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- Finger tip moisture is optimally modulated during object manipulation
- moisture always seemed to approach a constant value
- Grip force decreased over trials
- Tricking CNS into believing in movement
- Feeling holes and bumps
- just knowing lateral force is ambiguous need know relative motion
- lateral force wins in sensory conflict
- Illusions
- out-of-phase array of pinching-stretching feels like movement
- moving one hand and pressure cues to the other produces a combined illusion
- transference of motion between vision and touch by using moving visual and sensory fields
- Feeling holes and bumps
- Alan Smith - Slip signals in touch
- Touch consists of the skin "sticking-slipping"
- Experiments show normal force decreases with increasing roughness (what about surface roughness?)
- Is there a slip signal? Maybe this is actually just a desire of the nervous system to equalize tangential stress across surface of skin
- Preferred level of friction about 0.6-0.7
- Jerry Loeb - Biomimetic robot finger
- measuring impedance of a deformable balloon
- requires database of known objects
- Atsushi Nambu - Cortico-basal ganglia loops and disorders
- Hyperdirect - excitation
- Turn brake on
- Direct - inhibition
- Release only desired motor program
- Indirect - excitation
- Turn brake on
- Hyperdirect - excitation
- Watanabe - Conflict resolution in basal ganglia
- Automatic and volitional commands compete (stretch reflex vs APR)
- Without the basal ganglia you need significantly more activity to accurately resolve conflict but with the basal ganglia you only need one-to-one power of automatic and volitional commands
- Peter Redgrave - Does phasic dopamine signaling reinforce learning?
- Dopamine as a reward was found to predict reward, but looking at the timing they must be able to do this before motor output
- So where do the dopamine inputs come from?
- Eyes->superior colliculus->substantia nigra->Dopamine
- Superior colliculus is likely the input for visually evoked dopamine response
- Not used to generate error signal on reward prediction
- Likely used to test if we caused the event or if the event just occured
- Fighting against Wolfram
- Ann Graybiel - Habit formation
- Once a habit is formed it sticks
- Striatum is a learning machine
- Stefan Schaal - Modularity adaptation and learning with dynamic movement primitives
- Path integral reinforcement learning
- Jochen Steil - Toward intelligent robots
- Compliant robots
- Modular architecture
- Terrence Sanger - Stochastic control using linear operators on probability space
- Fancy method to come up with stuff that looks like synergies
- Jeroen Smeets - Can synergies during movements be determined from the structure of variability?
- No they cannot.
- Paul Chisek - The mechanism of compensation of intersegmental dynamics includes cortical control of bi-articular muscles
- TMS perturbation to screw up cortical stuff
- Shocking the motor cortex appears that it preferentially selects bi-articular muscles
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