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During every waking moment, we must engage with our environments, the people around us, the tools we use, and even our own bodies to perform actions and achieve our intentions. There is a spectrum of control that we have over our surroundings that spans the extremes from full to negligible. When the outcomes of our actions do not align with our goals, we have a tremendous capacity to displace blame and frustration on external factors while forgiving ourselves. This is especially true when we cooperate with machines; they are rarely afforded the level of forgiveness we provide our bodies and often bear much of our blame. Yet, our brain readily engages with autonomous processes in controlling our bodies to coordinate complex patterns of muscle contractions, make postural adjustments, adapt to external perturbations, among many others. This acceptance of biological autonomy may provide avenues to promote more forgiving human-machine partnerships. In this perspectives paper, we argue that striving for machine embodiment is a pathway to achieving effective and forgiving human-machine relationships. We discuss the mechanisms that help us identify ourselves and our bodies as separate from our environments and we describe their roles in achieving embodied cooperation. Using a representative selection of examples in neurally interfaced prosthetic limbs and intelligent mechatronics, we describe techniques to engage these same mechanisms when designing autonomous systems and their potential bidirectional interfaces.

Establishment of the University of Florida Cooperative Forest Genetics Research Program's clone banks provided an opportunity to look at scion maturation effects on growth and reproduction of many grafted slash pine clones. In 1988 and 1989, clone banks were established in nine locations in the Southeastern United States. Over 460 scion clones varying from 5 to greater than 40 years old from time of seed germination (chronological age) were grafted into the clone banks. Comparisons of diameter growth, height growth, lateral branch number and female and male strobili production were made annually for six years after grafting. Within slash pine clone banks, there were significant effects due to scion chronological age. Chronologically older scions (backward selections) grew less, had fewer branches and produced only a few more female strobili than chronologically younger material (forward selections). Forward selections produced significantly more catkin clusters than backward selections. By year six, there was no significant difference in numbers of female strobili per tree between backward and forward scions, but forward selections produced about 2.5 times as many catkin clusters as the backward selections. Similar effects on growth and reproduction due to chronological age were also found among clones within the forward selections, with older selections growing more slowly and producing fewer catkin clusters. The size and breadth of this study lends strong support to the idea that these patterns of growth will occur for grafted slash pine in any location throughout its native range. [ABSTRACT FROM AUTHOR]