We propose a learning and control model of the arm for a loading task in which an object is loaded onto one hand with the other hand, in the sagittal plane. Postural control during object interactions provides important points to motor control theories in terms of how humans handle dynamics changes and use the information of prediction and sensory feedback. For the learning and control model, we coupled a feedback-error-learning scheme with an Actor-Critic method used as a feedback controller. To overcome sensory delays, a feedforward dynamics model (FDM) was used in the sensory feedback path. We tested the proposed model in simulation using a two-joint arm with six muscles, each with time delays in muscle force generation. By applying the proposed model to the loading task, we showed that motor commands started increasing, before an object was loaded on, to stabilize arm posture. We also found that the FDM contributes to the stabilization by predicting how the hand changes based on contexts of the object and efferent signals. For comparison with other computational models, we present the simulation results of a minimum-variance model.

We have proposed a new string-based haptic interface device in this paper. It is a kind of device that allows a user to use both hands and multi-fingers to direct manipulate the virtual objects in the computer simulated virtual environment. One of the advantages of the device is to allow the user to use both hands to perform the cooperative works of hands, such as holding a large object that cannot be grasped or held by single hand. In addition, the haptic feedback sensation provided by the device at the fingertips makes possible for the user to perform dexterous manipulation, such as manipulating small size of objects. We have discussed about the design of the proposed device and have elaborated the methods of fingertip positions measurement and force feedback generation. The experiments had been carried out to verify the capabilities of the proposed device.

We have aimed at constructing a forward dynamics model (FDM) of the human arm in the form of an artificial neural network while recordings of EMG and movement trajectories. We succeeded in: (1) estimating the joint torques under isometric conditions and (2) estimating trajectories from surface EMG signals in the horizontal plane. The human arm has seven degrees of freedom: the shoulder has three, the elbow has one and the wrist has three. Only two degrees of freedom were considered in the previous work. Moreover, the arm was supported horizontally. So, free movement in 3D space is still a necessity. And for 3D movements or posture control, compensation for gravity has to be considered. In this papre, four joint angles, one at the elbow and three at the shoulder were estimated from surface EMG signals of 12 flexor and extensor muscles during posture control in 3D space.

In this study, we achieved predictable control of a wheelchair by changing the existing mapping method of the joystick, which considers the consecutive operations of a motor of a wheelchair, to a new mapping method that corresponds to the internal model of a human being. Since the existing method uses the polar coordinate system, it is not easy at all to use this method to predict either the direction of motion or the operating order for changing the position of the wheelchair according to the requirements of an operator. In order to improve the embodiment, we divided the existing joystick mapping method into two degrees of freedom-one in the vertical axis that can control the velocity and the other, in the horizontal axis for direction control. Based on this division, we implemented a wheelchair model that can be controlled by the electromyography (EMG) signal from the neck and the arm muscles of an operator. This was achieved by mapping the divided degrees of freedom onto the degrees of freedom of the neck and arm of the operator. In this case, since the operator controls the direction of motion by the joint of his/her neck, he/she can move the wheelchair in the desired direction; thus, a more intuitive human interface is implemented.

In the image recognition problem, it is very important how we represent the image. Considering this, we propose a new representational method of images based on the stability in scale-space. In our method, the image is segmented and represented as a hierarchical region graph in scale-space. The object is represented as feature graph, which is subgraph of region graph. In detail, the region graph is defined on the image with the relation of each segment hierarchically. And the feature graph is determined based on the "life-time" of the graph of the object in scale-space. This "life-time" means how long feature graph lives when the scale parameter is increased. We apply our method to the face detection problem, which is foundmental and difficult problem in face recognition. We determine the feature graph of the frontal human face statistical point of view. We also build the face detection system using this feature graph to show how our method works efficiently.