Identification of unknown object properties based on tactile motion sequence using 2-finger gripper robot

Author(s):  
Joel Thompson ◽  
D. Kasun Prasanga ◽  
Toshiyuki Murakami
Linguistics ◽  
2020 ◽  
Vol 58 (6) ◽  
pp. 1737-1773
Author(s):  
Kyumin Kim

AbstractThe goal of this paper is to address the syntax of certain oblique nominals in Blackfoot (Algonquian) that are introduced by a set of verbal prefixes called linkers. In the literature, an oblique nominal introduced by a verbal affix always shows certain properties of objects, e.g., agreement. This type of affix is analyzed as forming a complex verb with the main verb via head movement, and the oblique nominal is treated as an object of the complex verb. However, this paper demonstrates that oblique nominals introduced by linkers in Blackfoot do not show certain object properties even though the linker looks like it forms a complex verb. Building on the lack of object properties, linker phrases are proposed to be adjuncts. As proposed for adjuncts generally (e.g., Stephanov, Arthur. 2001. Late adjunction and minimalist phrase structure. Syntax 4(2). 94–125), this paper proposes a late merge analysis for linker phrases. Within an Agree-based model (Chomsky, Noam. 2000. Minimalist inquiries: The framework. In Roger Martin, David Michaels & Juan Uriagereka (eds.), Step by step: Essays on minimalist syntax in honor of Howard Lasnik, 89–155. Cambridge, MA: The MIT Press, 2001. Derivation by phase. In Michael Kenstowicz (ed.), Ken Hale: A life in language, 1–52. Cambridge: The MIT Press) where the derivation proceeds by phases (Chomsky 2008), a linker phrase, as an adjunct, lacks the relevant features to participate in the derivation via Agree, and thus it merges late at the end of a given phasal derivation such as vP. When spell out applies, the linker linearizes with a [V-v] complex in the base position, i.e., vP, giving its surface appearance as a verbal affix. Under this view, a linker does not lead to formation of a complex verb as it does not undergo head movement to the verb, unlike applicative affixes, consistent with the absence of object properties.


2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Ryo Kitada ◽  
Jinhwan Kwon ◽  
Ryuichi Doizaki ◽  
Eri Nakagawa ◽  
Tsubasa Tanigawa ◽  
...  

AbstractUnlike the assumption of modern linguistics, there is non-arbitrary association between sound and meaning in sound symbolic words. Neuroimaging studies have suggested the unique contribution of the superior temporal sulcus to the processing of sound symbolism. However, because these findings are limited to the mapping between sound symbolism and visually presented objects, the processing of sound symbolic information may also involve the sensory-modality dependent mechanisms. Here, we conducted a functional magnetic resonance imaging experiment to test whether the brain regions engaged in the tactile processing of object properties are also involved in mapping sound symbolic information with tactually perceived object properties. Thirty-two healthy subjects conducted a matching task in which they judged the congruency between softness perceived by touch and softness associated with sound symbolic words. Congruency effect was observed in the orbitofrontal cortex, inferior frontal gyrus, insula, medial superior frontal gyrus, cingulate gyrus, and cerebellum. This effect in the insula and medial superior frontal gyri was overlapped with softness-related activity that was separately measured in the same subjects in the tactile experiment. These results indicate that the insula and medial superior frontal gyrus play a role in processing sound symbolic information and relating it to the tactile softness information.


Motor Control ◽  
1999 ◽  
Vol 3 (3) ◽  
pp. 302-306 ◽  
Author(s):  
Bert Steenbergen

The present reaction on the paper of Smeets and Brenner focuses on two premises of their proposed model The first is that grasping is nothing more than pointing with two fingers. It is argued that this assumption cannot be upheld in light of the differences between both actions with respect to neuromuscular structures, muscular innervation, use of visual feedback, and basic function The second premise of the model is that the velocity profile of the transport component is symmetrical and independent of intrinsic object properties. It is shown that the symmetrical velocity profile represents a boundary condition and is influenced by intrinsic object properties. Given these concerns, it is doubtful that the model in its present form will add much to our understanding of the control of grasping.


Author(s):  
Qian Zheng ◽  
Weikai Wu ◽  
Hanting Pan ◽  
Niloy Mitra ◽  
Daniel Cohen-Or ◽  
...  

AbstractHumans regularly interact with their surrounding objects. Such interactions often result in strongly correlated motions between humans and the interacting objects. We thus ask: “Is it possible to infer object properties from skeletal motion alone, even without seeing the interacting object itself?” In this paper, we present a fine-grained action recognition method that learns to infer such latent object properties from human interaction motion alone. This inference allows us to disentangle the motion from the object property and transfer object properties to a given motion. We collected a large number of videos and 3D skeletal motions of performing actors using an inertial motion capture device. We analyzed similar actions and learned subtle differences between them to reveal latent properties of the interacting objects. In particular, we learned to identify the interacting object, by estimating its weight, or its spillability. Our results clearly demonstrate that motions and interacting objects are highly correlated and that related object latent properties can be inferred from 3D skeleton sequences alone, leading to new synthesis possibilities for motions involving human interaction. Our dataset is available at http://vcc.szu.edu.cn/research/2020/IT.html.


1999 ◽  
Author(s):  
M. Sile O’Modhrain

Abstract In this paper, we present the results of a pilot study that examines whether restricting how people can explore objects haptically effects the object attributes they notice and the efficiency with which they can perform a simple sorting task. 25 observers were each randomly assigned to one of five exploration conditions: two hands (the control), one hand, thumb/forefinger, one finger, or probe. All observers performed a series of two-bin sorts. Stimuli were eight multi-propertied cubes which could be divided into two equal bins according to three properties: size, texture, and compliance. Preliminary results indicate that the restrictions on manual exploration we imposed affected both the exploratory procedures observers chose to use and the efficiency with which they could perform the task. Haptic interface designs inevitably restrict the exploratory procedures available to the user. This study attempts to determine the cost of these restrictions on the efficiency with which a user can explore multi-propertied objects in a virtual or telepresence environment.


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