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Considering the connection between black-box optimization problem and reinforcement learning (RL) problem, we can solve a RL problem by black-box optimization algorithm. Especially, extremum seeking (ES) is a notable black-box optimization algorithm, but there exist two studies which employs ES to solve a specific RL problem. In this study, we formulate such a general RL problem as which has a stochastic...
This study aims to analyze muscle synergies in darts throwing movement to clarify how the central nervous system (CNS) controls muscle activation to produce complicated motion. Activities of 10 different muscles on upper limb were recorded through surface electromyography (EMG) electrodes from four participants with less experience of dart throwing. Subsequently, non-negative matrix factorization...
Recent studies pay attention to the similarity between black-box optimization problem and reinforcement learning (RL) problem. They expect that black-box optimization algorithm can solve RL problems. Among the black-box optimization algorithms, extremum seeking (ES) is a notable one. Two past studies implicitly solved RL problem using ES, but their problem settings were limited to linear deterministic...
Recently, brain-computer interfaces (BCIs) attract much attention as novel human interfaces such as exoskeleton, powered-wheelchair, and P300-based speller. One of the EEG feature called event-related (de)synchronization (ERD/S) is used for the BCI, because it can be caused by motor execution (ME), motor imagery (MI), or motor observation (MO). ERD is a relative power decrease during ME/MI/MO, whereas...
A recent cutting-edge research line in medical field is phantom limb pain, which is caused by slow dynamics in human kinematic-structure with physical disorder. In this study, we analyze the mechanism of phantom limb pain using a computational model that estimates a body link-structure using a non-parametric Bayes approach. The computational model, which is called Dirichlet process Gaussian mixture...
Quantitative evaluation of human motor function is a key technology for diagnosing and evaluating movement disorders such as cerebellar ataxia, Parkinson's disease, or stroke. In addition, it is ideal to make the evaluation anywhere, anytime (e.g. at home) for wider clinical applications. Thus, a number of studies have been done to achieve this goal. In our previous study, we developed a novel system...
The Sense of Agency (SoA) is the subjective sense such that I am the causal factor of the own action and accompanying events in the outside world. We proposed that SoA corresponds to likelihood of the predictive distribution conditioned by own-action. Mathematically, there exist different varieties of online learning algorithm for the predictive distribution. The goal of this article is to clarify...
Motor coordination of upper arm plays an important role in the quality of a dart throwing as well as highly influences on the performance on the dartboard. In this work, we investigated how kinematic parameters affect the performance, i.e. the correlation between the variance of the position, angle of elbow joint at the release timing and the error outcome on the dartboard. Moreover, bioelectric activities...
In recent research on brain-computer interfaces (BCIs), motor observation is considered to become a promising methodology for the BCI neurofeedback training, because it is believed to induce stronger bodily self-consciousness such as sense of agency, or sense of ownership, and thus it can cause a reliable electroencephalogram (EEG) feature for the BCI. However the rational relationship between the...
We studied the effect of visual condition on brain activity and motion accuracy during cane usage. When the subjects could not watch downward, they could not accurate cane usage. However, the effect of on the posterior part of the frontal cortex and the anterior part of the parietal cortex were very slight.
Human motor learning research suggests that contextual cues such as visual and/or auditory stimuli contribute to reduce motor interference between conflicting motor tasks. In this study, we investigate whether an olfactory stimulus is able to reduce the motor interference in a motor learning paradigm (ABA). As a result, we confirmed that the group with different olfactory condition for Task A and...
In this paper, we first introduce the embodied-brain project (2014–2018) and its structure. Second, we discuss how to tackle the problem from a systems engineering point of view. Third, we discuss the following three approaches (projects) to solve the problems occurring in the project: (1) construction of a cognitive body model considering body consciousness, (2) development of a muscle synergy control...
For smooth interaction between human and robot, the robot should have an ability to manipulate human attention and behaviors. In this study, we developed a visual attention model for manipulating human attention by a robot. The model consists of two modules, such as the saliency map generation module and manipulation map generation module. The saliency map describes the bottom-up effect of visual...
Understanding and predicting human's behavior by a robot is necessary for smooth interaction with humans. Humans often achieve them by guidance of other's behavior, especially controlling its attention. Magicians can effectively manipulate spectators' attention. In this study, we hypothesized that the relationship between magician's gaze and hands plays an important role for controlling spectators'...
We propose the use of a new decentralized autonomous smart grid model involving adaptive trading agents which can sell and buy electric power in a local electric power network. We name the electric power network einter-intelligent renewable energy network', i-Rene. Trading agents in the local grid manage the amount of electric power generated by PV or other renewable energies stored in batteries in...
Human cognitive and psychological characteristics should be considered for design of user interfaces. In this study, the relationship between the sense of agency and the task performance was examined through an experiment. The experimental task was target-searching by controlling a joystick. In the experiment, temporal delay of visual feedback was set to indirectly control the participants' sense...
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