Perceptual Robotics: Toward a Language for the Integration of Sensation and Perception in a Dextrous Robot Hand

  • Thea Iberall
  • Damian Lyons
Part of the Management and Information Systems book series (MIS)


Controllers of industrial robot arms basically use positional information, generally programmed in a language which has no concept of an object other than as occupying a fixed position. They require a well-structured work environment before they can operate effectively. Three features characterize these robots: few degrees of freedom (DOF), little use of dynamic sensory information, and limited control architectures. Sensors to measure other physical features, and world-modeling robot systems, which present the user with a looser tie between object and position, are under active development.(1,5,17,23) However, we maintain that lack of sufficient sensory information is not the only problem, there is also the interfacing of sensory information to motor behavior.


Obstacle Avoidance Tactile Sensor Human Hand Precision Grip Power Grip 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    A. P. Ambler, I. M. Bellos, and R. J. Popplestone, An interpreter for a language for describing assemblies, Artif. Intell 14, 79–107 (1980).CrossRefGoogle Scholar
  2. 2.
    M. A. Arbib, Perceptual structures and distributed motor control, in Handbook of Physiology—The Nervous System, II. Motor Control, ( V. B. Books, ed.) American Physiological Society, Bethesda, Maryland, 1981, pp. 1449–1480.Google Scholar
  3. M. A. Arbib, T. Ibe.Rall, and D. Lyons, Coordinated control programs for movements of the hand, in Hand Function and the Neocortex,(A. W. Goodwin and I. Darin-Smith, eds.), Springer Verlag, 1985, pp. 111–129. Coins Technical Report 83–25,Department of Computer and Information Sciences, University of Massachusetts, Amherst, Massachusetts, (1983).Google Scholar
  4. 4.
    M. A. Arbib, K. J. Overton, and D. T. Lawton, Perceptual systems for robots, Interdiscip. Sci. Rev 9 (1), 31–46 (1984).CrossRefGoogle Scholar
  5. 5.
    S. Bege,I, An optical tactile array sensor, Coins Technical Report 84–26, Department of Computer and Information Sciences, University of Massachusetts, Amherst, Massachusetts (1984). Proceedings of the Spie Conference on Intelligent Robots and Computer Vision, Cambridge, Massachusetts, November, 1984.Google Scholar
  6. 6.
    R. S. Fearing, Exploration of the dextrous hand control problem, General Electric Technical Report 82Crd337, December, 1982.Google Scholar
  7. 7.
    J. J. Gibson, The Senses Considered as Perceptual Systems, Houghton-Mifflin, Boston, 1966.Google Scholar
  8. 8.
    A. R. Hanson and E. M. RtsE:Man, Visions: A computer system for interpreting scenes, in Compter Vision Systems, ( A. R. Hanson and E. M. Riseman, eds.), Academic, New York, 1978, pp. 303–333.Google Scholar
  9. 9.
    J. M. Holle.Rbach, An oscillation theory of handwriting, Biol. Cybern 39, 139–156 (1981).Google Scholar
  10. 10.
    D. H. Hubel and T. N. Wiesel, Sequence regularity and geometry of orientation columns in the monkey striate cortex,/ Comp. Neurol. 158, 267–294 (1974).CrossRefGoogle Scholar
  11. 11.
    M. Jeannerod, The timing of natural prehension movements,/ Motor Behay 16(3), 235254 (1984).Google Scholar
  12. 12.
    M. Jeannerod and B. Biguer, Visuomotor mechanisms in reaching within extrapersonal space, in Advances in the Analysis of Visual Behavior, ( D.J. Ingle, M.A. Goodale, and R.J.W. Mansfield, eds.), Mit Press, Cambridge, Massachusetts, 1982, pp. 387–409.Google Scholar
  13. 13.
    M. JE:Annerod, F. Michel, and C. Prabi.Anc, The control of hand movements in a case of hemianaesthesia following a parietal lesion, Brain, 107, 899–920 (1984).CrossRefGoogle Scholar
  14. 14.
    E. R. Kandei., Central representation of touch, in Principles of Neural Science, ( E.R. Kan-del and J.H. Schwartz, eds.), Elsevier/North-Holland, New York, 1981, pp. 184–198.Google Scholar
  15. 15.
    I. A. Kapandii, The Physiology of the Joints. Vol 1, Upper Limb, 5th Edition, Churchill Liningstone, Edinburgh, 1982.Google Scholar
  16. 16.
    D. Lee:, Visuo-motor coordination in space-time, in Tutorials in Motor Behavior, ( G. Stelmach and J. Requin, eds.), North-Holland, Amsterdam, 1980.Google Scholar
  17. 17.
    L. I. Liebermann and M. A. Wesley, Autopass: An automatic programming system for computer controlled mechanical assembly, Ibmj. Res. Dev 21(4) (1977).Google Scholar
  18. 18.
    D. Lyons and M. A. Arbib, A schema-based system for hand movement, Coins Technical Report,Department of Computer and Information Science, University of Massachusetts, Amherst, Massachusetts, (in preparation).Google Scholar
  19. 19.
    D. I. Mccloskey and S. C. Gandevia, Role of inputs from skin, joints and muscles and of corollary discharges, in human discriminatory tasks, in Active Touch, ( G. Gordon, ed.), Pergamon, Oxford, 1978, pp. 177–187.Google Scholar
  20. 20.
    J. Napier, The prehensile movements of the human hand, J. Bone and Joint Surgery, 38B(4), 902–913 (1956).Google Scholar
  21. 21.
    U. NE:Isse.R, Cognition and Reality: Principles and Implications of Cognitive Psychology, Freeman, San Francisco, 1976.Google Scholar
  22. 22.
    T. A. Noyes, G. Pocock, and J. Franklin, Design of a Forth-based robot control language, Proceedings of 1983 Rochester Forth Applications Conference,June 1983, pp. 133140.Google Scholar
  23. 23.
    K. Overton, The acquisition, processing, and use of tactile sensor data in robot control, Ph.D. dissertation, Department of Computer and Information Science, University of Massachusetts, Amherst, Massachusetts (1984).Google Scholar
  24. 24.
    J. K. Salisbury, Kinematic and force analysis of articulated hands, Ph.D. dissertation, Department of Computer Science, Stanford University, Stanford, California 1982.Google Scholar
  25. 25.
    G. M. Shepherd, Neurobiology, Oxford, New York, 1983.Google Scholar
  26. 26.
    R. Tubiana, Architecture and functions of the hand, in The Hand, (R. Tubiana, ed.), Vol. 1, W.B. Saunders, Philadelphia, 1981, pp. 19–93.Google Scholar

Copyright information

© Springer Science+Business Media New York 1985

Authors and Affiliations

  • Thea Iberall
    • 1
  • Damian Lyons
    • 1
  1. 1.Laboratory for Perceptual Robotics, Department of Computer ScienceUniversity of MassachusettsAmherstUSA

Personalised recommendations