Object Manipulation Research Articles

Fooling the mind: An approach on attention and concentration based on deceptions

This article explores attention and concentration in relation to the human senses, as depicted in The official C.I.A. Manual of Trickery and Deception (2009). The manual teaches field agents tricks, based on those used by magicians, for espionage purposes, such as object manipulation and covert communication. Its methodology focuses on guiding attention to specific points, providing insights into manipulating perception and awareness. The deception presented by the film Argo (2012) is referenced to illustrate practical applications. The study distinguishes between attention and concentration as different expressions of perception, based on Merleau-Ponty’s approach, and examines the deceptive structures and their functioning through narrative semiotics. Additionally, Gibson’s theory of affordances is contemplated to understand how spies’ interpretation of the environment influences their effectiveness. The results indicate that attention can be handled as an umbrella for somatic senses, being able to be detached from them and from the victim as a whole.

Neural and behavioral similarity-driven tuning curves for manipulable objects

Abstract In our daily activities, we encounter numerous objects that we successfully distinguish and recognize within a fraction of a second. This holds for coarse distinctions (e.g., cat vs. hammer) but also for more challenging distinctions that require fine-grain analysis (e.g., cat vs. dog). The efficiency of this recognition depends on how the brain organizes object-related information. While several attempts have focused on unraveling large-scale organization principles, research on fine-grained knowledge organization is rather limited. Here, we explored the fine-grain organization of object knowledge and investigated whether manipulable objects are organized and represented in terms of their similarity. To accomplish this, different groups of individuals participated in a behavioral and fMRI release from adaptation experiment. Adaptation was induced by presenting different exemplars of a particular object, and release from adaptation was elicited by the presentation of a deviant object. The relationship between adaptation and deviant objects was manipulated into four levels of similarity, measured by feature overlap between these objects. Our findings revealed that increasing object similarity provoked slower reaction times and weaker fMRI release from adaptation. Specifically, we identified similarity-driven tuning curves for the release from adaptation in the medial fusiform, collateral sulcus, parahippocampal gyri, lingual gyri, lateral occipital complex, and occipito-parietal cortex. These results suggest that the processing and representation of objects in the brain and our ability to perform fine discriminations between objects reflect real-world object similarity in a relatively parametric manner.

A novel metric for 6D pose estimation

Abstract Current state-of-the-art evaluation methods for 6D pose estimation have several significant drawbacks. Existing error metrics can produce near-zero errors for poor pose estimations and are heavily dependent on the object point cloud used, resulting in vastly different outcomes for different objects. Furthermore, false detections are not considered at all. Evaluating pose estimators is crucial as it directly impacts the reliability and effectiveness of applications in robotics, augmented reality, and object manipulation tasks. Accurate evaluation ensures that pose estimators can be trusted to perform well in real-world scenarios, leading to better system performance and user satisfaction. In this paper, we conduct experiments to provide insights into how these metrics behave under isolated errors. We also introduce a novel evaluation approach with a metric independent of point clouds, making it applicable to a broader range of use cases than current metrics.

Variations in Neuromuscular Functions After Platelet-Rich Plasma and Dextrose Injections in Chronic Lateral Epicondylitis: A Randomized Controlled Study.

Lateral epicondylitis is caused by overuse and manifests as pain, weakness, and difficulty with object manipulation. Platelet-rich plasma (PRP) and dextrose injections have shown promise in reducing pain and improving function. PRP is more effective for force precision control of the extensor carpi radialis brevis (ECRB) muscle than dextrose injection for patients with chronic lateral epicondylitis (CLE). Randomized, double-blinded clinical trial. Level 1. A total of 62 participants (25 healthy subjects and 37 CLE patients) were assigned randomly to either PRP (19) or dextrose (18) groups. Assessments included maximal voluntary contraction (MVC), wrist extension force, questionnaires, sonography, and electromyography assessments. PRP and dextrose had similar effects on clinical questionnaire scores. Compared with pre-test values, only PRP demonstrated a significant increase in MVC (PRP, 75.3 ± 107.7%; P < 0.01; dextrose, 34.0 ± 66.1%; P = 0.08), and greater reduction in force fluctuations (PRP, -27.4 ± 13.3%; P < 0.01; dextrose, -5.4 ± 33.2%; P = 0.22) during post-test wrist extension. After treatment, the PRP group experienced a roughly 41.7% increase in motor units (MUs) with recruitment thresholds (Rec_TH) (pre-test, 3.67 ± 6.15% MVC; post-test, 5.20 ± 8.02% MVC; P < 0.01). The dextrose group showed no significant change (-3.74%) in MU Rec_THs (pre-test, 3.48 ± 6.80% MVC; post-test, 3.35 ± 6.62% MVC; P = 0.75). PRP increased the MU discharge rate with Rec_THs at <30% MVC, whereas dextrose administration elevated MU discharge rate with Rec_THs >20% MVC. PRP may be more effective than dextrose in improving neuromuscular control of the ECRB muscle, particularly for enhancing the scaling of force during wrist extension, attributed to distinct MU activation strategies. Detailed comparison and head-to-head analysis of PRP and dextrose injections offers more options for patients considering injections.

Coordinated manipulation and robust adaptive object handling by multiple manipulators, relying on the q-Szasz–Schurer operators as uncertainty approximator

Coordinated manipulation and robust adaptive object handling by multiple manipulators, relying on the q-Szasz–Schurer operators as uncertainty approximator

Exploring imitation of within hand prehensile object manipulation using fMRI and graph theory analysis

This study aims to establish an imitation task of multi-finger haptics in the context of regular grasping and regrasping processes during activities of daily living. A video guided the 26 healthy, right-handed volunteers through the three phases of the task: (1) fixation of a hand holding a cuboid, (2) observation of the sensori-motor manipulation, (3) imitation of that motor action. fMRI recorded the task; graph analysis of the acquisitions revealed the associated functional cerebral connectivity patterns. Inferred from four 60 ROI weighted graphs, the functional connectivities are consistent with a motor plan for observation and manipulation in the left hemisphere and with a network in the right hemisphere involving the inferior frontal gyrus, the site of intentional control of imitation. The networks exhibit (1) rich clubs which include sensori-motor hand, dorsal attention and cingulo-opercular communities for observation and motor execution in both hemispheres and (2) diversity clubs, significant only for manipulation and observation of the left hand, which include the dorsal visual association cortex, suggesting enhanced visual perception required for guiding the movement-limited left fingers. Short pathway analyses are consistent with these findings, confirming preferential involvement of ventral premotor cortices in the mirror network.

Depth-sensor-based shared control assistance for mobility and object manipulation: toward long-term home-use of BCI-controlled assistive robotic devices.

&#xD;&#xD;Objective. Assistive robots can be developed to restore or provide more autonomy for individuals with motor impairments. In particular, power wheelchairs can compensate lower-limb impairments, while robotic manipulators can compensate upper-limbs impairments. &#xD;Recent studies have shown that Brain-Computer Interfaces (BCI) can be used to operate this type of devices.&#xD;However, activities of daily living and long-term use in real-life contexts such as home require robustness and adaptability to complex, changing and cluttered environments which can be problematic given the neural signals that do not always allow a safe and efficient use. Approach. This article describes assist-as-needed sensor-based shared control methods relying on the blending of BCI and depth-sensor-based control.&#xD;The proposed assistance targets the BCI-teleoperation of effectors for tasks that answer mobility and manipulation needs in a at-home context. Main Results. The assistance provided by the proposed methods was evaluated through a wheelchair mobility and reach-and-grasp laboratory-based experiments in a controlled environment, as part of a clinical trial with a quadriplegic patient implanted with a wireless 64-channel ElectroCorticoGram (ECoG) recording implant named WIMAGINE.&#xD;Results showed that the proposed methods can assist BCI users in both tasks.&#xD;Indeed, the time to perform the tasks and the number of changes of mental tasks were reduced. Moreover, unwanted actions, such as wheelchair collisions with the environment, and gripper opening that could result in the fall of the object were avoided. &#xD;Significance. The proposed methods are steps toward at-home use of BCI-teleoperated assistive robots. Indeed, the proposed shared control methods improved the performance of the two assistive devices. Clinical trial, registration number: NCT02550522.

Reinforcement Learning in Real Life Applications

Reinforcement Learning is a crucial subset of machine learning that enables agents to learn decision-making through interaction with their environments, guided by feedback like rewards or penalties. This paper delves into Reinforcement Learning's applications across diverse sectors such as robotics, finance, healthcare, and gaming. In robotics, Reinforcement Learning facilitates tasks like object manipulation and environmental adaptation. In finance, it aids in portfolio management and trading strategy development, adapting to market dynamics. In healthcare, Reinforcement Learning assists in generating personalized treatment plans and analyzing medical images. Meanwhile, the gaming industry benefits from Reinforcement Learning -driven intelligent agents capable of challenging human players. Throughout, we explore Reinforcement Learning's fundamental principles, core components, and its transformative potential across these real-world applications. Keywords—Reinforcement Learning, Decision-Making, Adaptive Agents.

The ECOLANG Multimodal Corpus of adult-child and adult-adult Language

Communication comprises a wealth of multimodal signals (e.g., gestures, eye gaze, intonation) in addition to speech and there is a growing interest in the study of multimodal language by psychologists, linguists, neuroscientists and computer scientists. The ECOLANG corpus provides audiovisual recordings and ELAN annotations of multimodal behaviours (speech transcription, gesture, object manipulation, and eye gaze) by British and American English-speaking adults engaged in semi-naturalistic conversation with their child (N = 38, children 3-4 years old, face-blurred) or a familiar adult (N = 31). Speakers were asked to talk about objects to their interlocutors. We further manipulated whether the objects were familiar or novel to the interlocutor and whether the objects could be seen and manipulated (present or absent) during the conversation. These conditions reflect common interaction scenarios in real-world communication. Thus, ECOLANG provides ecologically-valid data about the distribution and co-occurrence of multimodal signals across these conditions for cognitive scientists and neuroscientists interested in addressing questions concerning real-world language acquisition, production and comprehension, and for computer scientists to develop multimodal language models and more human-like artificial agents.

Technologies for enhancing tactile perception in prosthetic devices

Tactile perception is a vital sensory function, and its role has been widely researched in the development of sensor technologies. The role of tactile feedback in augmenting the functional attributes of prosthetic devices is well-documented, as it facilitates a more seamless and natural engagement between the user and the surrounding environment. This paper explores advancements in tactile sensor technologies used to enhance sensory feedback in prosthetics, focusing on piezoresistive, piezoelectric, and capacitive sensors. The integration of these sensors allows for precise control, improving object manipulation and overall user experience. By reviewing recent innovations such as multimodal sensors, artificial skin technologies, and nerve interfacing systems, this research highlights how these advancements have contributed to enhanced motor control and real-time feedback mechanisms in prosthetics. Despite significant progress, challenges such as high costs and limited accessibility remain. However, potentially leading to the widespread adoption of more effective and equitable prosthetic solutions.

Reprogrammable Flexible Piezoelectric Actuator Arrays with a High Degree of Freedom for Shape Morphing and Locomotion.

The high degree of freedom (DoF) shape morphing widely exists in biology for mimicry, camouflage, and locomotion. Currently, a lot of bionic soft/flexible actuators and robots with shape-morphing functions have been developed to realize conformity, grasp, and movement. Among these solutions, two-dimensional responsive materials and structures that can shape morph into different three-dimensional configurations are valuable for creating reversible high DoF shape morphing. However, most existing methods are predetermined through the fabrication process and cannot reprogram their shape, facing limitations on multifunction. Besides, the achievable geometries are very limited due to the device's low integrated level of actuator elements. Here, we develop a polyvinylidene fluoride flexible piezoelectric actuator array based on a row/column addressing (RCA) scheme for reprogrammable high DoF shape morphing and locomotion. The specially designed row/column electrodes form a 6 × 6 array, which contains 36 actuator elements. By developing a high-voltage RCA control system, we can individually control all the elements in the array, leading to a highly reprogrammable array with various sophisticated high DoF shape morphing. We also demonstrate that the array is capable of propelling a robotic fish with various locomotions. This research provides a new method and approach for biomimetic robotics with better mimicry, aero/hydrodynamic efficiency, and maneuverability, as well as haptic display and object manipulation.

The disencapsulated mind: A premotor theory of human imagination.

Our premodern ancestors had perceptual, motoric, and cognitive functional domains that were modularly encapsulated. Some of these came to interact through a new type of cross-modular binding in our species. This allowed previously domain-dedicated, encapsulated motoric and sensory operators to operate on operands for which they had not evolved. Such operators could at times operate nonvolitionally, while at other times they could be governed volitionally. In particular, motoric operations that derive from the same circuits that compute hand motions for object manipulation could now be retooled for virtual manipulation in a mental workspace in the absence of any physical hand or other effector movements. I hypothesize that the creativity of human imagination and mental models is rooted in premotor simulation of sequential manipulations of objects and symbols in the mental workspace, in analogy with the premotor theory of attention, which argues that attention evolved from "internalized" eye movement circuitry. Overall, operator "disencapsulation" led to a bifurcation of consciousness in humans: a concrete form centered on perception of the body in the physical world and an abstract form focused on explanatory mental models. One of the consequences of these new abilities was the advent of psychotic disorders that do not exist in species possessed solely of the concrete type of consciousness. (PsycInfo Database Record (c) 2025 APA, all rights reserved).

Photopyroelectric tweezers for versatile manipulation.

Optical tweezers and related techniques offer extraordinary opportunities for research and applications in physical, biological, and medical fields. However, certain critical requirements, such as high-intensity laser beams, sophisticated electrode designs, additional electric sources, or low-conductive media, significantly impede their flexibility and adaptability, thus hindering their practical applications. Here, we report innovative photopyroelectric tweezers (PPT) that combine the advantages of light and electric field by utilizing a rationally designed photopyroelectric substrate with efficient and durable photo-induced surface charge-generation capability, enabling diverse manipulation in various working scenarios. These PPTs allow for remote and programmable manipulation of objects with diverse materials (polymer, inorganic, and metal), different phases (bubble, liquid, and solid), and various geometries (sphere, cuboid, and wire). Furthermore, the PPT is not only adaptable to high-conductivity media but also applicable to both portable macroscopic manipulation platforms and microscopic manipulation systems, enabling cross-scale manipulations for solid objects, liquid droplets, and biological samples. The high-level flexibility and adaptability of the PPT extend to broad applications in manipulating hydrogel robots, sorting particles, assembling cells, and stimulating cells. By surpassing the limitations of conventional tweezers, the PPT bridges the gap between macroscopic and microscopic manipulations, offering a revolutionary tool in robotics, colloidal science, biomedical fields, and beyond.

Thermally responsive spatially programmable soft actuators with multiple response states enabled by Grayscale UV light processing.

Soft actuators hold great promise for applications in biomimetic robots, artificial muscles, and drug delivery systems due to their adaptability in diverse environments. A critical aspect of designing thermally responsive soft actuators is to achieve spatially programmable actuation under a global thermal stimulus. Different local actuation behaviors can be encoded in one actuator to enable complex morphing structures for different tasks. However, it is challenging to achieve programmability beyond one or binary states. This work introduces a new grayscale ultraviolet (UV) light processing method to fabricate soft actuators with spatially tunable Young's modulus, enabling multiple programmable states in one actuator. Together with a liquid crystal elastomer actuation layer and a photothermal heating layer, the LCE programming layer with spatially programmable moduli allows different regions of the soft actuator to bend to controllable extents under a global thermal stimulus. Various shape morphing patterns can be encoded using UV photomasks with spatially controlled grayscales. Additionally, caterpillar-inspired robots capable of bi-directional crawling and octopus-arm-inspired structures for object manipulation are demonstrated. This work represents advancements in the programmability of thermally responsive soft actuators, laying the foundation for their applications in advanced soft robotic systems.

3D-printed acoustic metasurface with encapsulated micro-air-bubbles for frequency-selective manipulation.

Acoustic waves provide an effective method for object manipulation in microfluidics, often requiring high-frequency ultrasound in the megahertz range when directly handling microsized objects, which can be costly. Micro-air-bubbles in water offer a solution toward low-cost technologies using low-frequency acoustic waves. Owing to their high compressibility and low elastic modulus, these bubbles can exhibit significant expansion and contraction in response to even kilohertz acoustic waves, leading to resonances with frequencies determined and tuned by air-bubble size. The resonances amplify vibrational amplitude and generate localized turbulence, enabling selective, non-invasive, and high-precision manipulation of microsized objects. However, conventional bubble formation relies on the shear force of the liquid flow and bubble surface tension, facing challenges of instability and random vibration that can impair manipulation precision and performance. To address these issues, we propose a coupled vibration structure with 3D-printed circular microsized air holes encapsulated by a PDMS film. These airholes act as artificial micro-air-bubbles, with their expansion and contraction stabilized by acoustic hard boundaries. The PDMS film further regulates vibration modes through the interaction between air movement and the film's vibration, eliminating randomness. Compared to conventional air-bubbles held by surface tension, these artificial air-bubbles are mechanically stable, allowing for enhanced gas volume changes and stronger forces for object manipulation. We experimentally confirm the stable vibration modes and their frequency-dependent behavior using laser Doppler vibrometry. Precise aggregation, rotation, and separation of micro-objects are demonstrated by adjusting the film's vibration mode. Furthermore, we propose a metasurface design featuring a multi-size microbubble array for frequency-selective manipulation, enabling flexible control of sample trajectory by changing the exciting frequency of an embedded piezoelectric transducer. Our low-frequency acoustic metasurface device offers a versatile, cost-effective solution for drug screening and automated sample handling.

A virtual object manipulation method based on eye-gaze selection and head-eye coordination movement

A virtual object manipulation method based on eye-gaze selection and head-eye coordination movement

Kinematic hand synergies differ between reach-and-grasp and functional object manipulation.

Humans possess a unique ability to manipulate tools to help us navigate the world around us. This ability is facilitated by the dexterity of our hands. However, millions lose this capability annually due to conditions like limb amputation or cerebral vascular accident (i.e., stroke). This great loss of human hand function has led to increased study of human hand action. Although previous research focused on coordinated hand motion, known as synergies, during reaching and grasping, manipulation of complex objects remains understudied. Specifically, we aimed to test two hypotheses: 1) the number of synergies underlying manipulation is the same as those underlying reach-and-grasp, and 2) the identity of synergies underlying manipulation is different from those underlying reach-and-grasp. To do so, we measured human hand motion during two experiments: 1) during reach and grasp of a tool or object commonly used in wire harness installation and 2) during manipulation of those objects and tools to install a wire harness on a mock electrical cabinet. Results showed that manipulation generally required more synergies than grasp. Comparison between reach-and-grasp and manipulation revealed a decrease in synergy similarity with synergy-order. Considering that higher-order synergies become significant during manipulation, it is important that we investigate these differences; this study serves as a point of entry to doing so. If we want our prosthetic and rehabilitative devices to restore hand function to those who have lost it, we must study hand function, specifically manipulation, and not just grasping.NEW & NOTEWORTHY This study uncovers new insights into kinematic synergies during functional human hand manipulation of objects and tools, through the study of wire harness installation. It emphasizes the nuanced distinctions between functional hand manipulation and simple grasping, revealing that manipulation tasks require a greater number and distinct subset of hand synergies compared with simple grasp actions. This research marks a significant step toward appreciating the intricacies of hand coordination in complex tasks beyond grasping.

Efficacy of Virtual Reality Games in Enhancing Motor Coordination in Children with Dyspraxia: A Randomized Controlled Trial

Background: Children with dyspraxia often face challenges in motor coordination, significantly affecting their functional independence and quality of life. Virtual reality (VR)-based interventions have shown promise in improving motor skills through engaging, interactive environments. Objective: This study aimed to evaluate the effectiveness of VR-based interventions in improving motor coordination, balance, fine motor skills, and quality of life in children with dyspraxia compared to conventional therapy. Methods: A randomized controlled trial was conducted with 60 children aged 6–12 years diagnosed with dyspraxia, randomized into intervention (VR-based therapy) and control (standard physiotherapy) groups (n=30 per group). The intervention group participated in VR sessions three times a week for 12 weeks, focusing on motor tasks such as object manipulation and balance. Motor coordination was assessed using the Movement Assessment Battery for Children (MABC), with secondary outcomes including balance, fine motor skills, and quality of life. Data were analyzed using SPSS version 25 with repeated-measures ANOVA. Results: The intervention group showed a significant improvement in MABC scores (mean change: 7.3 ± 3.1) compared to the control group (mean change: 1.8 ± 3.4; p&lt;0.001p&lt;0.001). Balance improved by 12.9% (p&lt;0.001p&lt;0.001), fine motor skills by 9.7% (p&lt;0.001p&lt;0.001), and quality of life by 11.8% (p&lt;0.001p&lt;0.001). Conclusion: VR-based interventions significantly enhanced motor coordination and related outcomes in children with dyspraxia, demonstrating their potential as an effective rehabilitation tool.

Surgical Reconstruction of Unstable, Hypoplastic Fingertips With Allograft and BMP-2 Augmentation: Surgical Technique and Case Series

Objective: Unstable hypoplastic digits can lead to poor function due to instability with pinch and manipulation of objects. The primary goals of surgical reconstruction in these patients are to create 2 stable digits for pinch and improve finger opposition, pinch strength, and digit mobility. In this paper, we present a surgical technique and case series of pediatric patients who underwent surgical reconstruction of unstable/telescoping hypoplastic fingertips using bony allograft augmented with BMP-2. Materials and Methods: A surgical technique for reconstruction of unstable, hypoplastic fingertips was performed using a bony allograft augmented with BMP-2. The series included pediatric patients with hypoplastic digits with instability affecting grip-pinch strength and hand prehension. Results: Ten patients between the ages of 2 and 4 years were included, with 8 thumbs and 2 index fingers being reconstructed. All 10 patients developed clinically stable digits with parent-reported improvements in pinch-grip function including using a switch, opening a bag, and putting on clothes. Postoperative radiographic outcomes did not show any cases of bony overgrowth; 2 patients had evidence of bony resorption though this did not correspond to a significant change in finger length postoperatively. Conclusion: Hypoplastic fingertip reconstruction using bony allograft augmented with BMP-2 is a surgical option for the stabilization of unstable hypoplastic fingertips in congenital hand anomalies. The use of allograft augmented with BMP-2 eliminates donor site morbidity seen with autograft reconstructive options and may limit the concerns with healing/incorporation traditionally reported with allograft use in the literature.

Enhancing the rocker-bogie Mechanism with automation: A study on sensor integration and Mechanical arm functionality

The rocker-bogie mechanism is a well-known design in robotic mobility, particularly effective for rovers traversing rugged terrains. This research improves upon the traditional rocker-bogie system by integrating ultrasonic sensors, a GPS module, and a mechanical arm to enhance autonomy and versatility. The system is controlled by an Arduino Uno and powered by six 12V DC motors using an L298 2A motor circuit board, ensuring precise and reliable movement in challenging environments. Ultrasonic sensors provide effective obstacle detection by triggering a turn when objects are within 50 cm. This is a simpler alternative to complex AI-based path planning. Additionally, the integration of GPS enhances navigation capabilities. The mechanical arm allows for interaction with the environment, enabling tasks such as object manipulation and repairs. The project aims to enhance autonomous navigation and improve sensor-based obstacle avoidance, motivated by Experimental methods including testing the rover’s obstacle detection capabilities using ultrasonic sensors in controlled environments with varying obstacle distances. The rover’s navigation was evaluated across different terrains, including flat surfaces and uneven terrains to assess their mobility and stability. Optionally, GPS accuracy was tested by guiding the rover to predefined waypoints, while power efficiency was monitored during continuous operation to measure battery life and overall system performance. Results showed that. This work improves robotic autonomy in harsh conditions and uses mechanical parts to reduce the margin of error in fields such as agriculture, disaster response robots, Autonomous Mining Vehicles, Pipeline and Infrastructure Inspection, Volcanoes, Deep Caves, and Extreme Terrains.