Skip to main content
SpringerLink
Log in
Book cover

Robotics Research pp 537–551Cite as

A Vestibular Interface for Natural Control of Steering in the Locomotion of Robotic Artifacts: Preliminary Experiments

  • Conference paper

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 28))

Abstract

This work addresses the problem of developing novel interfaces for robotic systems that can allow the most natural transmission of control commands and sensory information, in the two directions. A novel approach to the development of natural interfaces is based on the detection of the human’s motion intention, instead of the movement itself, as in traditional interfaces. Based on recent findings in neuroscience, the intention can be detected from anticipatory movements that naturally accompany more complex motor behaviors.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   259.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   329.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD   329.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Y. Hirata (2003) Proc. of the Int. Symposium on Microelectronics, Boston, MA, USA, November 16–20, 2003, 560–565

    Google Scholar 

  2. A. Knoll, C. Bekey, T.C. Henderson (2001) Robotics and autonomous systems 37(2–3):73–80

    Article  MATH  Google Scholar 

  3. M.J. Johnson, E. Guglielmelli, C. Suppo, A. Pisetta, F. Leoni, G.A. Di Lauro, M.C. Carrozza, C. Laschi, P. Dario (2003) A fetch-and-carry robot appliance for elderly and disabled persons, In: Assistive Technology-Shaping the Future, G.M. Craddock, L.P. McCormack, R.B. Reilly, H.T.P. Knops (Ed.s), Assistive Technology Research Series, IOS Press

    Google Scholar 

  4. P. Dario, Sandini G., Aebischer P. (Eds) (1993), Robots and Biological Systems: Towards a New Bionics?, NATO ASI Series, Springer-Verlag

    Google Scholar 

  5. M. Gasson, B. Hutt, I. Goodhew, P. Kyberd, K. Warwick (2002), Proc. of the IEEE International Workshop on Robot and Human Interactive Communication, Berlin

    Google Scholar 

  6. D. Perzanowski, A.C. Schultz, W. Adams, E. Marsh, M. Bugajska (2001) IEEE Intelligent Systems 16(1):16–21

    Article  Google Scholar 

  7. J.M. Carmena, M.A. Lebedev, R.E. Crist, J.E. O’Doherty, D.M. Santucci, D.F. Dimitrov, P.G. Patil, C.S. Henriquez, M.A.L. Nicolelis (2003) PLoS Biology 1(2):193–208

    Article  Google Scholar 

  8. X. Navarro, T.B. Krueger, N. Lago, S. Micera, P. Dario, T. Stieglitz (2005) Journal of the Peripheral Nervous System 10(3):229–258

    Article  Google Scholar 

  9. M. Land, N. Mennie, J. Rusted (1999) Perception 28(11):1311–1328

    Article  Google Scholar 

  10. R.S. Johansson, G.B. Westling, A. Backstrom, J.R. Flanagan (2001) Journal of Neuroscience, 21:6917–6932

    Google Scholar 

  11. A. Berthoz (2000) The Brain’s Sense of Movement: Perspectives in Cognitive Neuroscience, Harvard University Press

    Google Scholar 

  12. X. Lu, J. Ashe (2005) Neuron 45(6):967–973

    Article  Google Scholar 

  13. J.C. Van der Heide, B. Otten, L.A. van Eykern, M. Hadders-Algra (2003) Experimental Brain Research 151(1):32–45

    Article  Google Scholar 

  14. E. Kowler, A.J. Martins, M. Pavel (1984) Vision Research 24:197–210

    Article  Google Scholar 

  15. S.G. Wells, G.R. Barnes (1998) Experimental Brain Research 120:129–33

    Article  Google Scholar 

  16. R. Grasso, P. Prvost, Y.P. Ivanenko, A. Berthoz (1998) Neuroscience Letters 253:115–118

    Article  Google Scholar 

  17. F. Patanè, C. Laschi, H. Miwa, E. Guglielmelli, P. Dario, A. Takanishi (2004) Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan

    Google Scholar 

  18. F. Ferraris, U. Grimaldi, M. Parvis (1995) Sensors and Materials 7(5)311–330

    Google Scholar 

  19. L. Ascari, C. Stefanini, A. Menciassi, S. Sahoo, P. Rabischong, P. Dario (2003) Proc. of the IEEE International Conference on Robotics and Automation, Taipei

    Google Scholar 

  20. L. Ascari, U. Bertocchi, C. Laschi, C. Stefanini, A. Starita, P. Dario (2004) Proc. of the IEEE International Conference on Robotics and Automation, New Orleans, USA

    Google Scholar 

  21. C. André-Deshays, A. Berthoz, M. Revel (1988) Experimental Brain Research 69:399–406

    Article  Google Scholar 

  22. R. Grasso, C. Assaiante, P. Prevost, A. Berthoz (1998) Neuroscience and biobehavioral reviews 22:533–539

    Article  Google Scholar 

  23. R. Grasso, S. Glasauer, Y. Takei, A. Berthoz (1996) Neuroreport 7(6):1170–1174

    Article  Google Scholar 

  24. R. Grasso R, Y.P. Ivanenko, J. McIntyre, I. Viaud-Delmon, A. Berthoz (2000) Neuroreport 11(4):775–778

    Article  Google Scholar 

  25. R. Grasso, P. Prevost, Y.P. Ivanenko, A. Berthoz (1998) Neuroscience Letters 253:115–118

    Article  Google Scholar 

  26. Y. Takei, R. Grasso, M.A. Amorim, A. Berthoz (1997) Experimental Brain Research 115(2):361–368

    Article  Google Scholar 

  27. M. Zugaro, A. Berthoz, S. Wiener (2002) Hippocampus 12:481–486

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. ARTS Lab. Scuola Superiore Sant’Anna, Piazza Martiri della Libertà, 33 - 56127, Pisa, Italy

    Cecilia Laschi, Eliseo Stefano Maini, Francesco Patane’ & Paolo Dario

  2. IMT Doctoral School in Biorobotics Science and Engineering, Via San Micheletto, 3 - 55100, Lucca, Italy

    Luca Ascari, Gaetano Ciaravella & Paolo Dario

  3. CRIM Lab. Scuola Superiore Sant’Anna, Piazza Martiri della Libertà, 33 - 56127, Pisa, Italy

    Ulisse Bertocchi & Cesare Stefanini

  4. CNRS UMR 7152 Collège de France, Place Marcelin Berthelot, 11 - 75231, Paris Cedex 05, France

    Alain Berthoz

Authors
  1. Cecilia Laschi
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Eliseo Stefano Maini
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Francesco Patane’
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Luca Ascari
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Gaetano Ciaravella
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Ulisse Bertocchi
    View author publications

    You can also search for this author in PubMed Google Scholar

  7. Cesare Stefanini
    View author publications

    You can also search for this author in PubMed Google Scholar

  8. Paolo Dario
    View author publications

    You can also search for this author in PubMed Google Scholar

  9. Alain Berthoz
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Department of Computer Science, Stanford University, CA, 94305-9045, Stanford, USA

    Sebastian Thrun

  2. MIT Computer Science & Artificial Intelligence Laboratory (CSAIL), 32 Vassar Street, MA, 02139, Cambridge, USA

    Rodney Brooks

  3. Australian Centre for Field Robotics, University of Sydney, 2006, Sydney, Australia

    Hugh Durrant-Whyte

Rights and permissions

Reprints and permissions

Copyright information

© 2007 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Laschi, C. et al. (2007). A Vestibular Interface for Natural Control of Steering in the Locomotion of Robotic Artifacts: Preliminary Experiments. In: Thrun, S., Brooks, R., Durrant-Whyte, H. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 28. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-48113-3_46

Download citation

  • DOI: https://doi.org/10.1007/978-3-540-48113-3_46

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-48110-2

  • Online ISBN: 978-3-540-48113-3

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation