Toward More Robust Hand Gesture Recognition on EIT Data.

Striving for more robust and natural control of multi-fingered hand prostheses, we are studying electrical impedance tomography (EIT) as a method to monitor residual muscle activations. Previous work has shown promising results for hand gesture recognition, but also lacks generalization across multiple sessions and users. Thus, the present paper aims for a detailed analysis of an existing EIT dataset acquired with a 16-electrode wrist band as a prerequisite for further improvements of machine learning results on this type of signal. The performed t-SNE analysis confirms a much stronger inter-session and inter-user variance compared to the expected in-class variance. Additionally, we observe a strong drift of signals within a session. To handle these challenging problems, we propose new machine learning architectures based on deep learning, which allow to separate undesired from desired variation and thus significantly improve the classification accuracy. With these new architectures we increased cross-session classification accuracy on 12 gestures from 19.55 to 30.45%. Based on a fundamental data analysis we developed three calibration methods and thus were able to further increase cross-session classification accuracy to 39.01, 55.37, and 56.34%, respectively.

Using Tactile Sensing to Improve the Sample Efficiency and Performance of Deep Deterministic Policy Gradients for Simulated In-Hand Manipulation Tasks.

Deep Reinforcement Learning techniques demonstrate advances in the domain of robotics. One of the limiting factors is a large number of interaction samples usually required for training in simulated and real-world environments. In this work, we demonstrate for a set of simulated dexterous in-hand object manipulation tasks that tactile information can substantially increase sample efficiency for training (by up to more than threefold). We also observe an improvement in performance (up to 46%) after adding tactile information. To examine the role of tactile-sensor parameters in these improvements, we included experiments with varied sensor-measurement accuracy (ground truth continuous values, noisy continuous values, Boolean values), and varied spatial resolution of the tactile sensors (927 sensors, 92 sensors, and 16 pooled sensor areas in the hand). To facilitate further studies and comparisons, we make these touch-sensor extensions available as a part of the OpenAI Gym Shadow-Dexterous-Hand robotics environments.

Multidigit force control during unconstrained grasping in response to object perturbations.

Because of the complex anatomy of the human hand, in the absence of external constraints, a large number of postures and force combinations can be used to attain a stable grasp. Motor synergies provide a viable strategy to solve this problem of motor redundancy. In this study, we exploited the technical advantages of an innovative sensorized object to study unconstrained hand grasping within the theoretical framework of motor synergies. Participants were required to grasp, lift, and hold the sensorized object. During the holding phase, we repetitively applied external disturbance forces and torques and recorded the spatiotemporal distribution of grip forces produced by each digit. We found that the time to reach the maximum grip force during each perturbation was roughly equal across fingers, consistent with a synchronous, synergistic stiffening across digits. We further evaluated this hypothesis by comparing the force distribution of human grasping vs. robotic grasping, where the control strategy was set by the experimenter. We controlled the global hand stiffness of the robotic hand and found that this control algorithm produced a force pattern qualitatively similar to human grasping performance. Our results suggest that the nervous system uses a default whole hand synergistic control to maintain a stable grasp regardless of the number of digits involved in the task, their position on the objects, and the type and frequency of external perturbations.NEW & NOTEWORTHY We studied hand grasping using a sensorized object allowing unconstrained finger placement. During object perturbation, the time to reach the peak force was roughly equal across fingers, consistently with a synergistic stiffening across fingers. Force distribution of a robotic grasping hand, where the control algorithm is based on global hand stiffness, was qualitatively similar to human grasping. This suggests that the central nervous system uses a default whole hand synergistic control to maintain a stable grasp.

Perceptual grouping by entrainment in coupled Kuramoto oscillator networks.

In this article we present a network composed of coupled Kuramoto oscillators, which is able to solve a broad spectrum of perceptual grouping tasks. Based on attracting and repelling interactions between these oscillators, the network dynamics forms various phase-synchronized clusters of oscillators corresponding to individual groups of similar input features. The degree of similarity between features is determined by a set of underlying receptive fields, which are learned directly from the feature domain. After illustrating the theoretical principles of the network, the approach is evaluated in an image segmentation task. Furthermore, the influence of a varying degree of sparse couplings is evaluated.

Evolving neural fields for problems with large input and output spaces.

We have developed an extension of the NEAT neuroevolution method, called NEATfields, to solve problems with large input and output spaces. The NEATfields method is a multilevel neuroevolution method using externally specified design patterns. Its networks have three levels of architecture. The highest level is a NEAT-like network of neural fields. The intermediate level is a field of identical subnetworks, called field elements, with a two-dimensional topology. The lowest level is a NEAT-like subnetwork of neurons. The topology and connection weights of these networks are evolved with methods derived from the NEAT method. Evolution is provided with further design patterns to enable information flow between field elements, to dehomogenize neural fields, and to enable detection of local features. We show that the NEATfields method can solve a number of high dimensional pattern recognition and control problems, provide conceptual and empirical comparison with the state of the art HyperNEAT method, and evaluate the benefits of different design patterns.

Threshold disorder as a source of diverse and complex behavior in random nets.

We study the diversity of complex spatio-temporal patterns in the behavior of random synchronous asymmetric neural networks (RSANNs). Special attention is given to the impact of disordered threshold values on limit-cycle diversity and limit-cycle complexity in RSANNs which have 'normal' thresholds by default. Surprisingly, RSANNs exhibit only a small repertoire of rather complex limit-cycle patterns when all parameters are fixed. This repertoire of complex patterns is also rather stable with respect to small parameter changes. These two unexpected results may generalize to the study of other complex systems. In order to reach beyond this seemingly disabling 'stable and small' aspect of the limit-cycle repertoire of RSANNs, we have found that if an RSANN has threshold disorder above a critical level, then there is a rapid increase of the size of the repertoire of patterns. The repertoire size initially follows a power-law function of the magnitude of the threshold disorder. As the disorder increases further, the limit-cycle patterns themselves become simpler until at a second critical level most of the limit cycles become simple fixed points. Nonetheless, for moderate changes in the threshold parameters, RSANNs are found to display specific features of behavior desired for rapidly responding processing systems: accessibility to a large set of complex patterns.