Question: Enhancing robot manipulation skills via fingertip perception capabilities.

LIBSVM: An Enhanced Library for Support Vector Machines

This paper presents an advanced version of LIBSVM, a comprehensive library designed for support vector machines (SVMs). SVMs are powerful machine learning algorithms used for classification and regression tasks. LIBSVM has been optimized to handle large-scale problems and features a user-friendly interface for easy integration into various applications. The enhanced library includes several improvements, such as faster training algorithms, better handling of multi-class classification, and more efficient memory management. Additionally, LIBSVM supports a wide range of kernel functions, allowing for greater flexibility in addressing complex data patterns. The library also offers a comprehensive set of tools for model selection and performance evaluation, making it a valuable resource for researchers and practitioners in the field of machine learning.

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Tomorrow's humanoids will operate in human environments, where efficient manipulation and locomotion skills, and safe contact interactions are critical design factors. We report here our recent efforts into these issues, materialized into a whole-body control framework. This framework integrates task-oriented dynamic control and control prioritization allowing to control multiple task primitives while complying with physical and movement-related constraints. Prioritization establishes a hierarchy between control spaces, assigning top priority to constraint-handling tasks, while projecting operational tasks in the null space of the constraints, and controlling the posture within the residual redundancy. This hierarchy is directly integrated at the kinematic level, allowing the program to monitor behavior feasibility at runtime. In addition, prioritization allows us to characterize the dynamic behavior of the individual control primitives subject to the constraints, and to synthesize operational space controllers at multiple levels. To complete this framework, we have developed free-floating models of the humanoid and incorporate the associated dynamics and the effects of the resulting support contacts into the control hierarchy. As part of a long term collaboration with Honda, we are currently implementing this framework into the humanoid robot Asimo

A two-handed direct manipulation VE (virtual environment) interface has been developed as an intuitive manipulation metaphor for graphical objects. A new input device called ChordGloves introduces a simple technique for rapid and repeatable gesture recognition; the Chordgloves emulate a pair of 3-D mice and a keyboard. A drafting table is isomorphically mapped into the VE and provides hand support for 2-D interface techniques, as well as a reference frame for calibrating the mapping between real and virtual worlds. A cursor gravity function is used to grab vertices, edges, or faces and establish precisely aligned differential constraints between objects called anchors. The capability of subjects to translate, rotate, scale, align, and glue objects is tested with a puzzle building task. An approximation of the puzzle task is done in Adobe Illustrator to provide a performance reference. Results and informal user observations as well as topics for future work are presented.

Reinforcement learning provides a powerful and flexible framework for automated acquisition of robotic motion skills. However, applying reinforcement learning requires a sufficiently detailed representation of the state, including the configuration of task-relevant objects. We present an approach that automates state-space construction by learning a state representation directly from camera images. Our method uses a deep spatial autoencoder to acquire a set of feature points that describe the environment for the current task, such as the positions of objects, and then learns a motion skill with these feature points using an efficient reinforcement learning method based on local linear models. The resulting controller reacts continuously to the learned feature points, allowing the robot to dynamically manipulate objects in the world with closed-loop control. We demonstrate our method with a PR2 robot on tasks that include pushing a free-standing toy block, picking up a bag of rice using a spatula, and hanging a loop of rope on a hook at various positions. In each task, our method automatically learns to track task-relevant objects and manipulate their configuration with the robot's arm.

Handheld and wearable devices frequently engage users with simple haptic feedback, such as alerting, shaking, and pulsating. Here we explored intermanual apparent tactile motion-illusory movement between two hands-as a means to enrich such feedback. A series of psychophysical experiments determined the control space for generating smooth and consistent motion across the hands while users held the device. Experiment 1 calibrated the system and showed that vibrotactile detection thresholds decreased with increasing frequency, with similar trends for both hands. Experiment 2 measured effects of vibrotactile parameters on perceived motion. Both duration and temporal separation of stimuli, but not frequency and amplitude, affected subjective motion ratings. In Experiment 3, subjective ratings showed that stimuli with gradual onsets produced a stronger percept of motion than those with abrupt onsets. Finally, Experiment 4 determined a multimodal factor to match moving visual cues across the screen to moving tactile motion across hands. Our results showed compression of visual duration by the tactile system by a factor of approximately 1/3 at two test frequencies. The results of this research are useful for media designers and developers to generate reliable motion across the hands and integrate haptic motion with visual media.

Estimation of materials properties, such as softness or roughness from visual perception is an essential factor in deciding our way of interaction with our environment in e.g., object manipulation tasks or walking. In this research, we propose a method for deep visuo-tactile learning in which we train a encoder-decoder network with an intermediate layer in an unsupervised manner with images as input and tactile sequences as output. Materials properties are then represented in the intermediate layer as a continuous feature space and are estimated from image information. Unlike past studies utilizing tactile sensors focusing on classification for object recognition or recognizing material properties, our method does not require manually designing class labels or annotation, does not cause unknown objects to be classified into known discrete classes, and can be used without a tactile sensor after training. To collect data for training, we have attached a uSkin tactile sensor and a camera to the end-effector of a Sawyer robot to stroke surfaces of 21 different material surfaces. Our results after training show that features are indeed expressed continuously, and that our method is able to handle unknown objects in its feature space.

We present an approach to learn the inverse kinematics of the “bionic handling assistant”-an elephant trunk robot. This task comprises substantial challenges including high dimensionality, restrictive and unknown actuation ranges, and nonstationary system behavior. We use a recent exploration scheme, online goal babbling, which deals with these challenges by bootstrapping and adapting the inverse kinematics on the fly. We show the success of the method in extensive real-world experiments on the nonstationary robot, including a novel combination of learning and traditional feedback control. Simulations further investigate the impact of nonstationary actuation ranges, drifting sensors, and morphological changes. The experiments provide the first substantial quantitative real-world evidence for the success of goal-directed bootstrapping schemes, moreover with the challenge of nonstationary system behavior. We thereby provide the first functioning control concept for this challenging robot platform.

Any implant or prosthesis replacing a function or functions of an organ or group of organs should be biologically and sensorily integrated with the human body in order to increase their acceptance with their user. If this replacement is for a human hand, which is an important interface between humans and their environment, the acceptance issue and developing sensory-motor embodiment will be more challenging. Despite progress in prosthesis technologies, 50–60% of hand amputees wear a prosthetic device. One primary reason for the rejection of the prosthetic hands is that there is no or negligibly small feedback or tactile sensation from the hand to the user, making the hands less functional. In fact, the loss of a hand means interrupting the closed-loop sensory feedback between the brain (motor control) and the hand (sensory feedback through the nerves). The lack of feedback requires significant cognitive efforts from the user in order to do basic gestures and daily activities. To this aim, recently, there has been significant development in the provision of sensory feedback from transradial prosthetic hands, to enable the user take part in the control loop and improve user embodiment. Sensory feedback to the hand users can be provided via invasive and non-invasive methods. The latter includes the use of temperature, vibration, mechanical pressure and skin stretching, electrotactile stimulation, phantom limb stimulation, audio feedback, and augmented reality. This paper provides a comprehensive review of the non-invasive methods, performs their critical evaluation, and presents challenges and opportunities associated with the non-invasive sensory feedback methods.

A tactile sensor is developed with the aim of covering a robot's entire structure, while reducing wiring requirement and ensuring high-speed response. The sensor detects the center point of load distribution on 2-D surfaces as well as the overall load. There are only four signal wires from the sensor. The sensor response time is nearly constant (within 1 ms) regardless of the number of detection elements, their placements or sensor areas. In this paper, the principles behind the operation of this sensor and the results of experiments using the sensor are described.

We present and discuss four important yet underserved research questions critical to the future of sharedenvironment human-robot collaboration. We begin with a brief survey of research surrounding individual components required for a complete collaborative robot control system, discussing the current state of the art in Learning from Demonstration, active learning, adaptive planning systems, and intention recognition. We motivate the exploration of the presented research questions by relating them to existing work and representative use cases from the domains of construction and cooking.

The design of a novel linkage three-phalanx finger was proposed in this paper. The finger is based on the concept of COSA (coupling and self-adaptation) and also two-phalanx COSA finger. As a combination of rigid coupled finger and self-adaptive under-actuated finger, the COSA finger has comprehensive grasping ability with human-like motion. Available topology designs were discussed in this paper and then mechanical design in details is given. Motion and grasping patterns of the finger were illustrated and compared with traditional coupled finger and under-actuated finger. Moreover, stability of grasp was simulated by static analysis. The three-phalanx finger with advantages of coupling and self-adaptation can be widely applied in hands for prosthetic limbs or humanoid robots.


Question: Enhancing robot manipulation skills via fingertip perception capabilities.

This paper introduces an enhanced tactile sensor designed specifically for the robotic fingertips of the humanoid robot iCub, aiming to refine its object manipulation capabilities. The design of the tactile sensor is critical due to the restricted space within robotic fingers, necessitating compact and efficient solutions. Building upon our previous prototype [1], which featured a capacitive pressure system, we have developed an advanced version that has been successfully integrated into iCub's hand. The new sensor is compact, measuring 14.5 mm in length and 13 mm in width. It incorporates a capacitive pressure sensor with 12 sensitive zones, along with embedded electronics that transmit 12 measurements through a serial bus using just four wires. The sensor's design mimics the shape of a human fingertip, enhancing its realism and functionality. Notably, the sensor includes a layer of soft silicone foam, which adds compliance and realism to the robotic fingertip. This paper details the sensor's structure, its seamless integration into iCub, and presents test outcomes that highlight the sensor's performance characteristics, demonstrating its potential to significantly improve the robot's tactile perception and manipulation abilities.

Chronic hand impairment is common following stroke. This paper presents an actuated thumb exoskeleton (ATX) to facilitate research in hand rehabilitation therapy. The ATX presented in this work permits independent bi-directional actuation in each of the 5 degrees-of-freedom (DOF) of the thumb using a mechanism that has 5 active DOF and 3 passive DOF. The ATX is able to provide considerable joint torques for the user while still allowing backdrivability through flexible shaft transmission. A prototype has been built and experiments were conducted to evaluate the closed-loop position control. Further improvement and future work are discussed.

Significant functional impairment of the hand is common among stroke survivors and restoration of hand function should be prioritized during post-stroke rehabilitation. The goal of this study was to develop a novel biomimetic device to assist patients in producing complex hand movements with a limited number of actuators. The Biomimetic Hand Exoskeleton Device (BiomHED) is actuated by exotendons that mimic the geometry of the major tendons of the hand. Ten unimpaired subjects and four chronic stroke survivors participated in experiments that tested the efficacy of the system. The exotendons reproduced distinct spatial joint coordination patterns similar to their target muscle-tendon units for both subject groups. In stroke survivors, the exotendon-produced joint angular displacements were smaller, but not significantly different, than those of unimpaired subjects (\mbi p = 0.15-0.84). Even with limited use of the BiomHED, the kinematic workspace of the index finger increased by 63%-1014% in stroke survivors. The device improved the kinematics of the tip-pinch task in stroke survivors and resulted in a significant reduction in the fingertip-thumb tip distance ( 17.9 ±15.3 mm). This device is expected to enable effective “task-oriented” training of the hand post-stroke.

We explore the combination of above-surface sensing with eye tracking to facilitate concurrent interaction with multiple regions on touch screens. Conventional touch input relies on positional accuracy, thereby requiring tight visual monitoring of one's own motor action. In contrast, above-surface sensing and eye tracking provides information about how user's hands and gaze are distributed across the interface. In these situations we facilitate interaction by 1) showing the visual feedback of the hand hover near user's gaze point and 2) decrease the requisite of positional accuracy by employing gestural information. We contribute input and visual feedback techniques that combine these modalities and demonstrate their use in example applications. A controlled study showed the effectiveness of our techniques for manipulation tasks against conventional touch, while the effectiveness in acquisition tasks depended on the amount of mid-air motion, leading to our conclusion that the techniques can benefit interacting with multiple interface regions.

Previous work on muscle activity sensing has leveraged specialized sensors such as electromyography and force sensitive resistors. While these sensors show great potential for detecting finger/hand gestures, they require additional hardware that adds to the cost and user discomfort. Past research has utilized sensors on commercial devices, focusing on recognizing gross hand gestures. In this work we present Serendipity, a new technique for recognizing unremarkable and fine-motor finger gestures using integrated motion sensors (accelerometer and gyroscope) in off-the-shelf smartwatches. Our system demonstrates the potential to distinguish 5 fine-motor gestures like pinching, tapping and rubbing fingers with an average f1-score of 87%. Our work is the first to explore the feasibility of using solely motion sensors on everyday wearable devices to detect fine-grained gestures. This promising technology can be deployed today on current smartwatches and has the potential to be applied to cross-device interactions, or as a tool for research in fields involving finger and hand motion.

We report a flexible and wearable pressure sensor based on the giant piezocapacitive effect of a three-dimensional (3-D) microporous dielectric elastomer, which is capable of highly sensitive and stable pressure sensing over a large tactile pressure range. Due to the presence of micropores within the elastomeric dielectric layer, our piezocapacitive pressure sensor is highly deformable by even very small amounts of pressure, leading to a dramatic increase in its sensitivity. Moreover, the gradual closure of micropores under compression increases the effective dielectric constant, thereby further enhancing the sensitivity of the sensor. The 3-D microporous dielectric layer with serially stacked springs of elastomer bridges can cover a much wider pressure range than those of previously reported micro-/nanostructured sensing materials. We also investigate the applicability of our sensor to wearable pressure-sensing devices as an electronic pressure-sensing skin in robotic fingers as well as a bandage-type pressure-sensing device for pulse monitoring at the human wrist. Finally, we demonstrate a pressure sensor array pad for the recognition of spatially distributed pressure information on a plane. Our sensor, with its excellent pressure-sensing performance, marks the realization of a true tactile pressure sensor presenting highly sensitive responses to the entire tactile pressure range, from ultralow-force detection to high weights generated by human activity.

Handheld and wearable devices frequently engage users with simple haptic feedback, such as alerting, shaking, and pulsating. Here we explored intermanual apparent tactile motion-illusory movement between two hands-as a means to enrich such feedback. A series of psychophysical experiments determined the control space for generating smooth and consistent motion across the hands while users held the device. Experiment 1 calibrated the system and showed that vibrotactile detection thresholds decreased with increasing frequency, with similar trends for both hands. Experiment 2 measured effects of vibrotactile parameters on perceived motion. Both duration and temporal separation of stimuli, but not frequency and amplitude, affected subjective motion ratings. In Experiment 3, subjective ratings showed that stimuli with gradual onsets produced a stronger percept of motion than those with abrupt onsets. Finally, Experiment 4 determined a multimodal factor to match moving visual cues across the screen to moving tactile motion across hands. Our results showed compression of visual duration by the tactile system by a factor of approximately 1/3 at two test frequencies. The results of this research are useful for media designers and developers to generate reliable motion across the hands and integrate haptic motion with visual media.

Inspired by the extraordinary ability of young infants to learn how to grasp and manipulate objects, many works in robotics have proposed developmental approaches to allow robots to learn the effects of their own motor actions on objects, i.e., the objects affordances. While holding an object, infants also promote its contact with other objects, resulting in object-object interactions that may afford effects not possible otherwise. Depending on the characteristics of both the held object (intermediate) and the acted object (primary), systematic outcomes may occur, leading to the emergence of a primitive concept of tool. In this paper we describe experiments with a humanoid robot exploring object-object interactions in a playground scenario and learning a probabilistic causal model of the effects of actions as functions of the characteristics of both objects. The model directly links the objects' 2D shape visual cues to the effects of actions. Because no object recognition skills are required, generalization to novel objects is possible by exploiting the correlations between the shape descriptors. We show experiments where an affordance model is learned in a simulated environment, and is then used on the real robotic platform, showing generalization abilities in effect prediction. We argue that, despite the fact that during exploration no concept of tool is given to the system, this very concept may emerge from the knowledge that intermediate objects lead to significant effects when acting on other objects.

The advent of Oculus Rift indicates the start of a booming era of virtual reality. In order to increase the immersive feeling of interaction with the virtual world, haptic devices allow us to touch and manipulate virtual objects in an intuitive way. In this paper, we introduce a portable and low-cost haptic glove that provides both force and tactile feedback using a direct-control pneumatic concept. To produce force feedback, two inlet ports of a double acting pneumatic cylinder are opened and closed via solenoid DC valves through Pulse-width modulation (PWM) technique. For tactile feedback, an air bladder is actuated using a diaphragm pump via PWM operated solenoid valve. Experiments on a single finger prototype validated that the glove can provide force and tactile feedback with sufficient moving range of the finger joints. The maximum continuous force is 9 Newton and the response time is less than 400ms. The glove is light weighted and easy to be mounted on the index finger. The proposed glove could be potentially used for virtual reality grasping scenarios and for teleoperation of a robotic hand for handling hazardous objects.

We present an approach to learn the inverse kinematics of the “bionic handling assistant”-an elephant trunk robot. This task comprises substantial challenges including high dimensionality, restrictive and unknown actuation ranges, and nonstationary system behavior. We use a recent exploration scheme, online goal babbling, which deals with these challenges by bootstrapping and adapting the inverse kinematics on the fly. We show the success of the method in extensive real-world experiments on the nonstationary robot, including a novel combination of learning and traditional feedback control. Simulations further investigate the impact of nonstationary actuation ranges, drifting sensors, and morphological changes. The experiments provide the first substantial quantitative real-world evidence for the success of goal-directed bootstrapping schemes, moreover with the challenge of nonstationary system behavior. We thereby provide the first functioning control concept for this challenging robot platform.

This paper presents preliminary results from a virtual reality (VR)-based system for hand rehabilitation that uses a CyberGlove and a Rutgers Master II-ND haptic glove. This computerized system trains finger range of motion, finger flexion speed, independence of finger motion, and finger strength using specific VR simulation exercises. A remote Web-based monitoring station was developed to allow telerehabilitation interventions. The remote therapist observes simplified versions of the patient exercises that are updated in real time. Patient data is stored transparently in an Oracle database, which is also Web accessible through a portal GUI. Thus the remote therapist or attending physician can graph exercise outcomes and thus evaluate patient outcomes at a distance. Data from the VR simulations is complemented by clinical measurements of hand function and strength. Eight chronic post-stroke subjects participated in a pilot study of the above system. In keeping with variability in both their lesion size and site and in their initial upper extremity function, each subject showed improvement on a unique combination of movement parameters in VR training. Importantly, these improvements transferred to gains on clinical tests, as well as to significant reductions in task-completion times for the prehension of real objects. These results are indicative of the potential feasibility of this exercise system for rehabilitation in patients with hand dysfunction resulting from neurological impairment.


Question: Enhancing robot manipulation skills via fingertip perception capabilities.

This article explores the advancements in tactile sensing for mechatronics, defining a tactile sensor as an apparatus or system capable of measuring properties of objects or contact incidents through direct physical engagement. Properties measured can encompass an object's shape, texture, temperature, hardness, moisture content, and more. A thorough review of the literature indicates a notable surge in publications on tactile sensing since 1980. The 1970s saw significant research into transduction methodologies and the development of novel sensors, while recent studies have concentrated on practical applications of tactile sensors across various tasks. The paper details advancements in tactile sensing across several domains: cutaneous sensors, tactile fingers, soft material sensing, industrial robot grippers, multi-fingered hands, probes and whiskers, sensor analysis, haptic perception, sensory data processing, and emerging application fields. It is observed that piezoelectric transduction is the most widely used method, with resistive or capacitive sensing in arrays. Growing attention to understanding tactile sensing and perception has unlocked new application opportunities. Contrary to expectations, industrial automation has not seen the anticipated growth in tactile sensing applications. New areas such as surgery, rehabilitation, service robotics, and food processing automation are now attracting substantial research interest, showcasing the potential for tactile sensing in these domains. © 1997 Elsevier Science Ltd. All rights reserved.

For practical use, a myoelectric prosthetic hand needs to (1) have a human-like structure, (2) be lightweight, (3) have multiple degrees of freedom (DoFs), and (4) have a high grip force. We have developed a myoelectric prosthetic hand with an interactive-tendon driven mechanism. This paper describes the control method by which the interactive-tendon driven mechanism produces fine and precise actions, as well as an approximate model for the control method. The approximate model was developed based on a geometry model and an equilibrium model for the joint torque. Experimental results show that the joint motions of the actual robotic hand are controlled with errors of between 9 and 15% using the approximate model.

This paper presents a portable, assistive, soft robotic glove designed to augment hand rehabilitation for individuals with functional grasp pathologies. The robotic glove utilizes soft actuators consisting of molded elastomeric chambers with fiber reinforcements that induce specific bending, twisting and extending trajectories under fluid pressurization. These soft actuators were mechanically programmed tomatch and support the range of motion of individual fingers. They demonstrated the ability to generate significant force when pressurized and exhibited low impedance when un-actuated. To operate the soft robotic glove, a control hardware system was designed and included fluidic pressure sensors in line with the hydraulic actuators and a closed-loop controller to regulate the pressure. Demonstrations with the complete system were performed to evaluate the ability of the soft robotic glove to carry out gross and precise functional grasping. Compared to existing devices, the soft robotic glove has the potential to increase user freedom and independence through its portable waist belt pack and open palm design. © 2014 Elsevier B.V. All rights reserved.

Haptic feedback is a crucial sensorial modality in virtual reality interactions. Haptics means both force feedback (simulating object hardness, weight, and inertia) and tactile feedback (simulating surface contact geometry, smoothness, slippage, and temperature). Providing such sensorial data requires desk-top or portable special-purpose hardware called haptic interfaces. Modeling physical interactions involves precise collision detection, real-time force computation, and high control-loop bandwidth. This results in a large computation load which requires multi-processor parallel processing on networked computers. Applications for haptics-intensive VR simulations include CAD model design and assembly. Improved technology (wearable computers, novel actuators, haptic toolkits) will increase the use of force/tactile feedback in future VR simulations.

We present the kinematic design and actuation mechanics of a wearable exoskeleton for hand rehabilitation of post-stroke. Our design method is focused on achieving maximum safety, comfort and reliability in the interaction, and allowing different users to wear the device with no manual regulations. In particular, we propose a kinematic and actuation solution for the index finger flexion/extension, which leaves full movement freedom on the abduction-adduction plane. This paper presents a detailed kineto-static analysis of the system and a first prototype of the device.

We describe the architecture, algorithms, and experiments with HERB, an autonomous mobile manipulator that performs useful manipulation tasks in the home. We present new algorithms for searching for objects, learning to navigate in cluttered dynamic indoor scenes, recognizing and registering objects accurately in high clutter using vision, manipulating doors and other constrained objects using caging grasps, grasp planning and execution in clutter, and manipulation on pose and torque constraint manifolds. S.S. Srinivasa ( ) · D. Ferguson · C.J. Helfrich Intel Research Pittsburgh, 4720 Forbes Avenue, Suite 410, Pittsburgh, PA 15213, USA e-mail: siddhartha.srinivasa@intel.com C.J. Helfrich e-mail: casey.j.helfrich@intel.com D. Berenson · A. Collet · R. Diankov · G. Gallagher · G. Hollinger · J. Kuffner · M.V. Weghe The Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213, USA D. Berenson e-mail: dberenso@ri.cmu.edu A. Collet e-mail: acollet@ri.cmu.edu R. Diankov e-mail: rdiankov@ri.cmu.edu G. Gallagher e-mail: ggallagh@ri.cmu.edu G. Hollinger e-mail: gholling@ri.cmu.edu J. Kuffner e-mail: kuffner@ri.cmu.edu M.V. Weghe e-mail: vandeweg@ri.cmu.edu We also present numerous severe real-world test results from the integration of these algorithms into a single mobile manipulator.

Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In addition to sensors mounted on the robot, sensors might also be deployed in the environment, although these might need to be accessed via an unreliable wireless connection. In this paper, we demonstrate deep neural network architectures that are able to fuse information generated by multiple sensors and are robust to sensor failures at runtime. We evaluate our method on a search and pick task for a robot both in simulation and the real world.

Integrating humans and robotic machines into one system offers multiple opportunities for creating assistive technologies that can be used in biomedical, industrial, and aerospace applications. The scope of the present research is to study the integration of a human arm with a powered exoskeleton (orthotic device) and its experimental implementation in an elbow joint, naturally controlled by the human. The Human–Machine interface was set at the neuromuscular level, by using the neuromuscular signal (EMG) as the primary command signal for the exoskeleton system. The EMG signal along with the joint kinematics were fed into a myoprocessor (Hill-based muscle model) which in turn predicted the muscle moments on the elbow joint. The moment-based control system integrated myoprocessor moment prediction with feedback moments measured at the human arm/exoskeleton and external load/exoskeleton interfaces. The exoskeleton structure under study was a two-link, two-joint mechanism, corresponding to the arm limbs and joints, which was mechanically linked (worn) by the human operator. In the present setup the shoulder joint was kept fixed at given positions and the actuator was mounted on the exoskeleton elbow joint. The operator manipulated an external weight, located at the exoskeleton tip, while feeling a scaled-down version of the load. The remaining external load on the joint was carried by the exoskeleton actuator. Four indices of performance were used to define the quality of the human/machine integration and to evaluate the operational envelope of the system. Experimental tests have shown that synthesizing the processed EMG signals as command signals with the external-load/human-arm moment feedback, significantly improved the mechanical gain of the system, while maintaining natural human control of the system, relative to other control algorithms that used only position or contact forces. The results indicated the feasibility of an EMG-based power exoskeleton system as an integrated human–machine system using highlevel neurological signals.

The LateralPaD is a surface haptic device that generates lateral (shear) force on a bare finger, by vibrating the touch surface simultaneously in both out-of-plane (normal) and in-plane (lateral) directions. A prototype LateralPaD has been developed in which the touch surface is glass, and piezoelectric actuators drive normal and lateral resonances at the same ultrasonic frequency (~22.3 KHz). The force that develops on the finger can be controlled by modulating the relative phase of the two resonances. A 2DOF load cell setup is used to characterize the dependence of induced lateral force on vibration amplitude, relative phase, and applied normal force. A Laser Doppler Vibrometer (LDV) is used to measure the motion of glass surface as well as of the fingertip. Together, these measurements yield insight into the mechanism of lateral force generation. We show evidence for a mechanism dependent on tilted impacts between the LateralPaD and fingertip.

Many robotic hands or prosthetic hands have been developed in the last several decades, and many use tendon-driven mechanisms for their transmissions. Robotic hands are now built with underactuated mechanisms, which have fewer actuators than degrees of freedom, to reduce mechanical complexity or to realize a biomimetic motion such as flexion of an index finger. The design is heuristic and it is useful to develop design methods for the underactuated mechanisms. This paper classifies mechanisms driven by tendons into three classes, and proposes a design method for them. The two classes are related to underactuated tendon-driven mechanisms, and these have been used without distinction so far. An index finger robot, which has four active tendons and two passive tendons, is developed and controlled with the proposed method.

This paper presents a flexible and low-power ReadOut Circuit (ROC) with tunable sensitivity, designed to interface a wide range of commercial resistive pressure sensors for robotic applications. The ROC provides contact detection, monitoring small capacitance variations at low pressure (<;100 mbar), and encodes pressure measurement on 8 bit, evaluating resistive variations. Two all-digital circuits implement the conversion of the input resistance and capacitance-to-frequency, exploiting an on-chip ring oscillator as timing reference. A 130 nm RFCMOS prototype (with an active area of 428 × 159 μm2) has a power consumption of 27.2 μW, for VDD 1 V. Using digital control inputs, the ROC allows a wide range tuning of measurement sensitivity (6.7-46.4 mbar/LSB) and adjustable acquisition time (226.6-461.7 μs and 648-890 μs, for contact detection and pressure evaluation, respectively). The read-out time of ~1 ms is compatible with human response after touch.


Question: Enhancing robot manipulation skills via fingertip perception.

This paper presents the iCub, a humanoid robot designed for research in embodied cognition, specifically tailored to explore the integration of perception and action. Standing at 104 cm tall, the iCub is proportioned similarly to a child of three and a half years, allowing it to interact with the environment in ways akin to human development. The robot is capable of crawling on all fours and sitting to manipulate objects, making it a versatile platform for studying embodied learning. A key feature of the iCub is its hands, which have been meticulously designed to enable sophisticated manipulation skills, mirroring the dexterity and precision found in human hands. The iCub project is committed to open-source principles, distributing all designs under GPL/FDL licenses. Interested researchers can access the complete design, including detailed schematics and software, from the project's official website and repository (http://www.robotcub.org). This paper focuses on providing an in-depth overview of the hardware and software systems that make up the iCub, while a separate publication delves into the scientific goals and philosophical foundations driving the project [1].

Vibrotactile actuation is mainly used to deliver buzzing sensations. But if vibrotactile actuation is tightly coupled to users' actions, it can be used to create much richer haptic experiences. It is not well understood, however, how this coupling should be done or which vibrotactile parameters create which experiences. To investigate how actuation parameters relate to haptic experiences, we built a physical slider with minimal native friction, a vibrotactile actuator and an integrated position sensor. By vibrating the slider as it is moved, we create an experience of texture between the sliding element and its track. We conducted a magnitude estimation experiment to map how granularity, amplitude and timbre relate to the experiences of roughness, adhesiveness, sharpness and bumpiness. We found that amplitude influences the strength of the perceived texture, while variations in granularity and timbre create distinct experiences. Our study underlines the importance of action in haptic perception and suggests strategies for deploying such tightly coupled feedback in everyday devices.

This paper proposes an effective framework of human-humanoid robot physical interaction. Its key component is a new control technique for full-body balancing in the presence of external forces, which is presented and then validated empirically. We have adopted an integrated system approach to develop humanoid robots. Herein, we describe the importance of replicating human-like capabilities and responses during human-robot interaction in this context. Our balancing controller provides gravity compensation, making the robot passive and thereby facilitating safe physical interactions. The method operates by setting an appropriate ground reaction force and transforming these forces into full-body joint torques. It handles an arbitrary number of force interaction points on the robot. It does not require force measurement at interested contact points. It requires neither inverse kinematics nor inverse dynamics. It can adapt to uneven ground surfaces. It operates as a force control process, and can therefore, accommodate simultaneous control processes using force-, velocity-, or position-based control. Forces are distributed over supporting contact points in an optimal manner. Joint redundancy is resolved by damping injection in the context of passivity. We present various force interaction experiments using our full-sized bipedal humanoid platform, including compliant balance, even when affected by unknown external forces, which demonstrates the effectiveness of the method.

Integrating humans and robotic machines into one system offers multiple opportunities for creating assistive technologies that can be used in biomedical, industrial, and aerospace applications. The scope of the present research is to study the integration of a human arm with a powered exoskeleton (orthotic device) and its experimental implementation in an elbow joint, naturally controlled by the human. The Human–Machine interface was set at the neuromuscular level, by using the neuromuscular signal (EMG) as the primary command signal for the exoskeleton system. The EMG signal along with the joint kinematics were fed into a myoprocessor (Hill-based muscle model) which in turn predicted the muscle moments on the elbow joint. The moment-based control system integrated myoprocessor moment prediction with feedback moments measured at the human arm/exoskeleton and external load/exoskeleton interfaces. The exoskeleton structure under study was a two-link, two-joint mechanism, corresponding to the arm limbs and joints, which was mechanically linked (worn) by the human operator. In the present setup the shoulder joint was kept fixed at given positions and the actuator was mounted on the exoskeleton elbow joint. The operator manipulated an external weight, located at the exoskeleton tip, while feeling a scaled-down version of the load. The remaining external load on the joint was carried by the exoskeleton actuator. Four indices of performance were used to define the quality of the human/machine integration and to evaluate the operational envelope of the system. Experimental tests have shown that synthesizing the processed EMG signals as command signals with the external-load/human-arm moment feedback, significantly improved the mechanical gain of the system, while maintaining natural human control of the system, relative to other control algorithms that used only position or contact forces. The results indicated the feasibility of an EMG-based power exoskeleton system as an integrated human–machine system using highlevel neurological signals.

This paper describes the UJI Librarian Robot, a mobile manipulator that is able to autonomously locate a book in an ordinary library, and grasp it from a bookshelf, by using eye-in-hand stereo vision and force sensing. The robot is only provided with the book code, a library map and some knowledge about its logical structure and takes advantage of the spatio-temporal constraints and regularities of the environment by applying disparate techniques such as stereo vision, visual tracking, probabilistic matching, motion estimation, multisensor-based grasping, visual servoing and hybrid control, in such a way that it exhibits a robust and dependable performance. The system has been tested, and experimental results show how it is able to robustly locate and grasp a book in a reasonable time without human intervention.

We propose a technique for multi-task learning from demonstration that trains the controller of a low-cost robotic arm to accomplish several complex picking and placing tasks, as well as non-prehensile manipulation. The controller is a recurrent neural network using raw images as input and generating robot arm trajectories, with the parameters shared across the tasks. The controller also combines VAE-GAN-based reconstruction with autoregressive multimodal action prediction. Our results demonstrate that it is possible to learn complex manipulation tasks, such as picking up a towel, wiping an object, and depositing the towel to its previous position, entirely from raw images with direct behavior cloning. We show that weight sharing and reconstruction-based regularization substantially improve generalization and robustness, and training on multiple tasks simultaneously increases the success rate on all tasks.

Clumsy intermediary devices constrain our interaction with computers and their applications. Glove-based input devices let us apply our manual dexterity to the task. We provide a basis for understanding the field by describing key hand-tracking technologies and applications using glove-based input. The bulk of development in glove-based input has taken place very recently, and not all of it is easily accessible in the literature. We present a cross-section of the field to date. Hand-tracking devices may use the following technologies: position tracking, optical tracking, marker systems, silhouette analysis, magnetic tracking or acoustic tracking. Actual glove technologies on the market include: Sayre glove, MIT LED glove, Digital Data Entry Glove, DataGlove, Dexterous HandMaster, Power Glove, CyberGlove and Space Glove. Various applications of glove technologies include projects into the pursuit of natural interfaces, systems for understanding signed languages, teleoperation and robotic control, computer-based puppetry, and musical performance.<<ETX>>

Various robotic grippers have been developed over the past several decades for robotic manipulators. Especially, the soft grippers based on the soft pneumatic actuator (SPA) have been studied actively, since it offers more pliable bending motion, inherent compliance, and a simple morphological structure. However, few studies have focused on simultaneously improving the fingertip force and actuation speed within the specified design parameters. In this study, we developed a hybrid gripper that incorporates both soft and rigid components to improve the fingertip force and actuation speed simultaneously based on three design principles: first, the degree of bending is proportional to the ratio of the rigid structure; second, a concave chamber design is preferred for large longitudinal strain; and third, a round shape between soft and rigid materials increases the fingertip force. The suggested principles were verified using the finite element methods. The improved performance of the hybrid gripper was verified experimentally and compared with the performance of a conventional SPAs. The ability of the hybrid gripper to grasp different objects was evaluated and was applied in a teleoperated system.

In this paper, we have developed a method to tele-control a robot arm to imitate human writing skills using electromyography (EMG) signals. The control method is implemented on the Baxter® robot with a brush attached on the endpoint of its arm to imitate human writing skills, and a MYO sensor is used to measure the surface electromyographic (sEMG) signals generated by contractions of human muscles involved in writing tasks. A haptic device Sensable® Omni is used to control the motion of the Baxter® robot arm, and V-Rep® is employed to simulate the movement of the arm and to calculate the inverse kinematic of Baxter® robot arm. All the communications for Baxter® robot, V-Rep simulator, Omni device and MYO are integrated in MATLAB®/Simulink®. The main test is to make the Baxter® arm following the movement of a human subject when writing with Omni stylus, and the EMG signals are processed using low pass filter and moving average technique to extract the smoothed envelope which is utilised to control the variation of position instead of variation of force along the vertical Z axis, so when the operator writes with force variations, the Baxter® can draw lines with variable thickness. This imitation system is successfully tested to make the Baxter® arm to follow the writing movement of the operator's hand and would have potential applications in more complicated human robot teleoperation tasks such as tele-rehabilitation and tele-surgery.

In this work an electromechanical hand is implemented based on the study and implementation of the phalanges of the five fingers of the hand, a control system based on a microcontroller was implemented that takes as feedback signals coming from flexosensors and strain gauges. The movement of the fingers was made based on myoelectric signals in real time, these signals were acquired through an innovative method of acquisition based on patterns. The tests performed were measurements with extended hand, closed hand and pressing an object that validates the present proposal.

Grasping objects that are too large to envelop is traditionally achieved using friction that is activated by squeezing. We present a family of shear-activated grippers that can grasp such objects without the need to squeeze. When a shear force is applied to the gecko-inspired material in our grippers, adhesion is turned on; this adhesion in turn results in adhesion-controlled friction, a friction force that depends on adhesion rather than a squeezing normal force. Removal of the shear force eliminates adhesion, allowing easy release of an object. A compliant shear-activated gripper without active sensing and control can use the same light touch to lift objects that are soft, brittle, fragile, light, or very heavy. We present three grippers, the first two designed for curved objects, and the third for nearly any shape. Simple models describe the grasping process, and empirical results verify the models. The grippers are demonstrated on objects with a variety of shapes, materials, sizes, and weights.


Question: The impact of focused attention and open monitoring meditation on the function of attention networks in healthy individuals.

This study investigates the impact of a brief meditation training program on attention and self-regulation in healthy individuals. Traditionally, it has been challenging to confirm the benefits of meditation on attention due to the necessity of extensive, long-term training. This research circumvents this limitation by employing a randomized design with a short training period. Participants were randomly assigned to either a 5-day meditation program using the integrative body-mind training technique or a relaxation training control group. The integrative body-mind training draws from Chinese medicine principles and integrates elements from various meditation and mindfulness practices. The results from 40 Chinese undergraduate students who underwent the 5-day, 20-minute daily integrative training sessions showed significant improvements in attention network function as measured by the Attention Network Test, reduced stress and negative emotions, and enhanced vigor compared to the control group. Additionally, the experimental group exhibited a notable decrease in stress hormone cortisol and an increase in immunoreactivity. This study offers a practical approach to explore the effects of meditation training using experimental and control methods akin to those used in pharmaceutical trials or other intervention studies.

Clinical trials have suggested that neurofeedback may be efficient in treating attention-deficit/hyperactivity disorder (ADHD). We compared the effects of a 3-month electroencephalographic feedback program providing reinforcement contingent on the production of cortical sensorimotor rhythm (12-15 Hz) and betal activity (15-18 Hz) with stimulant medication. Participants were N = 34 children aged 8-12 years, 22 of which were assigned to the neurofeedback group and 12 to the methylphenidate group according to their parents' preference. Both neurofeedback and methylphenidate were associated with improvements on all subscales of the Test of Variables of Attention, and on the speed and accuracy measures of the d2 Attention Endurance Test. Furthermore, behaviors related to the disorder were rated as significantly reduced in both groups by both teachers and parents on the IOWA-Conners Behavior Rating Scale. These findings suggest that neurofeedback was efficient in improving some of the behavioral concomitants of ADHD in children whose parents favored a nonpharmacological treatment.

Working memory capacity has traditionally been thought to be constant. Recent studies, however, suggest that working memory can be improved by training. In this study, we have investigated the changes in brain activity that are induced by working memory training. Two experiments were carried out in which healthy, adult human subjects practiced working memory tasks for 5 weeks. Brain activity was measured with functional magnetic resonance imaging (fMRI) before, during and after training. After training, brain activity that was related to working memory increased in the middle frontal gyrus and superior and inferior parietal cortices. The changes in cortical activity could be evidence of training-induced plasticity in the neural systems that underlie working memory.

UNLABELLED
People perceive meaningful wholes and later separate out constituent parts (D. Navon, 1977). Yet there are cross-national differences in whether a focal target or integrated whole is first perceived. Rather than construe these differences as fixed, the proposed culture-as-situated-cognition model explains these differences as due to whether a collective or individual mind-set is cued at the moment of observation. Eight studies demonstrated that when cultural mind-set and task demands are congruent, easier tasks are accomplished more quickly and more difficult or time-constrained tasks are accomplished more accurately (

STUDY 1
Koreans, Korean Americans; STUDY 2: Hong Kong Chinese; STUDY 3: European- and Asian-heritage Americans; STUDY 4: Americans;

STUDY
5 Hong Kong Chinese; STUDY 6: Americans; STUDY 7: Norwegians; STUDY 8: African-, European-, and Asian-heritage Americans). Meta-analyses (d = .34) demonstrated homogeneous effects across geographic place (East-West), racial-ethnic group, task, and sensory mode-differences are cued in the moment. Contrast and separation are salient individual mind-set procedures, resulting in focus on a single target or main point. Assimilation and connection are salient collective mind-set procedures, resulting in focus on multiplicity and integration.

Understanding of brain functioning requires the investigation of activated cortical networks, in particular the detection of interactions between different cortical sites. Commonly, coherence and correlation are used to describe interrelations between EEG signals. However, on this basis, no statements on causality or the direction of their interrelations are possible. Causality between two signals may be expressed in terms of upgrading the predictability of one signal by the knowledge of the immediate past of the other signal. The best-established approach in this context is the so-called Granger causality. The classical estimation of Granger causality requires the stationarity of the signals. In this way, transient pathways of information transfer stay hidden. The study presents an adaptive estimation of Granger causality. Simulations demonstrate the usefulness of the time-variant Granger causality for detecting dynamic causal relations within time intervals of less than 100 ms. The time-variant Granger causality is applied to EEG data from the Stroop task. It was shown that conflict situations generate dense webs of interactions directed from posterior to anterior cortical sites. The web of directed interactions occurs mainly 400 ms after the stimulus onset and lasts up to the end of the task.

Introduction Vision, due to its significance in surviving and socializing, is one of the most important and  extensively studied sensory functions in the human brain. In order to fully understand visual  information processing, or more specifically, visual recognition, David Marr proposed the  Tri-level Hypothesis [29], in that three levels of the system should be studied: the computational  goal of the system, the internal representation or the algorithm the system uses to achieve the  goal, and the neural substrates that implement the system. It is well-known that visual  recognition in the human brain is implemented by the ventral visual pathway [32], which  receives visual information from the retina and goes through a layered structure including V1  (also known as the primary visual cortex), V2, V4, before reaching the inferior temporal cortex  (IT). The topographic mapping between the retina and the human visual cortex follows a  log-polar transformation, in which the Cartesian coordinates of the retina are transformed to  polar coordinates (polar angle and eccentricity) in the human visual cortex. From V1 to V4, each  of the visual areas contains a complete polar angle and eccentricity map, and have a increasing  receptive field (RF) size and respond to increasing complex visual features [12,22]. In higher  level visual areas such as the ventral temporal cortex (VTC), studies using functional magnetic  resonance imaging (fMRI) and diffusion tensor imaging (DTI) have found there exists visual  category-selective regions, such as the Fusiform Face Area (FFA, [26]) for face processing, the  Parahippocampal Place Area (PPA, [13]) for scene perception, and the Lateral Occipital  Complex (LOC, [19]) for general object recognition. Grill-Spector and Malach [20] proposed that  layer-based hierarchical processing, together with the functional specialization, are the two  organizing principles of the human visual cortex. More recent studies have shown that the  central-biased face recognition pathway (FFA) and the peripheral-biased scene recognition  pathway (PPA) are both functionally and anatomically segregated by mid-fusiform sulcus (MFS),  which enables parallel fast processing of visual recognition tasks in the ventral pathway [18, 43,  21, 44].

The dual-systems model of a ventral affective system, whose reactivity confers risks and liabilities, and a prefrontal control system, whose regulatory capacities buffer against these vulnerabilities, is an intuitive account that pervades many fields in the cognitive neurosciences--especially in the study of populations that differ from neurotypical adults, such as adolescents or individuals with affective or impulse regulation disorders. However, recent evidence that is inconsistent with dual-systems models illustrates the complexity of developmental and clinical variations in brain function. Building new models to account for this complexity is critical to progress in these fields, and will be facilitated by research that emphasizes network-based approaches and maps relationships between structure and function, as well as brain and behavior, over time.

Disruption of function of left, but not right, lateral prefrontal cortex (LPFC) with low-frequency repetitive transcranial magnetic stimulation (rTMS) increased choices of immediate rewards over larger delayed rewards. rTMS did not change choices involving only delayed rewards or valuation judgments of immediate and delayed rewards, providing causal evidence for a neural lateral-prefrontal cortex–based self-control mechanism in intertemporal choice.

The brain circuitry underlying emotion includes several territories of the prefrontal cortex (PFC), the amygdala, hippocampus, anterior cingulate, and related structures. In general, the PFC represents emotion in the absence of immediately present incentives and thus plays a crucial role in the anticipation of the future affective consequences of action, as well as in the persistence of emotion following the offset of an elicitor. The functions of the other structures in this circuit are also considered. Individual differences in this circuitry are reviewed, with an emphasis on asymmetries within the PFC and activation of the amygdala as 2 key components of affective style. These individual differences are related to both behavioral and biological variables associated with affective style and emotion regulation. Plasticity in this circuitry and its implications for transforming emotion and cultivating positive affect and resilience are considered.

The aim of the present study was to investigate the effect of vagal tone on performance during executive and non-executive tasks, using a working memory and a sustained attention test. Reactivity to cognitive tasks was also investigated using heart rate (HR) and heart rate variability (HRV). Fifty-three male sailors from the Royal Norwegian Navy participated in this study. Inter-beat-intervals were recorded continuously for 5 min of baseline, followed by randomized presentation of a working memory test (WMT) based on Baddeley and Hitch's research (1974) and a continuous performance test (CPT). The session ended with a 5-min recovery period. High HRV and low HRV groups were formed based on a median split of the root mean squared successive differences during baseline. The results showed that the high HRV group showed more correct responses than the low HRV group on the WMT. Furthermore, the high HRV group showed faster mean reaction time (mRT), more correct responses and less error, than the low HRV group on the CPT. Follow-up analysis revealed that this was evident only for components of the CPT where executive functions were involved. The analyses of reactivity showed a suppression of HRV and an increase in HR during presentation of cognitive tasks compared to recovery. This was evident for both groups. The present results indicated that high HRV was associated with better performance on tasks involving executive function.

Personality is known to be relatively stable throughout adulthood. Nevertheless, it has been shown that major life events with high personal significance, including experiences engendered by psychedelic drugs, can have an enduring impact on some core facets of personality. In the present, balanced-order, placebo-controlled study, we investigated biological predictors of post-lysergic acid diethylamide (LSD) changes in personality. Nineteen healthy adults underwent resting state functional MRI scans under LSD (75µg, I.V.) and placebo (saline I.V.). The Revised NEO Personality Inventory (NEO-PI-R) was completed at screening and 2 weeks after LSD/placebo. Scanning sessions consisted of three 7.5-min eyes-closed resting-state scans, one of which involved music listening. A standardized preprocessing pipeline was used to extract measures of sample entropy, which characterizes the predictability of an fMRI time-series. Mixed-effects models were used to evaluate drug-induced shifts in brain entropy and their relationship with the observed increases in the personality trait openness at the 2-week follow-up. Overall, LSD had a pronounced global effect on brain entropy, increasing it in both sensory and hierarchically higher networks across multiple time scales. These shifts predicted enduring increases in trait openness. Moreover, the predictive power of the entropy increases was greatest for the music-listening scans and when "ego-dissolution" was reported during the acute experience. These results shed new light on how LSD-induced shifts in brain dynamics and concomitant subjective experience can be predictive of lasting changes in personality. Hum Brain Mapp 37:3203-3213, 2016. © 2016 Wiley Periodicals, Inc.


Question: The impact of focused attention and open monitoring meditation on the function of attention networks in healthy individuals.

This study delves into the impact of mindfulness on psychological well-being, offering both a theoretical framework and empirical evidence to support its positive effects. The Mindful Attention Awareness Scale (MAAS), a tool designed to assess the disposition toward mindfulness, is introduced and its psychometric properties are explored. Through a series of correlational, quasi-experimental, and experimental studies, the research establishes that the MAAS effectively measures a distinct aspect of consciousness linked to psychological well-being. Mindfulness practitioners are found to score higher on the MAAS compared to non-practitioners, indicating a clear differentiation. The study further demonstrates that higher levels of mindfulness, whether as a trait or in a state, are predictive of self-regulatory behaviors and positive emotional experiences, as evidenced by an experience-sampling method. Additionally, a clinical trial with cancer patients illustrates that an increase in mindfulness over time is associated with reduced mood disturbances and stress levels, underscoring the therapeutic potential of mindfulness practices.

A model of the effects of aging on brain activity during cognitive performance is introduced. The model is called HAROLD (hemispheric asymmetry reduction in older adults), and it states that, under similar circumstances, prefrontal activity during cognitive performances tends to be less lateralized in older adults than in younger adults. The model is supported by functional neuroimaging and other evidence in the domains of episodic memory, semantic memory, working memory, perception, and inhibitory control. Age-related hemispheric asymmetry reductions may have a compensatory function or they may reflect a dedifferentiation process. They may have a cognitive or neural origin, and they may reflect regional or network mechanisms. The HAROLD model is a cognitive neuroscience model that integrates ideas and findings from psychology and neuroscience of aging.

During communication, speakers and listeners need the mechanisms of executive control to organize thoughts and actions along internal goals. Speakers may use executive functions to select the right word over competing alternatives to refer to the concept in mind. Listeners may use executive functions to coordinate the outputs of multiple linguistic processes to reach a coherent interpretation of what others say. Bilinguals may use executive functions to control which language is to use or to switch from one language to another. The control mechanisms recruited in language processing may be similar to those recruited in perception and attention, supported by a network of frontal, parietal and sub-cortical brain structures. Here we review existing evidences regarding the involvement of domain-general executive control in language processing. We will explain how executive functions are employed to control interference in comprehension and production, within and across languages.

Attention is an increasingly popular mechanism used in a wide range of neural architectures. Because of the fast-paced advances in this domain, a systematic overview of attention is still missing. In this article, we define a unified model for attention architectures for natural language processing, with a focus on architectures designed to work with vector representation of the textual data. We discuss the dimensions along which proposals differ, the possible uses of attention, and chart the major research activities and open challenges in the area.

Neural mechanisms of cognitive control enable us to initiate, coordinate and update behaviour. Central to successful control is the ability to suppress actions that are no longer relevant or required. In this article, we review the contribution of cognitive neuroscience, molecular genetics and clinical investigations to understanding how response inhibition is mediated in the human brain. In Section 1, we consider insights into the neural basis of inhibitory control from the effects of neural interference, neural dysfunction, and drug addiction. In Section 2, we explore the functional specificity of inhibitory mechanisms among a range of related processes, including response selection, working memory, and attention. In Section 3, we focus on the contribution of response inhibition to understanding flexible behaviour, including the effects of learning and individual differences. Finally, in Section 4, we propose a series of technical and conceptual objectives for future studies addressing the neural basis of inhibition.

Neuropsychological studies have shown that alcohol dependence is associated with neurocognitive deficits in tasks requiring memory, perceptual motor skills, abstraction and problem solving, whereas language skills are relatively spared in alcoholics despite structural abnormalities in the language-related brain regions. To investigate the preserved mechanisms of language processing in alcohol-dependents, functional brain imaging was undertaken in healthy controls (n=18) and alcohol-dependents (n=16) while completing a lexical semantic judgment task in a 3 T MR scanner. Behavioural data indicated that alcohol-dependents took more time than controls for performing the task but there was no significant difference in their response accuracy. fMRI data analysis revealed that while performing the task, the alcoholics showed enhanced activations in left supramarginal gyrus, precuneus bilaterally, left angular gyrus, and left middle temporal gyrus as compared to control subjects. The extensive activations observed in alcoholics as compared to controls suggest that alcoholics recruit additional brain areas to meet the behavioural demands for equivalent task performance. The results are consistent with previous fMRI studies suggesting compensatory mechanisms for the execution of task for showing an equivalent performance or decreased neural efficiency of relevant brain networks. However, on direct comparison of the two groups, the results did not survive correction for multiple comparisons; therefore, the present findings need further exploration.

This paper reviews the recent findings on working memory, attention and eye movements. We discuss the research that shows that many phenomena related to visual attention taking place when selecting relevant information from the environment are similar to processes needed to keep information active in working memory. We discuss new data that show that when retrieving information from working memory, people may allocate visual spatial attention to the empty location in space that used to contain the information that has to be retrieved. Moreover, we show that maintaining a location in working memory not only may involve attention rehearsal, but might also recruit the oculomotor system. Recent findings seem to suggest that remembering a location may involve attention-based rehearsal in higher brain areas, while at the same time there is inhibition of specific motor programs at lower brain areas. We discuss the possibility that working memory functions do not reside at a special area in the brain, but emerge from the selective recruitment of brain areas that are typically involved in spatial attention and motor control.

People rationalize the choices they make when confronted with difficult decisions by claiming they never wanted the option they did not choose. Behavioral studies on cognitive dissonance provide evidence for decision-induced attitude change, but these studies cannot fully uncover the mechanisms driving the attitude change because only pre- and post-decision attitudes are measured, rather than the process of change itself. In the first fMRI study to examine the decision phase in a decision-based cognitive dissonance paradigm, we observed that increased activity in right-inferior frontal gyrus, medial fronto-parietal regions and ventral striatum, and decreased activity in anterior insula were associated with subsequent decision-related attitude change. These findings suggest the characteristic rationalization processes that are associated with decision-making may be engaged very quickly at the moment of the decision, without extended deliberation and may involve reappraisal-like emotion regulation processes.

What are the computational tasks that an executive controller for visual attention must solve? This question is posed in the context of the Selective Tuning model of attention. The range of required computations go beyond top-down bias signals or region-of-interest determinations, and must deal with overt and covert fixations, process timing and synchronization, information routing, memory, matching control to task, spatial localization, priming, and coordination of bottom-up with top-down information. During task execution, results must be monitored to ensure the expected results. This description includes the kinds of elements that are common in the control of any kind of complex machine or system. We seek a mechanistic integration of the above, in other words, algorithms that accomplish control. Such algorithms operate on representations, transforming a representation of one kind into another, which then forms the input to yet another algorithm. Cognitive Programs (CPs) are hypothesized to capture exactly such representational transformations via stepwise sequences of operations. CPs, an updated and modernized offspring of Ullman's Visual Routines, impose an algorithmic structure to the set of attentional functions and play a role in the overall shaping of attentional modulation of the visual system so that it provides its best performance. This requires that we consider the visual system as a dynamic, yet general-purpose processor tuned to the task and input of the moment. This differs dramatically from the almost universal cognitive and computational views, which regard vision as a passively observing module to which simple questions about percepts can be posed, regardless of task. Differing from Visual Routines, CPs explicitly involve the critical elements of Visual Task Executive (vTE), Visual Attention Executive (vAE), and Visual Working Memory (vWM). Cognitive Programs provide the software that directs the actions of the Selective Tuning model of visual attention.

We propose a novel attention network, which accurately attends to target objects of various scales and shapes in images through multiple stages. The proposed network enables multiple layers to estimate attention in a convolutional neural network (CNN). The hierarchical attention model gradually suppresses irrelevant regions in an input image using a progressive attentive process over multiple CNN layers. The attentive process in each layer determines whether to pass or suppress feature maps for use in the next convolution. We employ local contexts to estimate attention probability at each location since it is difficult to infer accurate attention by observing a feature vector from a single location only. The experiments on synthetic and real datasets show that the proposed attention network outperforms traditional attention methods in various attribute prediction tasks.

A growing body of literature shows that one's working memory (WM) capacity can be expanded through targeted training. Given the established relationship between WM and higher cognition, these successful training studies have led to speculation that WM training may yield broad cognitive benefits. This review considers the current state of the emerging WM training literature, and details both its successes and limitations. We identify two distinct approaches to WM training, strategy training and core training, and highlight both the theoretical and practical motivations that guide each approach. Training-related increases in WM capacity have been successfully demonstrated across a wide range of subject populations, but different training techniques seem to produce differential impacts upon the broader landscape of cognitive abilities. In particular, core WM training studies seem to produce more far-reaching transfer effects, likely because they target domain-general mechanisms of WM. The results of individual studies encourage optimism regarding the value of WM training as a tool for general cognitive enhancement. However, we discuss several limitations that should be addressed before the field endorses the value of this approach.


Question: The impact of focused attention and open monitoring meditation on the function of attention networks in healthy individuals.

This systematic review examines the impact of mindfulness meditation practices (MMPs) on various cognitive functions, exploring their potential benefits in enhancing cognitive abilities. A comprehensive search across five databases yielded 23 studies, which were scrutinized for their findings on attention, memory, executive functions, and other cognitive aspects. Among these, 15 studies were controlled or randomized controlled trials, while 8 were case-control studies. The analysis revealed that the initial stages of mindfulness training, primarily focused on developing focused attention, might lead to significant improvements in selective and executive attention. Subsequent phases, characterized by open monitoring of both internal and external stimuli, could predominantly enhance unfocused sustained attention skills. Additionally, MMPs appear to boost working memory capacity and certain executive functions. However, the review also highlights methodological limitations in many studies, and negative results have been documented, possibly due to variations in study design, duration, and participant demographics. Therefore, while the reviewed findings suggest that MMPs might augment cognitive functions, these results should be interpreted cautiously. There is a clear need for further high-quality studies that investigate standardized mindfulness meditation programs to substantiate these preliminary findings.

Neuropsychological testing and brain imaging show that healthy aging leads to a preferential impairment of the prefrontal cortex (PFC). Interestingly, in young adults sleep deprivation (SD) has similar effects. Psychological tasks not so oriented to the PFC are less sensitive both to SD and aging. The PFC is a cortical region working particularly hard during wakefulness, which may make it more vulnerable to "deterioration," whether this is through aging or SD. In these respects SD in young adults may offer a model for aging. No study has directly compared aging with SD. We compared groups comprising (equal sexes): YOUNG (av. 23y), MIDDLE AGED (av. 60y) and OLD (av. 73y). Young were subdivided into SD and non-sleep deprived groups. All participants were carefully screened, were healthy, good sleepers and with a similar educational background. A battery of PFC-oriented, short and straightforward neuropsychological tests was used to compare the effects of 36h of SD in the young group, with findings from the healthy, alert, non-sleep deprived groups. Tests relied on accuracy rather than speed (which took into account the problem of "global slowing" in the older participants), and were administered once (i.e., were novel). Test outcomes were significantly affected by: (1) SD in the young groups, and (2) by age. A non-PFC component of one test was not affected by SD or by age. It was concluded that 36h SD in young adults produces effects on the PFC similar to those found in normal, alert people aged about 60 years. However, it can not be concluded that an aged brain is a sleep-deprived brain.

OBJECTIVE
This paper, composed by an interest group of clinicians and researchers based in Melbourne, presents some background to the practice of mindfulness-based therapies as relevant to the general professional reader. We address the empirical evidence for these therapies, the principles through which they might operate, some practical questions facing those wishing to commence practice in this area or to refer patients into mindfulness-based therapies, and some considerations relevant to the conduct and interpretation of research into the therapeutic application of mindfulness.

METHOD
Databases (e.g. PsycINFO, MEDLINE) were searched for literature on the impact of mindfulness interventions, and the psychological and biological mechanisms that underpin the effects of mindfulness practice. This paper also draws upon the clinical experience of the author group.

RESULTS
Mindfulness practice and principles have their origins in many contemplative and philosophical traditions but individuals can effectively adopt the training and practice of mindfulness in the absence of such traditions or vocabulary. A recent surge of interest regarding mindfulness in therapeutic techniques can be attributed to the publication of some well-designed empirical evaluations of mindfulness-based cognitive therapy. Arising from this as well as a broader history of clinical integration of mindfulness and Western psychotherapies, a growing number of clinicians have interest and enthusiasm to learn the techniques of mindfulness and to integrate them into their therapeutic work. This review highlights the importance of accurate professional awareness and understanding of mindfulness and its therapeutic applications.

CONCLUSIONS
The theoretical and empirical literatures on therapeutic applications of mindfulness are in states of significant growth and development. This group suggests, based on this review, that the combination of some well-developed conceptual models for the therapeutic action of mindfulness and a developing empirical base, justifies a degree of optimism that mindfulness-based approaches will become helpful strategies to offer in the care of patients with a wide range of mental and physical health problems.

At rest, the brain's sensorimotor and higher cognitive systems engage in organized patterns of correlated activity forming resting-state networks. An important empirical question is how functional connectivity and structural connectivity within and between resting-state networks change with age. In this study we use network modeling techniques to identify significant changes in network organization across the human lifespan. The results of this study demonstrate that whole-brain functional and structural connectivity both exhibit reorganization with age. On average, functional connections within resting-state networks weaken in magnitude while connections between resting-state networks tend to increase. These changes can be localized to a small subset of functional connections that exhibit systematic changes across the lifespan. Collectively, changes in functional connectivity are also manifest at a system-wide level, as components of the control, default mode, saliency/ventral attention, dorsal attention, and visual networks become less functionally cohesive, as evidenced by decreased component modularity. Paralleling this functional reorganization is a decrease in the density and weight of anatomical white-matter connections. Hub regions are particularly affected by these changes, and the capacity of those regions to communicate with other regions exhibits a lifelong pattern of decline. Finally, the relationship between functional connectivity and structural connectivity also appears to change with age; functional connectivity along multi-step structural paths tends to be stronger in older subjects than in younger subjects. Overall, our analysis points to age-related changes in inter-regional communication unfolding within and between resting-state networks.

Brain imaging efforts are being increasingly devoted to decode the functioning of the human brain. Among neuroimaging techniques, resting-state fMRI (R-fMRI) is currently expanding exponentially. Beyond the general neuroimaging analysis packages (e.g., SPM, AFNI and FSL), REST and DPARSF were developed to meet the increasing need of user-friendly toolboxes for R-fMRI data processing. To address recently identified methodological challenges of R-fMRI, we introduce the newly developed toolbox, DPABI, which was evolved from REST and DPARSF. DPABI incorporates recent research advances on head motion control and measurement standardization, thus allowing users to evaluate results using stringent control strategies. DPABI also emphasizes test-retest reliability and quality control of data processing. Furthermore, DPABI provides a user-friendly pipeline analysis toolkit for rat/monkey R-fMRI data analysis to reflect the rapid advances in animal imaging. In addition, DPABI includes preprocessing modules for task-based fMRI, voxel-based morphometry analysis, statistical analysis and results viewing. DPABI is designed to make data analysis require fewer manual operations, be less time-consuming, have a lower skill requirement, a smaller risk of inadvertent mistakes, and be more comparable across studies. We anticipate this open-source toolbox will assist novices and expert users alike and continue to support advancing R-fMRI methodology and its application to clinical translational studies.

Disruption of function of left, but not right, lateral prefrontal cortex (LPFC) with low-frequency repetitive transcranial magnetic stimulation (rTMS) increased choices of immediate rewards over larger delayed rewards. rTMS did not change choices involving only delayed rewards or valuation judgments of immediate and delayed rewards, providing causal evidence for a neural lateral-prefrontal cortex–based self-control mechanism in intertemporal choice.

OBJECTIVE
To determine the empirical evidence for deficits in working memory (WM) processes in children and adolescents with attention-deficit/hyperactivity disorder (ADHD).

METHOD
Exploratory meta-analytic procedures were used to investigate whether children with ADHD exhibit WM impairments. Twenty-six empirical research studies published from 1997 to December, 2003 (subsequent to a previous review) met our inclusion criteria. WM measures were categorized according to both modality (verbal, spatial) and type of processing required (storage versus storage/manipulation).

RESULTS
Children with ADHD exhibited deficits in multiple components of WM that were independent of comorbidity with language learning disorders and weaknesses in general intellectual ability. Overall effect sizes for spatial storage (effect size = 0.85, CI = 0.62 - 1.08) and spatial central executive WM (effect size = 1.06, confidence interval = 0.72-1.39) were greater than those obtained for verbal storage (effect size = 0.47, confidence interval = 0.36-0.59) and verbal central executive WM (effect size = 0.43, confidence interval = 0.24-0.62).

CONCLUSION
Evidence of WM impairments in children with ADHD supports recent theoretical models implicating WM processes in ADHD. Future research is needed to more clearly delineate the nature, severity, and specificity of the impairments to ADHD.

While the importance of physical abilities and motor coordination is non-contested in sport, more focus has recently been turned toward cognitive processes important for different sports. However, this line of studies has often investigated sport-specific cognitive traits, while few studies have focused on general cognitive traits. We explored if measures of general executive functions can predict the success of a soccer player. The present study used standardized neuropsychological assessment tools assessing players' general executive functions including on-line multi-processing such as creativity, response inhibition, and cognitive flexibility. In a first cross-sectional part of the study we compared the results between High Division players (HD), Lower Division players (LD) and a standardized norm group. The result shows that both HD and LD players had significantly better measures of executive functions in comparison to the norm group for both men and women. Moreover, the HD players outperformed the LD players in these tests. In the second prospective part of the study, a partial correlation test showed a significant correlation between the result from the executive test and the numbers of goals and assists the players had scored two seasons later. The results from this study strongly suggest that results in cognitive function tests predict the success of ball sport players.

It is suggested that the anatomical structures which mediate consciousness evolved as decisive embellishments to a (non-conscious) design strategy present even in the simplest unicellular organisms. Consciousness is thus not the pinnacle of a hierarchy whose base is the primitive reflex, because reflexes require a nervous system, which the single-celled creature does not possess. By postulating that consciousness is intimately connected to self-paced probing of the environment, also prominent in prokaryotic behavior, one can make mammalian neuroanatomy amenable to dramatically straightforward rationalization. Muscular contraction is the nervous system's only externally directed product, and the signaling routes which pass through the various brain components must ultimately converge on the motor areas. The function of several components is still debatable, so it might seem premature to analyze the global operation of the circuit these routes constitute. But such analysis produces a remarkably simple picture, and it sheds new light on the roles of the individual components. The underlying principle is conditionally permitted movement, some components being able to veto muscular contraction by denying the motor areas sufficient activation. This is true of the basal ganglia (BG) and the cerebellum (Cb), which act in tandem with the sensory cerebrum, and which can prevent the latter's signals to the motor areas from exceeding the threshold for overt movement. It is also true of the anterior cingulate, which appears to play a major role in directing attention. In mammals, the result can be mere thought, provided that a second lower threshold is exceeded. The veto functions of the BG and the Cb stem from inhibition, but the countermanding disinhibition develops at markedly different rates in those two key components. It develops rapidly in the BG, control being exercised by the amygdala, which itself is governed by various other brain regions. It develops over time in the Cb, thereby permitting previously executed movements that have proved advantageous. If cognition is linked to overt or covert movement, intelligence becomes the ability to consolidate individual motor elements into more complex patterns, and creativity is the outcome of a race-to-threshold process which centers on the motor areas. Amongst the ramifications of these ideas are aspects of cortical oscillations, phantom limb sensations, amyotrophic lateral sclerosis (ALS) the difficulty of self-tickling and mirror neurons.

The ability of normal children and adults to attribute independent mental states to self and others in order to explain and predict behaviour ("theory of mind") has been a focus of much recent research. Autism is a biologically based disorder which appears to be characterised by a specific impairment in this "mentalising" process. The present paper reports a functional neuroimaging study with positron emission tomography in which we studied brain activity in normal volunteers while they performed story comprehension tasks necessitating the attribution of mental states. The resultant brain activity was compared with that measured in two control tasks: "physical" stories which did not require this mental attribution, and passages of unlinked sentences. Both story conditions, when compared to the unlinked sentences, showed significantly increased regional cerebral blood flow in the following regions: the temporal poles bilaterally, the left superior temporal gyrus and the posterior cingulate cortex. Comparison of the "theory of mind" stories with "physical" stores revealed a specific pattern of activation associated with mental state attribution: it was only this task which produced activation in the medial frontal gyrus on the left (Brodmann's area 8). This comparison also showed significant activation in the posterior cingulate cortex. These surprisingly clear-cut findings are discussed in relation to previous studies of brain activation during story comprehension. The localisation of brain regions involved in normal attribution of mental states and contextual problem solving is feasible and may have implication for the neural basis of autism.

The capacity to control emotion is important for human adaptation. Questions about the neural bases of emotion regulation have recently taken on new importance, as functional imaging studies in humans have permitted direct investigation of control strategies that draw upon higher cognitive processes difficult to study in nonhumans. Such studies have examined (1) controlling attention to, and (2) cognitively changing the meaning of, emotionally evocative stimuli. These two forms of emotion regulation depend upon interactions between prefrontal and cingulate control systems and cortical and subcortical emotion-generative systems. Taken together, the results suggest a functional architecture for the cognitive control of emotion that dovetails with findings from other human and nonhuman research on emotion.