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Visually guided planning is fundamental for manual actions on objects. Multi-step planning-when only the requirements for the initial action are directly visible in the scene-necessitates initial visual guidance to optimize the subsequent actions. We found that 3- to 5-year-old children (n = 23) who exhibited visually guided, multi-step planning in a structured tool-use task (hammering down a peg) also demonstrated visually guided planning during unstructured free play while interlocking Duplo bricks and Squigz pieces. Children who exhibited visually guided planning in the hammering task also spent more time looking at the to-be-grasped free-play object and at their construction during reach and transport compared with children who did not demonstrate multi-step planning in the hammering task. Moreover, visually guided planning in the Duplo and Squigz tasks was positively correlated, indicating that planning generalizes across contexts. Findings show that visually guided planning in young children generalizes across different manual actions on objects, including structured tool use and unstructured free play., (Copyright © 2024 The Author(s). Published by Elsevier Inc. All rights reserved.)

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., Competing Interests: The authors declare no competing interests., (© 2024 The Author(s).)

Recognizing user intention in reach-to-grasp motions is a critical challenge in rehabilitation engineering. To address this, a Machine Learning (ML) algorithm based on the Extreme Learning Machine (ELM) was developed for identifying motor actions using surface Electromyography (sEMG) during continuous reach-to-grasp movements, involving multiple Degrees of Freedom (DoFs). This study explores feature extraction methods based on time domain and autoregressive models to evaluate ELM performance under different conditions. The experimental setup encompassed variations in neuron size, time windows, validation with each muscle, increase in the number of features, comparison with five conventional ML-based classifiers, inter-subjects variability, and temporal dynamic response. To evaluate the efficacy of the proposed ELM-based method, an openly available sEMG dataset containing data from 12 participants was used. Results highlight the method's performance, achieving Accuracy above 85%, F-score above 90%, Recall above 85%, Area Under the Curve of approximately 84% and compilation times (computational cost) of less than 1 ms. These metrics significantly outperform standard methods (p < 0.05). Additionally, specific trends were found in increasing and decreasing performance in identifying specific tasks, as well as variations in the continuous transitions in the temporal dynamics response. Thus, the ELM-based method effectively identifies continuous reach-to-grasp motions through myoelectric data. These findings hold promise for practical applications. The method's success prompts future research into implementing it for more reliable and effective Human-Machine Interface (HMI) control. This can revolutionize real-time upper limb rehabilitation, enabling natural and complex Activities of Daily Living (ADLs) like object manipulation. The robust results encourages further research and innovative solutions to improve people's quality of life through more effective interventions., Competing Interests: Declarations. Competing Interests: The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper. Ethical approval: Not applicable. Consent to participate: Not applicable. Consent to publication: The authors declare that they consent to publication, (© 2024. Australasian College of Physical Scientists and Engineers in Medicine.)

Predictive control within dexterous object manipulation while allowing for the choice of contact points has been shown to employ a predominantly feedback-based force modulation. The anticipation is thought to be facilitated through the internal representation of the object dynamics being integrated and updated on a trial-to-trial basis with the feedback of contact locations on the object. This is as opposed to the classically studied memory representation-based fingertip force control for grasping with pre-selected contact locations. We designed a study to examine this grasp context-dependent asymmetry in sensorimotor integration by introducing binary uncertainty about the grasp type before movement initiation within the framework of motor planning. An inverted T-shaped instrumented object was presented to 24 participants as the manipulandum, and they were asked to reach, grasp, and lift it while minimising the peak roll. We dissociated the planning and the execution phases by pseudo-randomly manipulating the availability of visual contact cues on the object after movement onset. We analysed both derived as well as direct kinetic and kinematic measures of the grasp during the loading phase to understand the anticipatory coordination. Our findings suggest that uncertainty about the grasp context during movement preparation resulted in a shift towards feedback-based mechanisms for grasp force modulation despite the persistence of visual cues., Competing Interests: Declaration of competing interest The authors declare no conflict of interest., (Copyright © 2024 Elsevier Ltd. All rights reserved.)

Background: After standard care, 55%-75% of patients after stroke show a persistent paresis of the upper limb (UL). Assistive devices are developed to increase the patients' level of independence in daily life., Objectives: To investigate the potential of Functional Electrical Stimulation (FES) to assist object manipulation in activities of daily life., Design: Seventeen patients after stroke were tested and analyzed in a randomized cross-over design., Methods: Functional grasping was assessed by means of the Action Research Arm Test (ARAT) and the modified Box and Block Test (mBBT), in one session with and another without FES assistance. The order of sessions was randomized. Patients' motivation was assessed after each session. Task performance and motivation were compared between conditions using the Wilcoxon test and subgroup analyses were performed for impairment severity by distribution-based mixed-factor analyses., Results: When analyzing the total ARAT, FES did not effectively assist the overall performance ( P = .142), but did assist the performance of objects of the Grasp category ( P = .020). Impairment severity showed an interaction with the orthotic effect ( P = .012), as severely impaired patients profited from FES assistance and mild-moderately impaired did not. When focusing on the more functional items of the ARAT (i.e., excluding scores from thumb-middle and thumb-ring finger combinations), there was a significant orthotic effect of FES on task performance ( P = .023). Further, there was an orthotic effect for the number of transported blocks in the mBBT ( P = .033), exclusively prominent in the group of severely impaired patients. Functional Electrical Stimulation did not increase the patients' motivation ( P = .959), which was high after both conditions., Conclusion: Functional Electrical Stimulation has the potential to support object manipulation, but is dependent on impairment severity and object type. To observe a consistent orthotic effect, features of the stimulator should be further developed to generate appropriate grasps and forces across subjects and objects., Trial Registration: The trial was registered with the German Clinical Trials Register (DRKS00025889)., Competing Interests: The author(s) declared no potential conflicts of interest with respect to the research, authorship, and/or publication of this article., (© The Author(s) 2024.)

Objective: This study aimed to characterize grasping behavior in static (weight-dependent modulation and stability of control) and dynamic (predictive control) aspects specifically focusing on the relative contribution of sensory and motor deficits to grip force control in patients with chronic stroke., Methods: Twenty-four chronic stroke patients performed three manipulative tasks: five trials of 5-s grasp-lift-holding, 30-s static holding, and vertical dynamic/cyclic oscillation of holding the object., Results: Exerted static grip force on the paretic side exhibited statistically greater than that on the non-paretic side. Spearman's rank correlation coefficient revealed that the contribution to static grip force control was larger in sensory deficits than in motor deficits. In addition, the sensory deficit is related to the reduced coupling between grip force and load force, suggesting difficulty in predictive control due to the absence of sensory feedback., Conclusions: Given that grip force control involves predictive feedforward and online feedback control, the evaluation of grip force might be an important and feasible evaluation manner for the assessment of sensorimotor control in patients post-stroke., Significance: Detailed evaluation of grip force control would help to understand the mechanisms underlying hand dysfunction in stroke patients., (Copyright © 2024 International Federation of Clinical Neurophysiology. Published by Elsevier B.V. All rights reserved.)

Grasping and twisting motions are vital when manipulating objects due to their fundamental role in enabling precision, adaptability, and effective interaction. However, few studies in soft robotics exploiting artificial muscles have achieved object manipulation in situ through the coordination of twisting and grasping motions akin to our forearm and hand's capabilities. Especially, when using the same artificial muscle module to achieve these two motions will greatly simplify the manufacturing and control complexity. Here, we introduce identical origami artificial muscle modules (OAMMs) subjected to distinct end constraints into the design of the robotic manipulator, allowing it to achieve independent grasping and twisting motions to achieve effective, precise object manipulation. Applying different end constraints to the identical OAMMs yields distinct motions at their ends, where utilizing a fixed end and a sliding end realizes pure translation, while opting for a fixed end and a rotating end enables pure rotation. The differentially constrained OAMMs then serve as soft actuators for the manipulator's torsional mechanism and grasping mechanism to accomplish independent, controllable twisting and grasping motions. The coordination of twisting and grasping motions finally enables the manipulator to complete various tasks, including installing a light bubble, pouring the water from a lidded bottle into a cup, and sorting and stacking puzzle blocks. Our study pioneers the utilization of OAMMs for precise and versatile object manipulation through the coordination of independent twisting and grasping motions.

Skilled motor performance depends critically on rapid corrective responses that act to preserve the goal of the movement in the face of perturbations. Although it is well established that the gain of corrective responses elicited while reaching toward objects adapts to different contexts, little is known about the adaptability of corrective responses supporting the manipulation of objects after they are grasped. Here, we investigated the adaptability of the corrective response elicited when an object being lifted is heavier than expected and fails to lift off when predicted. This response involves a monotonic increase in vertical load force triggered, within ∼90 ms, by the absence of expected sensory feedback signaling lift off and terminated when actual lift off occurs. Critically, because the actual weight of the object cannot be directly sensed at the moment the object fails to lift off, any adaptation of the corrective response would have to be based on memory from previous lifts. We show that when humans, including men and women, repeatedly lift an object that on occasional catch trials increases from a baseline weight to a fixed heavier weight, they scale the gain of the response (i.e., the rate of force increase) to the heavier weight within two to three catch trials. We also show that the gain of the response scales, on the first catch trial, with the baseline weight of the object. Thus, the gain of the lifting response can be adapted by both short- and long-term experience. Finally, we demonstrate that this adaptation preserves the efficacy of the response across contexts. SIGNIFICANCE STATEMENT Here, we present the first investigation of the adaptability of the corrective lifting response elicited when an object is heavier than expected and fails to lift off when predicted. A striking feature of the response, which is driven by a sensory prediction error arising from the absence of expected sensory feedback, is that the magnitude of the error is unknown. That is, the motor system only receives a categorical error indicating that the object is heavier than expected but not its actual weight. Although the error magnitude is not known at the moment the response is elicited, we show that the response can be scaled to predictions of error magnitude based on both recent and long-term memories., (Copyright © 2023 the authors.)

Effective handling of objects requires proper use of the hands. If the object handling is done while standing or walking, it also requires proper use of the feet. We asked how people position their feet to meet future and ongoing object-handling demands. In previous research on this topic, participants walked to a table and picked up an object for a single displacement from one place to another. These studies shed light on sensitivity to kinematics but, strictly speaking, may not have revealed anything about sensitivity to dynamics. In the present study, we asked participants to walk to a table to move an object back and forth over different distances and at different rates. Prior to walking to the table, participants had full knowledge of what the task would be. By using a rhythmic rather than discrete object placement task, we could analyze participants' sensitivity to dynamics as well as kinematics. Consistent with our expectation that participants would tune their foot separations to demands related to dynamics, we found that stance width was wider for long than for short object displacements and was more pronounced for high displacement rates than for low displacement rates. Also consistent with our expectations about planning, these effects were evident as soon as participants reached the table. Our results add to the limited research on coordinated action of the hands and feet in purposeful object manipulation., Competing Interests: Declaration of competing interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2023 The Authors. Published by Elsevier B.V. All rights reserved.)

In two previous papers, we calculated the dielectrophoresis (DEP) force and corresponding trajectories of high- and low-conductance 200-µm 2D spheres in a square 1 × 1-mm chamber with plane-versus-pointed, plane-versus-plane and pointed-versus-pointed electrode configurations by applying the law of maximum entropy production (LMEP) to the system. Here, we complete these considerations for configurations with four-pointed electrodes centered on the chamber edges. The four electrodes were operated in either object-shift mode (two adjacent electrodes opposite the other two adjacent electrodes), DEP mode (one electrode versus the other three electrodes), or field-cage mode (two electrodes on opposite edges versus the two electrodes on the other two opposite edges). As in previous work, we have assumed DC properties for the object and the external media for simplicity. Nevertheless, every possible polarization ratio of the two media can be modeled this way. The trajectories of the spherical centers and the corresponding DEP forces were calculated from the gradients of the system's total energy dissipation, described by numerically-derived conductance fields. In each of the three drive modes, very high attractive and repulsive forces were found in front of pointed electrodes for the high and low-conductance spheres, respectively. The conductance fields predict bifurcation points, watersheds, and trajectories with multiple endpoints. The high and low-conductance spheres usually follow similar trajectories, albeit with reversed orientations. In DEP drive mode, the four-point electrode chamber provides a similar area for DEP measurements as the classical plane-versus-pointed electrode chamber.

The evolution of behaviour can both influence, and be influenced by, morphology. Recent advances in methods and data availability have facilitated broad-scale investigations of physical form and behavioural function in many contexts, but the relationship between animal morphology and object manipulation-particularly objects used in construction-remains largely unknown. Here, we employ a new global database of nest materials used by 5924 species of birds together with phylogenetically informed random forest models to evaluate the link between beak shape and these nest-building materials. We find that beak morphology, together with species diet and access to materials, can predict nest-material use above chance and with high accuracy (68-97%). Much of this relationship, however, is driven by phylogenetic signal and sampling biases. We therefore conclude that while variation in nest material use is linked with that of beak shape across bird species, these correlations are modulated by the ecological context and evolutionary history of these species. This article is part of the theme issue 'The evolutionary ecology of nests: a cross-taxon approach'.

The effects of corticomuscular connectivity during object manipulation tasks with different haptic sensations have not been quantitatively investigated. Connectivity analyses enable the study of cortical effects and muscle responses during movements, revealing communication pathways between the brain and muscles. This study aims to examine the corticomuscular connectivity of three Electroencephalography (EEG) channels and five muscles during object manipulation tasks involving contact surfaces of Sandpaper, Suede, and Silk. The analyses included 12 healthy subjects performing tasks with their right hand. Power-Based Connectivity (PBC) and Mutual Information (MI) measures were utilized to evaluate significant differences in connectivity between contact surfaces, EEG channels, muscles, and frequency bands. The research yielded the following findings: Suede contact surface exhibited higher connectivity; Mu and Gamma frequency bands exerted greater influence; significant connectivity was observed between the three EEG channels ( C 3 , C z , C 4 ) and the Anterior Deltoid (AD) and Brachioradialis (B) muscles; and connectivity was primarily involved during active movement in the AD muscle compared to the resting state. These findings suggest potential implementation in motor rehabilitation for more complex movements using novel alternative training systems with high effectiveness., Competing Interests: Conflicts of InterestThe authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (© 2023 by the authors.)

We present a compression sensor based on a strain-sensitive carbon black-silicone composite cast on top of a printed circuit board with interdigitated electrodes. This results in a very sensitive and soft capacitive compression sensor not requiring a structured dielectric or compliant electrodes. We show how the optimal loading of carbon black to maximize the sensitivity depends on the type of carbon black and the stiffness of the silicone matrix. The optimal quantity of carbon black leads to a high sensitivity of 252% for an input force of 10 N (this corresponds to an input pressure of 17 kPa), without stiffening the silicone matrix or increasing the viscoelastic losses noticeably. The fabrication process of the sensors is much simpler than that of other soft capacitive sensors, and unlike carbon black-silicone resistive sensors, these capacitive sensors do not exhibit time-dependent impedance creep. They can be made thick without affecting their base capacitance or sensitivity, leading to compliant and conformable sensing interfaces suitable for a variety of applications, such as robotic tactile sensors.

Tools have coined human life, living conditions, and culture. Recognizing the cognitive architecture underlying tool use would allow us to comprehend its evolution, development, and physiological basis. However, the cognitive underpinnings of tool mastering remain little understood in spite of long-time research in neuroscientific, psychological, behavioral and technological fields. Moreover, the recent transition of tool use to the digital domain poses new challenges for explaining the underlying processes. In this interdisciplinary review, we propose three building blocks of tool mastering: (A) perceptual and motor abilities integrate to tool manipulation knowledge, (B) perceptual and cognitive abilities to functional tool knowledge, and (C) motor and cognitive abilities to means-end knowledge about tool use. This framework allows for integrating and structuring research findings and theoretical assumptions regarding the functional architecture of tool mastering via behavior in humans and non-human primates, brain networks, as well as computational and robotic models. An interdisciplinary perspective also helps to identify open questions and to inspire innovative research approaches. The framework can be applied to studies on the transition from classical to modern, non-mechanical tools and from analogue to digital user-tool interactions in virtual reality, which come with increased functional opacity and sensorimotor decoupling between tool user, tool, and target. By working towards an integrative theory on the cognitive architecture of the use of tools and technological assistants, this review aims at stimulating future interdisciplinary research avenues., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2023 Schubotz, Ebel, Elsner, Weiss and Wörgötter.)

Anticipatory force control underlying dexterous manipulation has historically been understood to rely on visual object properties and on sensorimotor memories associated with previous experiences with similar objects. However, it is becoming increasingly recognized that anticipatory force control also relies on how an object is grasped. Experiments that allow unconstrained grasp contact points when preventing tilting an object with an off-centered mass show trial-to-trial variations in digit position and subsequent scaling of lift forces, all before feedback of object properties becomes available. Here, we manipulated the availability of visual information before reach onset and after grasp contact (with no vision during the reach) to determine the contribution and timing of visual information processing to the scaling of fingertip forces during dexterous manipulation at flexible contact points. Results showed that anticipatory force control was similarly successful, quantified as an appropriate compensatory torque at lift onset that counters the external torque of an object with a left and right center of mass, irrespective of the timing and availability of visual information. However, the way in which anticipatory force control was achieved varied depending on the availability of visual information. Visual information following grasp contact was associated with greater use of an asymmetric thumb and index finger grasp configuration to generate a compensatory torque and digit position variability, together with faster fingertip force scaling and sensorimotor learning. This result supports the hypothesis that visual information at a critical and functionally relevant time point following grasp contact supports variable and swift digit-based force control for dexterous object manipulation. NEW & NOTEWORTHY Humans excel in dexterous object manipulation by precisely coordinating grasp points and fingertip forces, highlighted in scenarios requiring countering object torques in advance, e.g., lifting a teacup without spilling will demand a unique digit force pattern based on the grip configuration at lift onset. Here, we show that visual information following grasp contact, a critical and functionally relevant time point, supports digit position variability and swift anticipatory force control to achieve a dexterous motor goal.

Versatile surfaces demonstrating multiple interfacial functionalities are highly demanded as a surface typically serves various duties and faces multiple challenges in real practice. However, such versatile surfaces are rarely reported mainly due to the challenges in integrating multiple structural characteristics. Here, by mimicking lotus leaves, butterfly wing, and respiratory cilia, we develop a surface termed wire-on-pillar magneto-responsive superhydrophobic arrays (WP-MRSA), which possess interfacial properties of structural superhydrophobicity, anisotropicity, stimuli responsiveness, and flexibility. By combining soft lithography and self-alignment of iron-laden aerosols under a magnetic field, iron-laden wires are planted atop prefabricated pillar arrays, resulting in well-ordered, sparse, high-aspect-ratio, flexible, and superhydrophobic wires, which largely deflect in response to a magnetic field. This unique integration of structural properties and configurations enables various functionalities, such as on-demand control of droplet impact dynamics, real-time regulation of surface lateral adhesion force, fast removal and sorting of objects, and precise manipulation of droplets for selective reactions. Those functionalities benefit various applications especially droplet-based microfluidics and active self-cleaning surfaces.

Dexterous robotic manipulation tasks depend on estimating the state of in-hand objects, particularly their orientation. Although cameras have been traditionally used to estimate the object's pose, tactile sensors have recently been studied due to their robustness against occlusions. This paper explores tactile data's temporal information for estimating the orientation of grasped objects. The data from a compliant tactile sensor were collected using different time-window sample sizes and evaluated using neural networks with long short-term memory (LSTM) layers. Our results suggest that using a window of sensor readings improved angle estimation compared to previous works. The best window size of 40 samples achieved an average of 0.0375 for the mean absolute error (MAE) in radians, 0.0030 for the mean squared error (MSE), 0.9074 for the coefficient of determination (R2), and 0.9094 for the explained variance score (EXP), with no enhancement for larger window sizes. This work illustrates the benefits of temporal information for pose estimation and analyzes the performance behavior with varying window sizes, which can be a basis for future robotic tactile research. Moreover, it can complement underactuated designs and visual pose estimation methods.

The use of virtual reality (VR) in laboratory skill training is rapidly increasing. In such applications, users often need to explore a large virtual environment within a limited physical space while completing a series of hand-based tasks (e.g., object manipulation). However, the most widely used controller-based teleport methods may conflict with the users' hand operation and result in a higher cognitive load, negatively affecting their training experiences. To alleviate these limitations, we designed and implemented a locomotion method called ManiLoco to enable hands-free interaction and thus avoid conflicts and interruptions from other tasks. Users can teleport to a remote object's position by taking a step toward the object while looking at it. We evaluated ManiLoco and compared it with state-of-the-art Point & Teleport in a within-subject experiment with 16 participants. The results confirmed the viability of our foot- and head-based approach and better support concurrent object manipulation in VR training tasks. Furthermore, our locomotion method does not require any additional hardware. It solely relies on the VR head-mounted display (HMD) and our implementation of detecting the user's stepping activity, and it can be easily applied to any VR application as a plugin.

Self-handicapping behaviors evolved as honest signals that reliably reflect the quality of their performers. In playful activities, self-handicapping is described as intentionally and unnecessarily putting oneself into disadvantageous positions and situations. Self-handicapping during play may allow individuals to learn to cope with unexpected events by improving sensori-motor coordination, as well as function as a play solicitation signal. One such self-handicapping behavior involves moving about while deliberately covering one's eyes. We conducted a quantitative study of object-assisted eye-covering (OAEC) in a population of free-ranging Balinese macaques. After evaluating the frequency, form, distribution, and context of OAEC, we measured the responses this behavior elicited (1) in the performers with a focus on sensori-motor self-handicapping, and (2) in their conspecifics, with an emphasis on whether, and if so how, OAEC may facilitate social play. Our data provided some support for several hypotheses: OAEC is a sensori-motor self-handicapping behavior, an attention-getting cue, a social play signal, and a socially self-handicapping tactic during social play. We discuss our results from the perspective of tool-assisted self-handicapping behavior, propose a scenario to account for the emergence of this behavioral innovation, and speculate on the cultural nature of OAEC., (© 2022. The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.)

Weight prediction is critical for dexterous object manipulation. Previous work has focused on lifting objects presented in isolation and has examined how the visual appearance of an object is used to predict its weight. Here we tested the novel hypothesis that when interacting with multiple objects, as is common in everyday tasks, people exploit the locations of objects to directly predict their weights, bypassing slower and more demanding processing of visual properties to predict weight. Using a three-dimensional robotic and virtual reality system, we developed a task in which participants were presented with a set of objects. In each trial a randomly chosen object translated onto the participant's hand and they had to anticipate the object's weight by generating an equivalent upward force. Across conditions we could control whether the visual appearance and/or location of the objects were informative as to their weight. Using this task, and a set of analogous web-based experiments, we show that when location information was predictive of the objects' weights participants used this information to achieve faster prediction than observed when prediction is based on visual appearance. We suggest that by "caching" associations between locations and weights, the sensorimotor system can speed prediction while also lowering working memory demands involved in predicting weight from object visual properties. NEW & NOTEWORTHY We use a novel object support task using a three-dimensional robotic interface and virtual reality system to provide evidence that the locations of objects are used to predict their weights. Using location information, rather than the visual appearance of the objects, supports fast prediction, thereby avoiding processes that can be demanding on working memory.

Vision is the main component of current robotics systems that is used for manipulating objects. However, solely relying on vision for hand-object pose tracking faces challenges such as occlusions and objects moving out of view during robotic manipulation. In this work, we show that object kinematics can be inferred from local haptic feedback at the robot-object contact points, combined with robot kinematics information given an initial vision estimate of the object pose. A planar, dual-arm, teleoperated robotic setup was built to manipulate an object with hands shaped like circular discs. The robot hands were built with rubber cladding to allow for rolling contact without slipping. During stable grasping by the dual arm robot, under quasi-static conditions, the surface of the robot hand and object at the contact interface is defined by local geometric constraints. This allows one to define a relation between object orientation and robot hand orientation. With rolling contact, the displacement of the contact point on the object surface and the hand surface must be equal and opposite. This information, coupled with robot kinematics, allows one to compute the displacement of the object from its initial location. The mathematical formulation of the geometric constraints between robot hand and object is detailed. This is followed by the methodology in acquiring data from experiments to compute object kinematics. The sensors used in the experiments, along with calibration procedures, are presented before computing the object kinematics from recorded haptic feedback. Results comparing object kinematics obtained purely from vision and from haptics are presented to validate our method, along with the future ideas for perception via haptic manipulation.

Most of the humanoid social robots currently diffused are designed only for verbal and animated interactions with users, and despite being equipped with two upper arms for interactive animation, they lack object manipulation capabilities. In this paper, we propose the MONOCULAR (eMbeddable autONomous ObjeCt manipULAtion Routines) framework, which implements a set of routines to add manipulation functionalities to social robots by exploiting the functional data fusion of two RGB cameras and a 3D depth sensor placed in the head frame. The framework is designed to: (i) localize specific objects to be manipulated via RGB cameras; (ii) define the characteristics of the shelf on which they are placed; and (iii) autonomously adapt approach and manipulation routines to avoid collisions and maximize grabbing accuracy. To localize the item on the shelf, MONOCULAR exploits an embeddable version of the You Only Look Once (YOLO) object detector. The RGB camera outcomes are also used to estimate the height of the shelf using an edge-detecting algorithm. Based on the item's position and the estimated shelf height, MONOCULAR is designed to select between two possible routines that dynamically optimize the approach and object manipulation parameters according to the real-time analysis of RGB and 3D sensor frames. These two routines are optimized for a central or lateral approach to objects on a shelf. The MONOCULAR procedures are designed to be fully automatic, intrinsically protecting sensitive users' data and stored home or hospital maps. MONOCULAR was optimized for Pepper by SoftBank Robotics. To characterize the proposed system, a case study in which Pepper is used as a drug delivery operator is proposed. The case study is divided into: (i) pharmaceutical package search; (ii) object approach and manipulation; and (iii) delivery operations. Experimental data showed that object manipulation routines for laterally placed objects achieves a best grabbing success rate of 96%, while the routine for centrally placed objects can reach 97% for a wide range of different shelf heights. Finally, a proof of concept is proposed here to demonstrate the applicability of the MONOCULAR framework in a real-life scenario.

Nonhuman individuals and groups, living in anthropogenic landscapes, often adopt adaptive foraging strategies, mediated by their day-to-day interactions with humans and their artefacts. Exploring such novel behavioral manifestations, especially in the Anthropocene, offers us insights into behavioral innovations and their transmission in such rapidly changing ecologies. In this study, employing field experiments, we investigated an example of human-induced, extractive foraging behavior - the extraction of liquid contents from plastic bottles - in a synurbic bonnet macaque Macaca radiata population. The main aims of the study were to examine the distribution, diversity, inter-individual variability and intra-individual flexibility of bottle-directed manipulative behaviors, and to explore the social and environmental factors driving this behavioral practice. We video-recorded the manipulation of partially filled plastic bottles and the extraction of liquid across four groups of bonnet macaques in southern India. Two socio-demographic factors - age class and group membership - and one environmental factor - food provisioning - were identified as major determinants of inter-individual variation in the performance of sophisticated manipulative techniques and in bottle-opening success. Our results also suggest that age-related physical maturation, experiential trial-and-error learning, and possibly social learning contributed to the acquisition of foraging competence in this task. These findings illuminate the mechanisms underlying inter-individual behavioral variability and intra-individual behavioral flexibility amongst free-ranging individuals of a cercopithecine primate species, traditionally known for its ecological adaptability and behavioral plasticity. Finally, this study documents how the presence of humans, their artefacts and their activities facilitate the development of certain behavioral traditions in free-ranging nonhuman populations, thus providing valuable insights into how human-alloprimate relations can be restructured within the increasingly resource-competitive environments of the Anthropocene., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2022 Pal, Mahato, Leca and Sinha.)

Robotic manipulation refers to how robots intelligently interact with the objects in their surroundings, such as grasping and carrying an object from one place to another. Dexterous manipulating skills enable robots to assist humans in accomplishing various tasks that might be too dangerous or difficult to do. This requires robots to intelligently plan and control the actions of their hands and arms. Object manipulation is a vital skill in several robotic tasks. However, it poses a challenge to robotics. The motivation behind this review paper is to review and analyze the most relevant studies on learning-based object manipulation in clutter. Unlike other reviews, this review paper provides valuable insights into the manipulation of objects using deep reinforcement learning (deep RL) in dense clutter. Various studies are examined by surveying existing literature and investigating various aspects, namely, the intended applications, the techniques applied, the challenges faced by researchers, and the recommendations adopted to overcome these obstacles. In this review, we divide deep RL-based robotic manipulation tasks in cluttered environments into three categories, namely, object removal, assembly and rearrangement, and object retrieval and singulation tasks. We then discuss the challenges and potential prospects of object manipulation in clutter. The findings of this review are intended to assist in establishing important guidelines and directions for academics and researchers in the future.

When considering external assistive systems for people with motor impairments, gaze has been shown to be a powerful tool as it is anticipatory to motor actions and is promising for understanding intentions of an individual even before the action. Up until now, the vast majority of studies investigating the coordinated eye and hand movement in a grasping task focused on single objects manipulation without placing them in a meaningful scene. Very little is known about the impact of the scene context on how we manipulate objects in an interactive task. In the present study, it was investigated how the scene context affects human object manipulation in a pick-and-place task in a realistic scenario implemented in VR. During the experiment, participants were instructed to find the target object in a room, pick it up, and transport it to a predefined final location. Thereafter, the impact of the scene context on different stages of the task was examined using head and hand movement, as well as eye tracking. As the main result, the scene context had a significant effect on the search and transport phases, but not on the reach phase of the task. The present work provides insights into the development of potential supporting intention predicting systems, revealing the dynamics of the pick-and-place task behavior once it is realized in a realistic context-rich scenario., Competing Interests: We declare that OL-S and SW are scientists at the University of Tübingen and employees of Carl Zeiss Vision International GmbH, as detailed in the affiliations. The remaining author declares that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2022 Lukashova-Sanz, Agarwala and Wahl.)

Object manipulation can be used as a comparative scale of cognitive development among primates, including humans. Combinatory object manipulation is a precursor of tool-using behavior that indicates material intelligence in primates. However, developmental data on it regarding the great apes other than chimpanzees is insufficient. We conducted a longitudinal investigation of humans and chimpanzees as well as a cross-sectional examination of other great-ape infants (two bonobos, three gorillas, and four orangutans) in captive settings by using two kinds of tasks that required either inserting or stacking combinatory action. The four species of great apes and humans demonstrated both types of combinatory object manipulation during infancy. However, the order of development in different types of combinatory object manipulations varied among the great apes. Furthermore, we applied a nesting-cup task to examine the hierarchical complexity in the combinatory strategies of human children and adult chimpanzees. Both of them exhibited highly hierarchical combinations in the nesting-cup task and employed the subassembly strategy, indicating that an action merge may exist not only in human children but also in adult chimpanzees. The results were discussed with reviews of the tool-use literature from the wild great apes. The early acquisition of an inserting action in the chimpanzees may explain the tool utilization commonality reported in wild chimpanzees. The combinatory object manipulation may have worked as an external enhancer to achieve an additional hierarchical complexity in cognition and behavior, eventually leading humans to develop a language system., (© 2022. The Author(s).)

Environmental enrichment provides mental stimulation and minimizes abnormal behaviors in captive animals. In captive chimpanzees, individual animals may vary in the ways in which they benefit from enrichment or use enrichment devices, so investigating nuances in enrichment use may improve the welfare of captive chimpanzees. In the current study, three ethograms measuring distinct features of enrichment use (i.e., enrichment object, manipulation behavior, and social context) were evaluated by coding videos of captive chimpanzees ( Pan troglodytes ) at Chimpanzee Sanctuary Northwest in Cle Elum, WA. A total of 732 min and 58 s of video footage was coded from a larger video archive (i.e., 2054 videos) of enrichment use that spanned a decade. A principal component analysis (PCA) revealed that different categories of enrichment objects were more often associated with specific manipulation behaviors and social contexts, suggesting that enrichment objects might fulfill different behavioral and social needs in captivity. Specifically, toy objects were associated with active tactile behaviors in affiliative contexts while oral behaviors were used with foraging objects in solitary contexts. Additionally, individual chimpanzees showed unique preferences for enrichment objects, indicating that caregivers of captive chimpanzees should consider individual needs instead of a "one size fits all" approach to enrichment provisions.

The New Caledonian crow ( Corvus moneduloides ) is known for displaying a unique set of tool-related behaviours, with the bird's bill acting as an individually consistently lateralized effector. However, we still fail to understand how such laterality develops, is modulated or even if its expression is consistent across other behavioural categories. Creating the first ethogram for this species allowed us to examine laterality and vocalisations in a population of wild, free-flying New Caledonian crows using detailed analyses of close-up video footage. We revealed the existence of an overall strong left-sided bias during object manipulation only and which was driven by the adult crows of our focal population, the stabilization of individual preferences occurring during the birds' juvenile years. Individually, at least one crow showed consistent side biases to the right and left within different behavioural categories. Our findings highlight previously unknown variability in behavioural laterality in this species, thus advocating for further investigation. Specifically, we argue that a better understanding of the New Caledonian crow's biology and ecology is required if one wishes to pursue the promising comparative road that laterality could be connected to the evolution of tool-making.

The activity of frontal motor areas during hand-object interaction is coordinated by dense communication along specific white matter pathways. This architecture allows the continuous shaping of voluntary motor output but, despite extensive investigation in non-human primate studies, remains poorly understood in humans. Disclosure of this system is crucial for predicting and treatment of motor deficits after brain lesions. For this purpose, we investigated the effect of direct electrical stimulation on white matter pathways within the frontal lobe on hand-object manipulation. This was tested in 34 patients (15 left hemisphere, mean age 42 years, 17 male, 15 with tractography) undergoing awake neurosurgery for frontal lobe tumour removal with the aid of the brain mapping technique. The stimulation outcome was quantified based on hand-muscle activity required by task execution. The white matter pathways responsive to stimulation with an interference on muscles were identified by means of probabilistic density estimation of stimulated sites, tract-based lesion-symptom (disconnectome) analysis and diffusion tractography on the single patient level. Finally, we assessed the effect of permanent tract disconnection on motor outcome in the immediate postoperative period using a multivariate lesion-symptom mapping approach. The analysis showed that stimulation disrupted hand-muscle activity during task execution at 66 sites within the white matter below dorsal and ventral premotor regions. Two different EMG interference patterns associated with different structural architectures emerged: (i) an 'arrest' pattern, characterized by complete impairment of muscle activity associated with an abrupt task interruption, occurred when stimulating a white matter area below the dorsal premotor region. Local middle U-shaped fibres, superior fronto-striatal, corticospinal and dorsal fronto-parietal fibres intersected with this region. (ii) a 'clumsy' pattern, characterized by partial disruption of muscle activity associated with movement slowdown and/or uncoordinated finger movements, occurred when stimulating a white matter area below the ventral premotor region. Ventral fronto-parietal and inferior fronto-striatal tracts intersected with this region. Finally, only resections partially including the dorsal white matter region surrounding the supplementary motor area were associated with transient upper-limb deficit (P = 0.05; 5000 permutations). Overall, the results identify two distinct frontal white matter regions possibly mediating different aspects of hand-object interaction via distinct sets of structural connectivity. We suggest the dorsal region, associated with arrest pattern and postoperative immediate motor deficits, to be functionally proximal to motor output implementation, while the ventral region may be involved in sensorimotor integration required for task execution., (© The Author(s) (2021). Published by Oxford University Press on behalf of the Guarantors of Brain.)

Motor cortex generates descending output necessary for executing a wide range of limb movements. Although movement-related activity has been described throughout motor cortex, the spatiotemporal organization of movement-specific signaling in deep layers remains largely unknown. Here we record layer 5B population dynamics in the caudal forelimb area of motor cortex while mice perform a forelimb push/pull task and find that most neurons show movement-invariant responses, with a minority displaying movement specificity. Using cell-type-specific imaging, we identify that invariant responses dominate pyramidal tract (PT) neuron activity, with a small subpopulation representing movement type, whereas a larger proportion of intratelencephalic (IT) neurons display movement-type-specific signaling. The proportion of IT neurons decoding movement-type peaks prior to movement initiation, whereas for PT neurons, this occurs during movement execution. Our data suggest that layer 5B population dynamics largely reflect movement-invariant signaling, with information related to movement-type being routed through relatively small, distributed subpopulations of projection neurons., Competing Interests: Declaration of interest The authors declare no competing interests., (Copyright © 2022 The Authors. Published by Elsevier Inc. All rights reserved.)

The need for combined task and motion planning (CTAMP) in robotics is well known as robotic technologies become more mature. The goal of CTAMP is to determine a proper sequence of a robot's actions based on symbolic and geometric reasoning. Because of the fundamental difference in symbolic and geometric reasoning, a CTAMP system often requires an interface module between the two reasoning modules. We propose a CTAMP system in which a symbolic action sequence is generated in task planning, and each action is verified geometrically in motion planning using the off-the-shelf planners and reasoners. The approach is that a set of action models is defined with PDDL in the interface module (action library) and the required information to each planner is automatically provided by the interface module. The proposed method was successfully implemented in three simulated experiments that involve manipulation tasks. According to our findings, the proposed method is effective in responding to changes in the environment and uncertainty with errors in recognition of the environment and the robot motion control., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2022 Jeon, Jung, Yumbla, Luong and Moon.)

Objects permeate human culture and saturate the imagination. This duality offers both opportunity and challenge. Here we ask how young human children learn to exploit the immense potential afforded by objects that can exist simultaneously in both physical and imaginary realms. To this end, we advance a new framework that integrates the presently siloed literatures on manual skill and play development. We argue that developments in children's real and imagined use of objects are embodied, reciprocal and intertwined. Advances in one plane of action influence and scaffold advances in the other. Consistent with this unified framework, we show how real and imagined interactions with objects are characterized by developmental parallels in how children a) gradually move beyond objects' designed functions, b) extend beyond the self, and c) transcend the present to encompass future points in time and space. As well, we highlight how children's real and imagined interactions with objects are intertwined and reciprocally influence each other throughout development: Play engenders practice and skill in using objects, but just the same, practice using objects engenders advances in play. We close by highlighting the theoretical, empirical and translational implications of this embodied and integrated account of manual skill and play development.

The ability to predict the dynamics of objects, linking applied force to motion, underlies our capacity to perform many of the tasks we carry out on a daily basis. Thus, a fundamental question is how the dynamics of the myriad objects we interact with are organized in memory. Using a custom-built three-dimensional robotic interface that allowed us to simulate objects of varying appearance and weight, we examined how participants learned the weights of sets of objects that they repeatedly lifted. We find strong support for the novel hypothesis that motor memories of object dynamics are organized categorically, in terms of families, based on covariation in their visual and mechanical properties. A striking prediction of this hypothesis, supported by our findings and not predicted by standard associative map models, is that outlier objects with weights that deviate from the family-predicted weight will never be learned despite causing repeated lifting errors., Competing Interests: EC, ZZ, JI, DW, JF No competing interests declared, (© 2021, Cesanek et al.)

An important aspect of aphasia is the observation of behavioral variability between and within individual participants. Our study addresses variability in sentence comprehension in German, by testing 21 individuals with aphasia and a control group and involving (a) several constructions (declarative sentences, relative clauses and control structures with an overt pronoun or PRO), (b) three response tasks (object manipulation, sentence-picture matching with/without self-paced listening), and (c) two test phases (to investigate test-retest performance). With this systematic, large-scale study we gained insights into variability in sentence comprehension. We found that the size of syntactic effects varied both in aphasia and in control participants. Whereas variability in control participants led to systematic changes, variability in individuals with aphasia was unsystematic across test phases or response tasks. The persistent occurrence of canonicity and interference effects across response tasks and test phases, however, shows that the performance is systematically influenced by syntactic complexity., (Copyright © 2021 The Authors. Published by Elsevier Inc. All rights reserved.)

Tool use research has suffered from a lack of consistent theoretical frameworks. There is a plethora of tool use definitions and the most widespread ones are so inclusive that the behaviors that fall under them arguably do not have much in common. The situation is aggravated by the prevalence of anecdotes, which have played an undue role in the literature. In order to provide a more rigorous foundation for research and to advance our understanding of the interrelation between tool use and cognition, we suggest the adoption of Fragaszy and Mangalam's (2018) tooling framework, which is characterized by the creation of a body-plus-object system that manages a mechanical interface between tool and surface. Tooling is limited to a narrower suite of behaviors than tool use, which might facilitate its neurocognitive investigation. Indeed, evidence in the literature indicates that tooling has distinct neurocognitive underpinnings not shared by other activities typically classified as tool use, at least in primates. In order to understand the extent of tooling incidences in previous research, we systematically surveyed the comprehensive tool use catalog by Shumaker et al. (2011). We identified 201 tool use submodes, of which only 81 could be classified as tooling, and the majority of the tool use examples across species were poorly supported by evidence. Furthermore, tooling appears to be phylogenetically less widespread than tool use, with the greatest variability found in the primate order. However, in order to confirm these findings and to understand the evolution and neurocognitive mechanisms of tooling, more systematic research will be required in the future, particularly with currently underrepresented taxa., (© 2021 The Authors. Topics in Cognitive Science published by Wiley Periodicals LLC on behalf of Cognitive Science Society.)

Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest.

Children with unilateral spastic cerebral palsy (USCP) have impairments in motor planning, impacting their ability to grasp objects. We examined the planning of digit position and force and the flexibility of the motor system in covarying these during object manipulation. Eleven children with a left hemisphere lesion (LHL), nine children with a right hemisphere lesion (RHL) and nine typically developing children (controls) participated in the study. Participants were instructed to use a precision grip with their dominant/less affected hand to lift and keep an object level, with either a left, centered or right center of mass (COM) location. Digit positions, forces, compensatory torque and object roll where measured. Although children with USCP generated a compensatory torque and modulated digit placement by lift-off, their index finger was either collinear or higher than the thumb, regardless of COM location, leading to larger rolls after lift-off especially for the RHL group. The findings suggest that while the kinetics of grasp control is intact, the kinematics of grasp control is impaired. This study adds to the understanding of the underlying mechanisms of anticipatory planning and control of grasp in children with USCP and may provide insights on how to improve hand function in children with USCP.

Recent data and motor control theory argues that movement planning involves preparing the neural state of primary motor cortex (M1) for forthcoming action execution. Theories related to internal models, feedback control, and predictive coding also emphasize the importance of sensory prediction (and processing) before (and during) the movement itself, explaining why motor-related deficits can arise from damage to primary somatosensory cortex (S1). Motivated by this work, here we examined whether motor planning, in addition to changing the neural state of M1, changes the neural state of S1, preparing it for the sensory feedback that arises during action. We tested this idea in two human functional MRI studies ( N = 31, 16 females) involving delayed object manipulation tasks, focusing our analysis on premovement activity patterns in M1 and S1. We found that the motor effector to be used in the upcoming action could be decoded, well before movement, from neural activity in M1 in both studies. Critically, we found that this effector information was also present, well before movement, in S1. In particular, we found that the encoding of effector information in area 3b (S1 proper) was linked to the contralateral hand, similarly to that found in M1, whereas in areas 1 and 2 this encoding was present in both the contralateral and ipsilateral hemispheres. Together, these findings suggest that motor planning not only prepares the motor system for movement but also changes the neural state of the somatosensory system, presumably allowing it to anticipate the sensory information received during movement. SIGNIFICANCE STATEMENT Whereas recent work on motor cortex has emphasized the critical role of movement planning in preparing neural activity for movement generation, it has not investigated the extent to which planning also modulates the activity in the adjacent primary somatosensory cortex. This reflects a key gap in knowledge, given that recent motor control theories emphasize the importance of sensory feedback processing in effective movement generation. Here, we find through a convergence of experiments and analyses, that the planning of object manipulation tasks, in addition to modulating the activity in the motor cortex, changes the state of neural activity in different subfields of the human S1. We suggest that this modulation prepares the S1 for the sensory information it will receive during action execution., (Copyright © 2021 the authors.)

In human infants, exploratory object manipulation is a major vehicle for cognitive stimulation as well as an important way to learn about objects and basic physical concepts in general. The development of human infants' exploratory object manipulation follows distinct developmental patterns. So far, the degree of evolutionary continuity of this developmental process remains unclear. We investigated the development of exploratory object manipulations in wild orangutans. Our data included 3200 exploration events collected on 13 immatures between the ages of 0.5 and 13 years, at the Suaq Balimbing monitoring station in Indonesia. Our results identify several parallels between the development of exploratory behaviour in humans and orangutans: on top of a highly similar overall age trajectory, we found an increase in variability of the actions used, an increase in the number of body parts involved in each event, and an overall decrease of mouthing of the objects. All in all, our results show that orangutans progress through a developmental sequence of different aspects of exploration behaviour. In combination with previous findings from captivity, our results also provide evidence that exploratory object manipulations reflect cognitive development and might function as a means of cognitive stimulation not just in humans but across the great apes., (© The Author(s) 2021.)

Despite having a trunk that weighs over 100 kg, elephants mainly feed on lightweight vegetation. How do elephants manipulate such small items? In this experimental and theoretical investigation, we filmed elephants at Zoo Atlanta showing that they can use suction to grab food, performing a behaviour that was previously thought to be restricted to fishes. We use a mathematical model to show that an elephant's nostril size and lung capacity enables them to grab items using comparable pressures as the human lung. Ultrasonographic imaging of the elephant sucking viscous fluids show that the elephant's nostrils dilate up to [Formula: see text] in radius, which increases the nasal volume by [Formula: see text]. Based on the pressures applied, we estimate that the elephants can inhale at speeds of over 150 m s -1 , nearly 30 times the speed of a human sneeze. These high air speeds enable the elephant to vacuum up piles of rutabaga cubes as well as fragile tortilla chips. We hope these findings inspire further work in suction-based manipulation in both animals and robots.

Background: Children with motor impairments affecting the upper extremity benefit from task-specific therapy, such as constraint-induced movement therapy. However, there is a need to improve engagement and compliance with task-specific exercise programs that target manual dexterity for children with cerebral palsy (CP). A computer game-based rehabilitation (GRP) platform was developed that combines fine manipulation and gross movement exercises with engaging game activities appropriate for young children with CP., Objective: The objectives of this qualitative analysis were to compare parents' perspectives and opinions about expectations, challenges, and benefits between 2 interventions., Methods: A mixed methods, randomized controlled trial (RCT) was conducted to examine the feasibility and estimate the effect size of 2 exercise programs for rehabilitation of manual dexterity of children with CP using either GRP or conventional therapy. Parents of 26 of the children who completed the GRP program (n=33) and parents of 15 of the children who completed the conventional therapy program (n=27) participated in the interviews. A general conductive approach was used to analyze the data recorded during the parents' interviews., Results: Five themes captured the range of the parent's experiences, viewpoints, and ideas: (1) parents' expectations, (2) child's engagement with therapy, (3) positive effects of the interventions, (4) challenges, and (5) improving the protocol., Conclusions: Parents from both groups recognized that their expectations related to improving children's object handling and manipulation skills including participation in activities of daily life were addressed during the 16-week therapy program. Parents perceived a change in the children's level of independence in their daily tasks at home, school, and leisure activities., Trial Registration: ClinicalTrials.gov NCT02728375; https://clinicaltrials.gov/ct2/show/NCT02728375., (©Anuprita Kanitkar, Sanjay Tejraj Parmar, Tony J Szturm, Gayle Restall, Gina Rempel, Nariman Sepehri. Originally published in JMIR Rehabilitation and Assistive Technology (https://rehab.jmir.org), 31.05.2021.)

Tufted capuchin monkeys (Sapajus spp.) are the only Neotropical Primates that regularly use tools in the wild, but only one population of bearded capuchin monkeys (Sapajus libidinosus) is known to habitually use sticks as probes. In this population, males are typically the only sex to use stick tools, something unexpected, since there are no obvious physical constraints, and females do use stone tools in the wild and sticks in experimental conditions. We investigated the development of probe tool use in eight infants to clarify whether social influences on learning varied between the sexes, as tool use learning by capuchin monkeys is a socially biased process. We found that in the first 10 months of age, females manipulate sticks as much as males, but after 10-12 months of age, males begin to manipulate them at higher frequencies. We examined if social connections-as opportunities for social learning-could explain this difference and verified that, on close distance social networks, infant males and females have similar connections with older males. However, males observe probe tool use events more often than females when close to such events. The higher frequency of manipulation of sticks, as well as the higher rates of probe tool use observation, appear to be the key to understand why only males are probe tool users in this population. Since there are only male potential models of probe use, a sex motivational bias could explain the sex difference in observation; a bias in observation could explain the differences in manipulation-and manipulation rates would certainly influence the chances of individual, trial-and-error learning (a case of "local/stimulus enhancement")., (© 2021 Wiley Periodicals LLC.)

O'SHEA, H. and S. J. Redmond. A review of the neurobiomechanical processes underlying secure gripping in object manipulation. NEUROSCI BIOBEHAV REV 286-300, 2021. Humans display skilful control over the objects they manipulate, so much so that biomimetic systems have yet to emulate this remarkable behaviour. Two key control processes are assumed to facilitate such dexterity: predictive cognitive-motor processes that guide manipulation procedures by anticipating action outcomes; and reactive sensorimotor processes that provide important error-based information for movement adaptation. Notwithstanding increased interdisciplinary research interest in object manipulation behaviour, the complexity of the perceptual-sensorimotor-cognitive processes involved and the theoretical divide regarding the fundamentality of control mean that the essential mechanisms underlying manipulative action remain undetermined. In this paper, following a detailed discussion of the theoretical and empirical bases for understanding human dexterous movement, we emphasise the role of tactile-related sensory events in secure object handling, and consider the contribution of certain biophysical and biomechanical phenomena. We aim to provide an integrated account of the current state-of-art in skilled human-object interaction that bridges the literature in neuroscience, cognitive psychology, and biophysics. We also propose novel directions for future research exploration in this area., (Copyright © 2021 The Author(s). Published by Elsevier Ltd.. All rights reserved.)

Our current understanding of manipulation is based on primate hands, resulting in a detailed but narrow perspective of ways to handle objects. Although most other animals lack hands, they are still capable of flexible manipulation of diverse objects, including food and nest materials, and depend on dexterity in object handling to survive and reproduce. Birds, for instance, use their bills and feet to forage and build nests, while insects carry food and construct nests with their mandibles and legs. Bird bills and insect mandibles are much simpler than a primate hand, resembling simple robotic grippers. A better understanding of manipulation in these and other species would provide a broader comparative perspective on the origins of dexterity. Here we contrast data from primates, birds and insects, describing how they sense and grasp objects, and the neural architectures that control manipulation. Finally, we outline techniques for collecting comparable manipulation data from animals with diverse morphologies and describe the practical applications of studying manipulation in a wide range of species, including providing inspiration for novel designs of robotic manipulators.

Parkinson's disease is a long-term and progressive degenerative disorder of the nervous system, affecting primarily motor coordination, noticeable as a tremor in one hand. Recent studies reported on positive outcomes of intensive physiotherapy of upper extremities. We built a telerehabilitation system with virtual pick and place tasks for small scale hand movements, and designed a pilot study to find whether such exergaming as a telerehabilitation service provides comparable outcomes as an outpatient exergaming service. A non-randomized pilot trial was designed. Hospital outpatients (28/40) with Parkinson's disease were recruited. Those meeting the inclusion criteria were divided into two groups; seven outpatients were assigned to the home (H) group and 21 outpatients to the hospital (URI) group. Both groups received 10 days of exergaming over the course of 2 weeks, each daily session lasting a maximum of 1 h. Primary outcomes were clinical tests; Box and Blocks Test (BBT), Jebsen Hand Function Test (JHFT), and Unified Parkinson's Disease Rating Scale (UPDRS part III) were carried out before and after the study. Secondary outcomes were hand kinematics and exergaming results; number of successfully moved objects and task time. Statistical analysis was carried out to find significant ( p < 0.05) differences and Cohen's U3 was used to determine effect sizes. The differences between the groups in gender ( p = 0.781), age ( p = 0.192), and duration of the disease ( p = 0.195) were tested with Bartlett's test and no statistical differences were found with an F test. Both groups demonstrated statistically significant improvements in clinical test UDPRS III ( p = 0.006 and p = 0.011) and the hospital group also in BBT ( p = 0.002) and JHFT ( p = 0.015) and with UDPRS III and JHFT even in favor of the home group (χ 2 = 5.08, p = 0.024, χ 2 = 7.76, p = 0.005). Nevertheless, the exergaming results show significant improvement after training (U3 > 0.86). Exergaming has already been suggested as an effective approach in the planning of rehabilitation tasks for persons with Parkinson's disease. We have prepared a pilot study demonstrating that exergaming at home with telerehabilitation support may provide comparable clinical outcomes. The study shall be followed by a randomized study with higher statistical power to provide clinical evidence. Nevertheless, carrying out even part of the rehabilitation program at home is crucial for the development of future telerehabilition clinical services. Clinical Trial Registration: www.ClinicalTrials.gov, identifier: NCT03175107., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2021 Cikajlo, Hukić and Zajc.)

Tool use is a central topic in research on cognitive evolution and behavioral ecology in non-human animals. Originally thought to be a uniquely human phenomenon, many other species have been observed making and using tools for a variety of purposes, starting with Goodall's (1964) groundbreaking work with chimpanzees in Gombe. Despite the frequent attention and great research interest in animal tool use, and ubiquity of the behavior, we argue here that chewing sticks by dogs (and other animals) should be included as a case of tool use. We discuss alternate possible explanations and then propose several testable predictions regarding this hypothesis. We suggest that tool use may be more common than is often assumed and that many cases of animal tool use may be overlooked., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2021 Brooks and Yamamoto.)

Humans are seamless in their ability to efficiently and reliably generate fingertip forces to gracefully interact with objects. Such interactions rarely end in awkward outcomes like spilling, crushing, or tilting given advanced motor planning. Here we combine multiband imaging with deconvolution- and Bayesian pattern component modeling of functional magnetic resonance imaging data and in-scanner kinematics, revealing compelling evidence that the human brain differentially represents preparatory information for skillful object interactions depending on the saliency of visual cues. Earlier patterned activity was particularly evident in ventral visual processing stream-, but also selectively in dorsal visual processing stream and cerebellum in conditions of heightened uncertainty when an object's superficial shape was incompatible rather than compatible with a key underlying object feature., (© The Author(s) 2020. Published by Oxford University Press.)

Many attempts have been made to classify and evaluate the nature of intelligence in humans and other species (referred to as the 'g' factor in the former and the G factor in the latter). The search for this essential structure of mental life has generated various models and definitions, yet open questions remain. Specifically, referring to intelligence by overemphasizing the anthropocentric terminology and its ethnocentric overlay is insufficient to account for individual differences and limits its generalizability in biological and cultural contexts. The present work is an attempt to adopt a different perspective on the 'g/G' factor and its measurement. We suggest that intelligence, or g/G, is reflected in a biological capacity that evolved from object manipulation in animals, into mental manipulation in humans, in response to various environmental conditions.

During manipulation, object slipping is prevented by modulating the grip force (GF) in synchrony with motion-related inertial forces, i.e., load force (LF). However, due to conduction delays of the sensory system, GF must be modulated in advance based on predictions of LF changes. It has been proposed that such predictive force control relies on internal representations, i.e., internal models, of the relation between the dynamic of the environment and movement kinematics. Somatosensory and visual feedback plays a primary role in building these internal representations. For instance, it has been shown that manipulation-dependent somatosensory signals contribute to building internal representations of gravity in normal and altered gravitational contexts. Furthermore, delaying the timing of visual feedback of object displacement has been shown to affect GF. Here, we explored whether and the extent to which spatial features of visual feedback movement, such as motion direction, may contribute to GF control. If this were the case, a spatial mismatch between actual (somatosensory) and visual feedback of object motion would elicit changes in GF modulation. We tested this hypothesis by asking participants to generate vertical object movements while visual feedback of object position was congruent (0° rotation) or incongruent (180° or 90°) with the actual object displacement. The role of vision on GF control was quantified by the temporal shift of GF modulation as a function of visual feedback orientation and actual object motion direction. GF control was affected by visual feedback when this was incongruent in the vertical (180°), but not horizontal dimension. Importantly, 180° visual feedback rotation delayed and anticipated GF modulation during upward and downward actual movements, respectively. Our findings suggest that during manipulation, spatial features of visual feedback motion are used to predict upcoming LF changes. Furthermore, the present study provides evidence that an internal model of gravity contributes to GF control by influencing sensory reweighting processes during object manipulation., (Copyright © 2020 Toma, Caputo and Santello.)

Humans have the remarkable ability to hold, grasp, and manipulate objects. Previous work has reported rapid and coordinated reactions in hand and shoulder muscles in response to external perturbations to the arm during object manipulation; however, little is known about how somatosensory feedback of an object slipping in the hand influences responses of the arm. We built a handheld device to stimulate the sensation of slipping at all five fingertips. The device was integrated into an exoskeleton robot that supported it against gravity. The setup allowed us to decouple somatosensory stimulation in the fingers from forces applied to the arm, two variables that are highly interdependent in real-world scenarios. Fourteen participants performed three experiments in which we measured their arm feedback responses during slip stimulation. Slip stimulations were applied horizontally in one of two directions, and participants were instructed to either follow the slip direction or move the arm in the opposite direction. Participants showed shoulder muscle responses within ∼67 ms of slip onset when following the direction of slip but significantly slower responses when instructed to move in the opposite direction. Shoulder responses were modulated by the speed but not the distance of the slip. Finally, when slip stimulation was combined with mechanical perturbations to the arm, we found that sensory information from the fingertips significantly modulated the shoulder feedback responses. Overall, the results demonstrate the existence of a rapid feedback system that stabilizes handheld objects. NEW & NOTEWORTHY We tested whether the sensation of an object slipping from the fingers modulates shoulder feedback responses. We found rapid shoulder feedback responses when participants were instructed to follow the slip direction with the arm. Shoulder responses following mechanical joint perturbations were also potentiated when combined with slipping. These results demonstrate the existence of fast and automatic feedback responses in the arm in reaction to sensory input to the fingertips that maintain grip on handheld objects.