliation(s)
- Simone Kager
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore.,NUS Graduate School for Integrative Sciences and Engineering, National University of Singapore, Singapore
| | - Asif Hussain
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
| | - Aamani Budhota
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore.,Interdisciplinary Graduate School, Nanyang Technological University, Singapore
| | - Wayne D Dailey
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
| | - Charmayne Ml Hughes
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore.,Health Equity Institute, San Francisco State University, San Francisco, CA, USA
| | - Vishwanath A Deshmukh
- Centre for Advanced Rehabilitation Therapeutics, TTSH Rehabilitation Centre, Department of Rehabilitation Medicine, Tan Tock Seng Hospital, Singapore
| | - Christopher Wk Kuah
- Centre for Advanced Rehabilitation Therapeutics, TTSH Rehabilitation Centre, Department of Rehabilitation Medicine, Tan Tock Seng Hospital, Singapore
| | - Chwee Yin Ng
- Centre for Advanced Rehabilitation Therapeutics, TTSH Rehabilitation Centre, Department of Rehabilitation Medicine, Tan Tock Seng Hospital, Singapore
| | - Lester Hl Yam
- Centre for Advanced Rehabilitation Therapeutics, TTSH Rehabilitation Centre, Department of Rehabilitation Medicine, Tan Tock Seng Hospital, Singapore
| | - Liming Xiang
- School of Physical and Mathematical Sciences, Nanyang Technological University, Singapore
| | - Marcelo H Ang
- Department of Mechanical Engineering, National University of Singapore, Singapore
| | - Karen Sg Chua
- Health Equity Institute, San Francisco State University, San Francisco, CA, USA
| | - Domenico Campolo
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
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10
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Penalver-Andres J, Duarte J, Vallery H, Klamroth-Marganska V, Riener R, Marchal-Crespo L, Rauter G. Do we need complex rehabilitation robots for training complex tasks? IEEE Int Conf Rehabil Robot 2019; 2019:1085-1090. [PMID: 31374774 DOI: 10.1109/icorr.2019.8779384] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
One key question in motor learning is how the complex tasks in daily life - those that require coordinated movements of multiple joints - should be trained. Often, complex tasks are directly taught as a whole, even though training of simple movement components before training the entire movement has been shown to be more effective for particularly complex tasks ("part-whole transfer paradigm"). The important implication of the part-whole transfer paradigm, e.g. on the field of rehabilitation robotics, is that training of most complex tasks could be simplified and, subsequently, devices used to train can become simpler and more affordable. In this way, robot-assisted rehabilitation could become more accessible. However, often the last step in the training process is forgotten: the recomposition of several simple movement components to a complete complex movement. Therefore, at least for the last training step, a complex rehabilitation device may be required.In a pilot study, we wanted to investigate if a complex robotic device (e.g. an exoskeleton robot with many degrees of freedom), such as the ARMin rehabilitation robot, is really beneficial for training the coordination between several simpler movement components or if training using visual feedback would lead to equal benefits. In a study, involving 16 healthy participants, who were instructed in a complex rugby motion, we could show first trends on the following two aspects: i) the part-whole transfer paradigm seems to hold true and therefore, simple robots might be used for training movement primitives. ii) Visual feedback does not seem to have the same potential, at least in healthy humans, to replace visuo-haptic guidance for movement recomposition of complex tasks. Therefore, complex rehabilitation robots seem to be beneficial for training complex real-life tasks.
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11
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Marchal-Crespo L, Tsangaridis P, Obwegeser D, Maggioni S, Riener R. Haptic Error Modulation Outperforms Visual Error Amplification When Learning a Modified Gait Pattern. Front Neurosci 2019; 13:61. [PMID: 30837824 PMCID: PMC6390202 DOI: 10.3389/fnins.2019.00061] [Citation(s) in RCA: 17] [Impact Index Per Article: 3.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/23/2018] [Accepted: 01/21/2019] [Indexed: 11/22/2022] Open
Abstract
Robotic algorithms that augment movement errors have been proposed as promising training strategies to enhance motor learning and neurorehabilitation. However, most research effort has focused on rehabilitation of upper limbs, probably because large movement errors are especially dangerous during gait training, as they might result in stumbling and falling. Furthermore, systematic large movement errors might limit the participants' motivation during training. In this study, we investigated the effect of training with novel error modulating strategies, which guarantee a safe training environment, on motivation and learning of a modified asymmetric gait pattern. Thirty healthy young participants walked in the exoskeletal robotic system Lokomat while performing a foot target-tracking task, which required an increased hip and knee flexion in the dominant leg. Learning the asymmetric gait pattern with three different strategies was evaluated: (i) No disturbance: no robot disturbance/guidance was applied, (ii) haptic error amplification: unsafe and discouraging large errors were limited with haptic guidance, while haptic error amplification enhanced awareness of small errors relevant for learning, and (iii) visual error amplification: visually observed errors were amplified in a virtual reality environment. We also evaluated whether increasing the movement variability during training by adding randomly varying haptic disturbances on top of the other training strategies further enhances learning. We analyzed participants' motor performance and self-reported intrinsic motivation before, during and after training. We found that training with the novel haptic error amplification strategy did not hamper motor adaptation and enhanced transfer of the practiced asymmetric gait pattern to free walking. Training with visual error amplification, on the other hand, increased errors during training and hampered motor learning. Participants who trained with visual error amplification also reported a reduced perceived competence. Adding haptic disturbance increased the movement variability during training, but did not have a significant effect on motor adaptation, probably because training with haptic disturbance on top of visual and haptic error amplification decreased the participants' feelings of competence. The proposed novel haptic error modulating controller that amplifies small task-relevant errors while limiting large errors outperformed visual error augmentation and might provide a promising framework to improve robotic gait training outcomes in neurological patients.
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Affiliation(s)
- Laura Marchal-Crespo
- Gerontechnology and Rehabilitation Group, ARTORG Center for Biomedical Engineering Research, University of Bern, Bern, Switzerland
- Sensory-Motor Systems (SMS) Lab, Institute of Robotics and Intelligent Systems (IRIS), Department of Health Sciences and Technology (D-HEST), ETH Zürich, Zurich, Switzerland
| | - Panagiotis Tsangaridis
- Sensory-Motor Systems (SMS) Lab, Institute of Robotics and Intelligent Systems (IRIS), Department of Health Sciences and Technology (D-HEST), ETH Zürich, Zurich, Switzerland
| | - David Obwegeser
- Sensory-Motor Systems (SMS) Lab, Institute of Robotics and Intelligent Systems (IRIS), Department of Health Sciences and Technology (D-HEST), ETH Zürich, Zurich, Switzerland
| | - Serena Maggioni
- Sensory-Motor Systems (SMS) Lab, Institute of Robotics and Intelligent Systems (IRIS), Department of Health Sciences and Technology (D-HEST), ETH Zürich, Zurich, Switzerland
- Reharobotics Group, Spinal Cord Injury Center, Balgrist University Hospital, Medical Faculty, University of Zurich, Zurich, Switzerland
- Hocoma AG, Volketswil, Switzerland
| | - Robert Riener
- Sensory-Motor Systems (SMS) Lab, Institute of Robotics and Intelligent Systems (IRIS), Department of Health Sciences and Technology (D-HEST), ETH Zürich, Zurich, Switzerland
- Reharobotics Group, Spinal Cord Injury Center, Balgrist University Hospital, Medical Faculty, University of Zurich, Zurich, Switzerland
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12
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Nalepka P, Lamb M, Kallen RW, Shockley K, Chemero A, Saltzman E, Richardson MJ. Human social motor solutions for human-machine interaction in dynamical task contexts. Proc Natl Acad Sci U S A 2019; 116:1437-1446. [PMID: 30617064 PMCID: PMC6347696 DOI: 10.1073/pnas.1813164116] [Citation(s) in RCA: 27] [Impact Index Per Article: 5.4] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022] Open
Abstract
Multiagent activity is commonplace in everyday life and can improve the behavioral efficiency of task performance and learning. Thus, augmenting social contexts with the use of interactive virtual and robotic agents is of great interest across health, sport, and industry domains. However, the effectiveness of human-machine interaction (HMI) to effectively train humans for future social encounters depends on the ability of artificial agents to respond to human coactors in a natural, human-like manner. One way to achieve effective HMI is by developing dynamical models utilizing dynamical motor primitives (DMPs) of human multiagent coordination that not only capture the behavioral dynamics of successful human performance but also, provide a tractable control architecture for computerized agents. Previous research has demonstrated how DMPs can successfully capture human-like dynamics of simple nonsocial, single-actor movements. However, it is unclear whether DMPs can be used to model more complex multiagent task scenarios. This study tested this human-centered approach to HMI using a complex dyadic shepherding task, in which pairs of coacting agents had to work together to corral and contain small herds of virtual sheep. Human-human and human-artificial agent dyads were tested across two different task contexts. The results revealed (i) that the performance of human-human dyads was equivalent to those composed of a human and the artificial agent and (ii) that, using a "Turing-like" methodology, most participants in the HMI condition were unaware that they were working alongside an artificial agent, further validating the isomorphism of human and artificial agent behavior.
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Affiliation(s)
- Patrick Nalepka
- Centre for Elite Performance, Expertise and Training, Macquarie University, Sydney, NSW 2109, Australia;
- Department of Psychology, Macquarie University, Sydney, NSW 2109, Australia
| | - Maurice Lamb
- Center for Cognition, Action & Perception, Department of Psychology, University of Cincinnati, Cincinnati, OH 45220
| | - Rachel W Kallen
- Centre for Elite Performance, Expertise and Training, Macquarie University, Sydney, NSW 2109, Australia
- Department of Psychology, Macquarie University, Sydney, NSW 2109, Australia
| | - Kevin Shockley
- Center for Cognition, Action & Perception, Department of Psychology, University of Cincinnati, Cincinnati, OH 45220
| | - Anthony Chemero
- Center for Cognition, Action & Perception, Department of Psychology, University of Cincinnati, Cincinnati, OH 45220
| | - Elliot Saltzman
- Department of Physical Therapy & Athletic Training, Sargent College of Health & Rehabilitation Sciences, Boston University, Boston, MA 02215
- Haskins Laboratories, New Haven, CT 06511
| | - Michael J Richardson
- Centre for Elite Performance, Expertise and Training, Macquarie University, Sydney, NSW 2109, Australia;
- Department of Psychology, Macquarie University, Sydney, NSW 2109, Australia
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13
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Losey DP, Blumenschein LH, Clark JP, O’Malley MK. Improving short-term retention after robotic training by leveraging fixed-gain controllers. J Rehabil Assist Technol Eng 2019; 6:2055668319866311. [PMID: 31523451 PMCID: PMC6732847 DOI: 10.1177/2055668319866311] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/03/2019] [Accepted: 07/05/2019] [Indexed: 11/22/2022] Open
Abstract
INTRODUCTION When developing control strategies for robotic rehabilitation, it is important that end-users who train with those strategies retain what they learn. Within the current state-of-the-art, however, it remains unclear what types of robotic controllers are best suited for promoting retention. In this work, we experimentally compare short-term retention in able-bodied end-users after training with two common types of robotic control strategies: fixed- and variable-gain controllers. METHODS Our approach is based on recent motor learning research, where reward signals are employed to reinforce the learning process. We extend this approach to now include robotic controllers, so that participants are trained with a robotic control strategy and auditory reward-based reinforcement on tasks of different difficulty. We then explore retention after the robotic feedback is removed. RESULTS Overall, our results indicate that fixed-gain control strategies better stabilize able-bodied users' motor adaptation than either a no controller baseline or variable-gain strategy. When breaking these results down by task difficulty, we find that assistive and resistive fixed-gain controllers lead to better short-term retention on less challenging tasks but have opposite effects on the learning and forgetting rates. CONCLUSIONS This suggests that we can improve short-term retention after robotic training with consistent controllers that match the task difficulty.
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Affiliation(s)
- Dylan P Losey
- Department of Mechanical Engineering,
Rice University, Houston, TX, USA
| | | | - Janelle P Clark
- Department of Mechanical Engineering,
Rice University, Houston, TX, USA
| | - Marcia K O’Malley
- Department of Mechanical Engineering,
Rice University, Houston, TX, USA
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14
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Milot MH, Marchal-Crespo L, Beaulieu LD, Reinkensmeyer DJ, Cramer SC. Neural circuits activated by error amplification and haptic guidance training techniques during performance of a timing-based motor task by healthy individuals. Exp Brain Res 2018; 236:3085-3099. [PMID: 30132040 PMCID: PMC6223879 DOI: 10.1007/s00221-018-5365-5] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/22/2018] [Accepted: 08/17/2018] [Indexed: 01/07/2023]
Abstract
To promote motor learning, robotic devices have been used to improve subjects' performance by guiding desired movements (haptic guidance-HG) or by artificially increasing movement errors to foster a more rapid learning (error amplification-EA). To better understand the neurophysiological basis of motor learning, a few studies have evaluated brain regions activated during EA/HG, but none has compared both approaches. The goal of this study was to investigate using fMRI which brain networks were activated during a single training session of HG/EA in healthy adults learning to play a computerized pinball-like timing task. Subjects had to trigger a robotic device by flexing their wrist at the correct timing to activate a virtual flipper and hit a falling ball towards randomly positioned targets. During training with HG/EA, subjects' timing errors were decreased/increased, respectively, by the robotic device to delay or accelerate their wrist movement. The results showed that at the beginning of the training period with HG/EA, an error-detection network, including cerebellum and angular gyrus, was activated, consistent with subjects recognizing discrepancies between their intended actions and the actual movement timing. At the end of the training period, an error-detection network was still present for EA, while a memory consolidation/automatization network (caudate head and parahippocampal gyrus) was activated for HG. The results indicate that training movement with various kinds of robotic input relies on different brain networks. Better understanding the neurophysiological underpinnings of brain processes during HG/EA could prove useful for optimizing rehabilitative movement training for people with different patterns of brain damage.
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Affiliation(s)
- Marie-Hélène Milot
- École de réadaptation, Faculté de médecine et des sciences de la santé, Université de Sherbrooke, Pavillon Gérald-Lasalle, 3001, 12e Avenue Nord, Sherbrooke, QC, J1H 5N4, Canada.
| | - Laura Marchal-Crespo
- Sensory-Motor Systems Lab, Institute of Robotics and Intelligent Systems IRIS, ETH Zurich, TAN E3 Tannenstrasse 1, 8092, Zurich, Switzerland.,Gerontechnology and Rehabilitation Research Group, ARTORG Center for Biomedical Engineering Research, University of Bern, Murtenstrasse 50, 3008, Bern, Switzerland
| | - Louis-David Beaulieu
- École de réadaptation, Faculté de médecine et des sciences de la santé, Université de Sherbrooke, Pavillon Gérald-Lasalle, 3001, 12e Avenue Nord, Sherbrooke, QC, J1H 5N4, Canada
| | - David J Reinkensmeyer
- Department of Mechanical and Aerospace Engineering, University of California, 4200 Engineering Gateway, Irvine, CA, 92697, USA.,Department of Biomedical Engineering, University of California, 3120 Natural Sciences II, Irvine, CA, 92697, USA
| | - Steven C Cramer
- Department of Mechanical and Aerospace Engineering, University of California, 4200 Engineering Gateway, Irvine, CA, 92697, USA.,Department of Biomedical Engineering, University of California, 3120 Natural Sciences II, Irvine, CA, 92697, USA.,Department of Anatomy and Neurobiology, University of California, 364 Med Surge II, Irvine, CA, 92697, USA.,Department of Neurology, University of California, 200 S. Manchester AVE, Orange, CA, 92868, USA
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15
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Stroke Rehabilitation: Therapy Robots and Assistive Devices. ADVANCES IN EXPERIMENTAL MEDICINE AND BIOLOGY 2018; 1065:579-587. [PMID: 30051408 DOI: 10.1007/978-3-319-77932-4_35] [Citation(s) in RCA: 30] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/02/2022]
Abstract
Motor impairments after stroke are often persistent and disabling, and women are less likely to recover and show poorer functional outcomes. To regain motor function after stroke, rehabilitation robots are increasingly integrated into clinics. The devices fall into two main classes: robots developed to train lost motor function after stroke (therapy devices) and robots designed to compensate for lost skills (i.e., assistive devices). The article provides an overview of therapeutic options with robots for motor rehabilitation after stroke.
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Williams CK, Tseung V, Carnahan H. Self-Control of Haptic Assistance for Motor Learning: Influences of Frequency and Opinion of Utility. Front Psychol 2017; 8:2082. [PMID: 29255438 PMCID: PMC5723017 DOI: 10.3389/fpsyg.2017.02082] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/20/2017] [Accepted: 11/15/2017] [Indexed: 11/16/2022] Open
Abstract
Studies of self-controlled practice have shown benefits when learners controlled feedback schedule, use of assistive devices and task difficulty, with benefits attributed to information processing and motivational advantages of self-control. Although haptic assistance serves as feedback, aids task performance and modifies task difficulty, researchers have yet to explore whether self-control over haptic assistance could be beneficial for learning. We explored whether self-control of haptic assistance would be beneficial for learning a tracing task. Self-controlled participants selected practice blocks on which they would receive haptic assistance, while participants in a yoked group received haptic assistance on blocks determined by a matched self-controlled participant. We inferred learning from performance on retention tests without haptic assistance. From qualitative analysis of open-ended questions related to rationales for/experiences of the haptic assistance that was chosen/provided, themes emerged regarding participants' views of the utility of haptic assistance for performance and learning. Results showed that learning was directly impacted by the frequency of haptic assistance for self-controlled participants only and view of haptic assistance. Furthermore, self-controlled participants' views were significantly associated with their requested haptic assistance frequency. We discuss these findings as further support for the beneficial role of self-controlled practice for motor learning.
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Affiliation(s)
- Camille K. Williams
- Rehabilitation Sciences Institute, University of Toronto, Toronto, ON, Canada
| | - Victrine Tseung
- Rehabilitation Sciences Institute, University of Toronto, Toronto, ON, Canada
| | - Heather Carnahan
- School of Human Kinetics and Recreation, Memorial University of Newfoundland, St. John’s, NL, Canada
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17
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Kim SJ, Kim Y, Lee H, Ghasemlou P, Kim J. Development of an MR-compatible hand exoskeleton that is capable of providing interactive robotic rehabilitation during fMRI imaging. Med Biol Eng Comput 2017; 56:261-272. [PMID: 28712012 DOI: 10.1007/s11517-017-1681-3] [Citation(s) in RCA: 6] [Impact Index Per Article: 0.9] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/01/2016] [Accepted: 07/03/2017] [Indexed: 11/30/2022]
Abstract
Following advances in robotic rehabilitation, there have been many efforts to investigate the recovery process and effectiveness of robotic rehabilitation procedures through monitoring the activation status of the brain. This work presents the development of a two degree-of-freedom (DoF) magnetic resonance (MR)-compatible hand device that can perform robotic rehabilitation procedures inside an fMRI scanner. The device is capable of providing real-time monitoring of the joint angle, angular velocity, and joint force produced by the metacarpophalangeal (MCP) and proximal interphalangeal (PIP) joints of four fingers. For force measurement, a custom reflective optical force sensor was developed and characterized in terms of accuracy error, hysteresis, and repeatability in the MR environment. The proposed device consists of two non-magnetic ultrasonic motors to provide assistive and resistive forces to the MCP and PIP joints. With actuation and sensing capabilities, both non-voluntary-passive movements and active-voluntary movements can be implemented. The MR compatibility of the device was verified via the analysis of the signal-to-noise ratio (SNR) of MR images of phantoms. SNR drops of 0.25, 2.94, and 11.82% were observed when the device was present but not activated, when only the custom force sensor was activated, and when both the custom force sensor and actuators were activated, respectively.
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Affiliation(s)
- Sangjoon J Kim
- Division of Mechanical Engineering, School of Mechanical, Aerospace and Systems Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon, 34141, Republic of Korea
| | - Yeongjin Kim
- Department of Mechanical Engineering, Incheon National University, Incheon, Republic of Korea
| | - Hyosang Lee
- Division of Mechanical Engineering, School of Mechanical, Aerospace and Systems Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon, 34141, Republic of Korea
| | - Pouya Ghasemlou
- Division of Mechanical Engineering, School of Mechanical, Aerospace and Systems Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon, 34141, Republic of Korea
| | - Jung Kim
- Division of Mechanical Engineering, School of Mechanical, Aerospace and Systems Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon, 34141, Republic of Korea.
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18
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Marchal-Crespo L, Baumann T, Imobersteg M, Maassen S, Riener R. Experimental Evaluation of a Mixed Controller That Amplifies Spatial Errors and Reduces Timing Errors. Front Robot AI 2017. [DOI: 10.3389/frobt.2017.00019] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
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Williams CK, Tremblay L, Carnahan H. It Pays to Go Off-Track: Practicing with Error-Augmenting Haptic Feedback Facilitates Learning of a Curve-Tracing Task. Front Psychol 2017; 7:2010. [PMID: 28082937 PMCID: PMC5183591 DOI: 10.3389/fpsyg.2016.02010] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/15/2016] [Accepted: 12/12/2016] [Indexed: 11/29/2022] Open
Abstract
Researchers in the domain of haptic training are now entering the long-standing debate regarding whether or not it is best to learn a skill by experiencing errors. Haptic training paradigms provide fertile ground for exploring how various theories about feedback, errors and physical guidance intersect during motor learning. Our objective was to determine how error minimizing, error augmenting and no haptic feedback while learning a self-paced curve-tracing task impact performance on delayed (1 day) retention and transfer tests, which indicate learning. We assessed performance using movement time and tracing error to calculate a measure of overall performance – the speed accuracy cost function. Our results showed that despite exhibiting the worst performance during skill acquisition, the error augmentation group had significantly better accuracy (but not overall performance) than the error minimization group on delayed retention and transfer tests. The control group’s performance fell between that of the two experimental groups but was not significantly different from either on the delayed retention test. We propose that the nature of the task (requiring online feedback to guide performance) coupled with the error augmentation group’s frequent off-target experience and rich experience of error-correction promoted information processing related to error-detection and error-correction that are essential for motor learning.
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Affiliation(s)
- Camille K Williams
- Rehabilitation Sciences Institute, University of Toronto, Toronto ON, Canada
| | - Luc Tremblay
- Faculty of Kinesiology and Physical Education, University of Toronto, Toronto ON, Canada
| | - Heather Carnahan
- School of Human Kinetics and Recreation, Memorial University of Newfoundland, St. John's NL, Canada
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Cuppone AV, Squeri V, Semprini M, Masia L, Konczak J. Robot-Assisted Proprioceptive Training with Added Vibro-Tactile Feedback Enhances Somatosensory and Motor Performance. PLoS One 2016; 11:e0164511. [PMID: 27727321 PMCID: PMC5058482 DOI: 10.1371/journal.pone.0164511] [Citation(s) in RCA: 39] [Impact Index Per Article: 4.9] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/06/2016] [Accepted: 09/25/2016] [Indexed: 11/19/2022] Open
Abstract
This study examined the trainability of the proprioceptive sense and explored the relationship between proprioception and motor learning. With vision blocked, human learners had to perform goal-directed wrist movements relying solely on proprioceptive/haptic cues to reach several haptically specified targets. One group received additional somatosensory movement error feedback in form of vibro-tactile cues applied to the skin of the forearm. We used a haptic robotic device for the wrist and implemented a 3-day training regimen that required learners to make spatially precise goal-directed wrist reaching movements without vision. We assessed whether training improved the acuity of the wrist joint position sense. In addition, we checked if sensory learning generalized to the motor domain and improved spatial precision of wrist tracking movements that were not trained. The main findings of the study are: First, proprioceptive acuity of the wrist joint position sense improved after training for the group that received the combined proprioceptive/haptic and vibro-tactile feedback (VTF). Second, training had no impact on the spatial accuracy of the untrained tracking task. However, learners who had received VTF significantly reduced their reliance on haptic guidance feedback when performing the untrained motor task. That is, concurrent VTF was highly salient movement feedback and obviated the need for haptic feedback. Third, VTF can be also provided by the limb not involved in the task. Learners who received VTF to the contralateral limb equally benefitted. In conclusion, somatosensory training can significantly enhance proprioceptive acuity within days when learning is coupled with vibro-tactile sensory cues that provide feedback about movement errors. The observable sensory improvements in proprioception facilitates motor learning and such learning may generalize to the sensorimotor control of the untrained motor tasks. The implications of these findings for neurorehabilitation are discussed.
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Affiliation(s)
- Anna Vera Cuppone
- Motor Learning and Robotic Rehabilitation Laboratory, Department of Robotics, Brain and Cognitive Sciences, Istituto Italiano di Tecnologia, Genova, Italy
| | - Valentina Squeri
- Motor Learning and Robotic Rehabilitation Laboratory, Department of Robotics, Brain and Cognitive Sciences, Istituto Italiano di Tecnologia, Genova, Italy
| | - Marianna Semprini
- Neural Computation Laboratory, Center for Neuroscience and Cognitive Systems, Istituto Italiano di Tecnologia, Rovereto, Italy
| | - Lorenzo Masia
- School of Mechanical & Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
| | - Jürgen Konczak
- Human Sensorimotor Control Laboratory, School of Kinesiology and Center for Clinical Movement Science, University of Minnesota, Minneapolis, MN, United States of America
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