Grasping Objects with Environmentally Induced Position Uncertainty

Vassilios N Christopoulos and Paul R Schrater

PLOS Computational Biology, 2009, vol. 5, issue 10, 1-11

Abstract: Due to noisy motor commands and imprecise and ambiguous sensory information, there is often substantial uncertainty about the relative location between our body and objects in the environment. Little is known about how well people manage and compensate for this uncertainty in purposive movement tasks like grasping. Grasping objects requires reach trajectories to generate object-fingers contacts that permit stable lifting. For objects with position uncertainty, some trajectories are more efficient than others in terms of the probability of producing stable grasps. We hypothesize that people attempt to generate efficient grasp trajectories that produce stable grasps at first contact without requiring post-contact adjustments. We tested this hypothesis by comparing human uncertainty compensation in grasping objects against optimal predictions. Participants grasped and lifted a cylindrical object with position uncertainty, introduced by moving the cylinder with a robotic arm over a sequence of 5 positions sampled from a strongly oriented 2D Gaussian distribution. Preceding each reach, vision of the object was removed for the remainder of the trial and the cylinder was moved one additional time. In accord with optimal predictions, we found that people compensate by aligning the approach direction with covariance angle to maintain grasp efficiency. This compensation results in higher probability to achieve stable grasps at first contact than non-compensation strategies in grasping objects with directional position uncertainty, and the results provide the first demonstration that humans compensate for uncertainty in a complex purposive task.Author Summary: Optimal sensorimotor control models actions as decisions that maximize the desirableness of outcomes, where the desirableness is captured by an expected cost or utility to each action sequence. These models provide explanations for many aspects of our ability to compensate for uncertainty, but they have not been applied to understanding purposive movements—movements involving the application of forces to change the relative position of objects and the actor in the environment. Using time efficiency as a natural cost function, we present a statistical optimal control analysis of uncertainty compensation strategies in a purposive movement task, grasping an object with directional position uncertainty. In accord with the predictions of the analysis, the experimental results showed that people compensate for uncertainty by adopting grasp strategies that increase the chance to produce a stable grasp at first contact. Our findings suggest that visuomotor system plans for uncertainty even in complex purposive movements.

Date: 2009
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Persistent link: https://EconPapers.repec.org/RePEc:plo:pcbi00:1000538

DOI: 10.1371/journal.pcbi.1000538

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