Projet Rosace : robot sécurisé d’assistance à la chirurgie endoscopique

This article presents work carried out as part of the robot sécurisé d’assistance à la chirurgie endoscopique (Rosace) project (funding ANR TecSan06), involving both academic and clinical partners along with an industrial partner in charge of technology integration. The main subject is a lightweight and compact robot for assistance in the endoscopic surgery field. The goal of the project has been to improve then transfer on a medical-grade product some technologies initially developed by the two academic partners. These technologies are: a first prototype of a robotic endoscope holder, an original method for visual servoing based on instrument tracking and some work done on comanipulation concept which consists in synergic interaction between robot and user. In accordance with the initial goals, major improvements have been obtained on these three aspects of the project. Robotic architecture improvement has contributed to enhance robot's versatility while robot command has been made more efficient and simple to use thanks to instrument tracking and comanipulation. After this 3-year project, initial prototype has turned into a commercially available product integrating (or that will integrate in a few months) these new technologies.     

Robotic and neuronal simulation of the hippocampus and rat navigation.

The properties of hippocampal place cells are reviewed, with particular attention to the nature of the internal and external signals that support their firing. A neuronal simulation of the firing of place cells in open-field environments of varying shape is presented. This simulation is coupled with an existing model of how place-cell firing can be used to drive navigation, and is tested by implementation as a miniature mobile robot. The sensors on the robot provide visual, odometric and short-range proximity data, which are combined to estimate the distance of the walls of the enclosure from the robot and the robot''s current heading direction. These inputs drive the hippocampal simulation, in which the robot''s location is represented as the firing of place cells. If a goal location is encountered, learning occurs in connections from the concurrently active place cells to a set of ''goal cells'', which guide subsequent navigation, allowing the robot to return to an unmarked location. The system shows good agreement with actual place-cell firing, and makes predictions regarding the firing of cells in the subiculum, the effect of blocking long-term synaptic changes, and the locus of search of rats after deformation of their environment.     

Injuries to dancers: prevalence,treatment, and perceptions of causes.

A survey of injuries to dancers was commissioned by the National Organisation of Dance and Mime. Questionnaires asking about chronic and recent injuries were sent to 188 dancers and completed by 141 dancers from seven professional ballet and modern dance companies in the United Kingdom (75% response rate). It was found that of the 141 dancers, 67 (47%) had experienced a chronic injury and 59 (42%) an injury in the previous six months that had affected their dancing. A high proportion of injuries to the soft tissues had not responded to treatment. With correct treatment such injuries should usually heal completely. Dancers are aware of the high rate of injuries and also of procedures that might help to prevent injury--for example, dancing on floors that are sprung and in warmer studios; teachers'' and choreographers'' awareness of a dancer''s limitations and the need for rest and adequate treatment when an injury occurs.     

Male dance moves that catch a woman's eye

Male movements serve as courtship signals in many animal species, and may honestly reflect the genotypic and/or phenotypic quality of the individual. Attractive human dance moves, particularly those of males, have been reported to show associations with measures of physical strength, prenatal androgenization and symmetry. Here we use advanced three-dimensional motion-capture technology to identify possible biomechanical differences between women''s perceptions of ‘good’ and ‘bad’ male dancers. Nineteen males were recorded using the ‘Vicon’ motion-capture system while dancing to a basic rhythm; controlled stimuli in the form of avatars were then created in the form of 15 s video clips, and rated by 39 females for dance quality. Initial analyses showed that 11 movement variables were significantly positively correlated with perceived dance quality. Linear regression subsequently revealed that three movement measures were key predictors of dance quality; these were variability and amplitude of movements of the neck and trunk, and speed of movements of the right knee. In summary, we have identified specific movements within men''s dance that influence women''s perceptions of dancing ability. We suggest that such movements may form honest signals of male quality in terms of health, vigour or strength, though this remains to be confirmed.     

Anthropometry and somatotypes of competitive DanceSport participants: A comparison of three different styles

Anthropometry in dance and aesthetic sports has been shown to play an important role in selection and performance criteria. The aim of the present study was to examine variations in somatotype and anthropometry in three different competitive dance styles: DanceSport Standard, Latin American and Ten Dance. Anthropometry and somatotype data were collected from thirty couples competing in Standard (n = 24 individuals), Latin American (n = 14) and Ten Dance (n = 22) styles. A single tester (ISAK Level 1) carried out all anthropometric measurements using the Heath-Carter protocol and somatotypes were calculated using the Heath-Carter's decimal equations. Results indicated that the mean somatotype for the male dancers was 2.4–3.9–3.2, whilst for females it was 2.7–2.7–3.5. Factorial analysis reported Standard dancers scored significantly higher for ectomorphy, sitting height and arm span than Latin dancers (p < 0.05). Correlation analysis with the Standard dancer's International Ranking highlighted moderate positive correlation with mesomorphy (r = 0.434, p < 0.05) and negative correlation with ectomorphy (r = −0.546, p < 0.001). The findings of this study show that somatotypes differ among DanceSport participants by dance style. Compared with other aesthetic sports, male and female dancers were less mesomorphic and more ectomorphic. Standard dancers tend to be more ectomorphic with greater height, longer arm span and greater sitting height compared with Latin American dancers. Although Standard dancers were ectomorphic, those dancers who had higher mesomorphic ranking had higher places in the dancers’ international ranking.     

The Brief Piping Signal of the Honey Bee: Begging Call or Stop Signal?

For over 40 yr, investigators have recognized that the brief piping signal plays a role in the foraging operation of a honey bee colony. The function of this signal, however, remains uncertain. The main objective of this study was to determine whether, under normal foraging conditions, bees following waggle dancers produce brief piping signals to beg nectar samples from the dancers. We made observations on waggle dancers and their followers in an undisturbed colony whose foragers gathered nectar and pollen from flowers. We found that waggle dancers do often receive brief piping signals, that the bees producing these signals are generally dance followers, and that these signals increase a waggle dancer's tendency to stop dancing. We also found, however, that the brief piping signal is clearly not a begging call; 0 of 41 waggle dancers that received a piping signal from a dance follower gave a nectar sample to the bee that produced the signal. Our results support the hypothesis that the brief piping signal is a stop signal; it serves to shut off waggle dancing. But why some dance followers pipe the dancer they are following, thereby inhibiting her dancing, remains unclear and warrants further investigation.     

Fish and Robots Swimming Together in a Water Tunnel: Robot Color and Tail-Beat Frequency Influence Fish Behavior

The possibility of integrating bioinspired robots in groups of live social animals may constitute a valuable tool to study the basis of social behavior and uncover the fundamental determinants of animal functions and dysfunctions. In this study, we investigate the interactions between individual golden shiners (Notemigonus crysoleucas) and robotic fish swimming together in a water tunnel at constant flow velocity. The robotic fish is designed to mimic its live counterpart in the aspect ratio, body shape, dimension, and locomotory pattern. Fish positional preference with respect to the robot is experimentally analyzed as the robot''s color pattern and tail-beat frequency are varied. Behavioral observations are corroborated by particle image velocimetry studies aimed at investigating the flow structure behind the robotic fish. Experimental results show that the time spent by golden shiners in the vicinity of the bioinspired robotic fish is the highest when the robot mimics their natural color pattern and beats its tail at the same frequency. In these conditions, fish tend to swim at the same depth of the robotic fish, where the wake from the robotic fish is stronger and hydrodynamic return is most likely to be effective.     

Motor Contagion during Human-Human and Human-Robot Interaction

Motor resonance mechanisms are known to affect humans'' ability to interact with others, yielding the kind of “mutual understanding” that is the basis of social interaction. However, it remains unclear how the partner''s action features combine or compete to promote or prevent motor resonance during interaction. To clarify this point, the present study tested whether and how the nature of the visual stimulus and the properties of the observed actions influence observer''s motor response, being motor contagion one of the behavioral manifestations of motor resonance. Participants observed a humanoid robot and a human agent move their hands into a pre-specified final position or put an object into a container at various velocities. Their movements, both in the object- and non-object- directed conditions, were characterized by either a smooth/curvilinear or a jerky/segmented trajectory. These trajectories were covered with biological or non-biological kinematics (the latter only by the humanoid robot). After action observation, participants were requested to either reach the indicated final position or to transport a similar object into another container. Results showed that motor contagion appeared for both the interactive partner except when the humanoid robot violated the biological laws of motion. These findings suggest that the observer may transiently match his/her own motor repertoire to that of the observed agent. This matching might mediate the activation of motor resonance, and modulate the spontaneity and the pleasantness of the interaction, whatever the nature of the communication partner.     

Tracking Plasticity: Effects of Long-Term Rehearsal in Expert Dancers Encoding Music to Movement

Our knowledge of neural plasticity suggests that neural networks show adaptation to environmental and intrinsic change. In particular, studies investigating the neuroplastic changes associated with learning and practicing motor tasks have shown that practicing such tasks results in an increase in neural activation in several specific brain regions. However, studies comparing experts and non-experts suggest that experts employ less neuronal activation than non-experts when performing a familiar motor task. Here, we aimed to determine the long-term changes in neural networks associated with learning a new dance in professional ballet dancers over 34 weeks. Subjects visualized dance movements to music while undergoing fMRI scanning at four time points over 34-weeks. Results demonstrated that initial learning and performance at seven weeks led to increases in activation in cortical regions during visualization compared to the first week. However, at 34 weeks, the cortical networks showed reduced activation compared to week seven. Specifically, motor learning and performance over the 34 weeks showed the typical inverted-U-shaped function of learning. Further, our result demonstrate that learning of a motor sequence of dance movements to music in the real world can be visualized by expert dancers using fMRI and capture highly significant modeled fits of the brain network variance of BOLD signals from early learning to expert level performance.     

European starlings recognize the location of robotic conspecific attention

Looking where others are allocating attention can facilitate social interactions by providing information about objects or locations of interest. We asked whether European starlings follow the orientation behaviour of conspecifics owing to their highly gregarious behaviour. Starlings reoriented their attention to follow that of a robot around a barrier more often than when the robot''s attention was directed elsewhere. This is the first empirical evidence of reorienting in response to conspecific attention in a songbird. Starlings may use this behaviour to obtain fine-tuned spatial information from conspecifics (e.g. direction of predator approach, spatial location of food patches), enhancing group cohesion.     

‘Cross-cultural’ practices: interpreting non-African-American participation in hip-hop dance

This article examines how participants interpret a cultural practice commonly associated with a race other than their own. Determining if, how and why participants experience such ‘cross-cultural’ forms in racialized terms can clarify whether these practices promote tolerance or essentialism in everyday life, and whether they enable appropriation in the field of cultural production. Through interviews and participant observation with non-African-American women learning and teaching hip-hop dance, I capture a spectrum of participant views. Most dancers see hip-hop as African American in its origins. But while novices often speak of an inherent or learned authenticity among blacks, experts rarely express racialized views of the dance's contemporary practice. Experts' views are shaped by personal ability, exposure to dancers whose ability is not racially patterned, and exposure to others who accept their skill. How dancers act on these interpretations challenges common associations of racialized views with tolerance, and non-racialized views with appropriation.     

Emotion Attribution to a Non-Humanoid Robot in Different Social Situations

In the last few years there was an increasing interest in building companion robots that interact in a socially acceptable way with humans. In order to interact in a meaningful way a robot has to convey intentionality and emotions of some sort in order to increase believability. We suggest that human-robot interaction should be considered as a specific form of inter-specific interaction and that human–animal interaction can provide a useful biological model for designing social robots. Dogs can provide a promising biological model since during the domestication process dogs were able to adapt to the human environment and to participate in complex social interactions. In this observational study we propose to design emotionally expressive behaviour of robots using the behaviour of dogs as inspiration and to test these dog-inspired robots with humans in inter-specific context. In two experiments (wizard-of-oz scenarios) we examined humans'' ability to recognize two basic and a secondary emotion expressed by a robot. In Experiment 1 we provided our companion robot with two kinds of emotional behaviour (“happiness” and “fear”), and studied whether people attribute the appropriate emotion to the robot, and interact with it accordingly. In Experiment 2 we investigated whether participants tend to attribute guilty behaviour to a robot in a relevant context by examining whether relying on the robot''s greeting behaviour human participants can detect if the robot transgressed a predetermined rule. Results of Experiment 1 showed that people readily attribute emotions to a social robot and interact with it in accordance with the expressed emotional behaviour. Results of Experiment 2 showed that people are able to recognize if the robot transgressed on the basis of its greeting behaviour. In summary, our findings showed that dog-inspired behaviour is a suitable medium for making people attribute emotional states to a non-humanoid robot.     

The Gran Poder Parade and the Social Movement of the Aymara Middle Class: A Video Essay

The parade for the patron saint of the parish of Gran Poder is the largest city-wide folklore event in La Paz, Bolivia, in which tens of thousands of indigenous Aymara and mestizo residents of the city participate in dances that tie them to the nation's indigenous past. The sequences of images discussed in this article focus on a dance fraternity composed of members of the prosperous urban Aymara middle class (or cholos ) who use their indigenous costumes and dance movements as vehicles in which they enter and display their modernity. Using harshly exaggerated masks that relate social subordination to racial difference, the performance of the Morenada by today's well-to-do Aymaras revisits the cultural marginalization and hardship they experienced in their own migration to La Paz from the rural countryside. Wearing a series of expensive outfits and ostentatious costumes, these dancers vividly flaunt their distinction from the Western-mestizo middle class, and its signs of well-being.     

The Not-so-gentle Makassarese Fan Dance: Misperformance Challenging Indonesian-Australian Transnational Femininity

In the hands of a group of Indonesian female dancers in Perth, Western Australia, a gentle sea breeze or Angin Maimiri was recreated through the use of swaying fans. The Indonesian women's own newly choreographed dance or tari kreasi is based on the Makassarese traditional song of the same name from South Sulawesi. The women had intended to perform the dance in a ‘feminine’ manner with soft graceful movements. Yet, as illustrated in the ethnographic account of mistakes and misinterpretations that happened at the performance, as well as purposeful adaptations by the dancers, ideals of femininity are not simply transferred in a transnational context; they become inadvertently challenged. Angin Mamiri, as danced in an ‘un-feminine’ manner by an Indonesian housewife hobby group, is illustrative of who they are as marriage migrants and their often marginalised position in their diasporic community. This article is inspired by misperformance ethnography [Prendergast 2014, “Misperformance Ethnography.” Applied Theatre Research 2 (1): 77–90] of what is revealed about ideals held by those involved in a performance when mistakes and misinterpretations happen. Using an anthropology of performance approach thus provides a novel analysis at the intersection of migration and gender studies of how gender ideals such as femininity can be challenged through dance performance in a transnational context.     

The vexed question of authorship: views of researchers in a British medical faculty.

OBJECTIVE: To assess knowledge, views, and behaviour of researchers on criteria for authorship and causes and control of gift authorship. DESIGN: Interview survey of stratified sample of researchers. SETTING: University medical faculty. SUBJECTS: 66 staff (94% response rate) comprising several levels of university academic and research appointments. MAIN OUTCOME MEASURES: Awareness and use of criteria for authorship, views on which contributions to research merit authorship, perceptions about gift authorship and strategies for reducing it, and experiences of authorship problems. RESULTS: 50 (76%) respondents supported criteria for authorship, but few knew about or used available criteria. Of the five people who could specify all three criteria of the International Committee of Medical Journal Editors, only one knew that all criteria had to be met. Forty one respondents (62%) disagreed with this stipulation. A range of practical and academic contributions were seen as sufficient for authorship. Gift authorship was perceived as common, promoted by pressure to publish, to motivate research teams, and to maintain working relationships. A signed statement justifying authorship and a published statement of the contribution of each author were perceived as practical ways of tackling gift authorship. Most researchers had experienced problems with authorship, most commonly the perception that authorship had been deserved but not awarded (49%). CONCLUSION: There seems to be a gap between editors'' criteria for authorship and researchers'' practice. Lack of awareness of criteria is only a partial explanation. Researchers give more weight than editors to practical research contributions. Future criteria should be agreed by researchers and not be imposed by editors.     

Visual motor imagery predominance in professional Spanish dancers

Abstract

Purpose: The main objectives of the study were to analyse the predominant motor imagery modality used by professional Spanish dancers and to compare Spanish dancers’ ability to perform mental motor imagery with that of non-dancers, and to analyse differences between male and female dancers. As a secondary aim, to compare the motor imagery ability between two styles of Spanish dance: classical Spanish dancers and Flamenco dancers.

Methods: A total of 74 participants were classified into two groups: professional Spanish dancers (n?=?37) and sedentary participants (n?=?37). The professional Spanish dancer group was composed of two dance disciplines: flamenco dancers (n?=?17), and classical dancers (n?=?20).

Results: Professional Spanish dancers used predominantly visual imagery modalities over kinesthetics to generate motor imagery, with a moderate effect size (p?<?.01, d?=?0.68). Regarding the ability to generate motor imagery, significant intergroup differences between professional Spanish dancers and sedentary participants were observed in all variables, with a large effect size (p?<?.05, d?>?0.80). Differences were obtained between men and women among non-dancers group (t?=??3.34; p?=?.03; d?=?0.5). No differences between Flamenco and classical dancers were observed.

Conclusion: Visual motor imagery modality was easier than the kinaesthetic modality in the generation of motor imagery for professional Spanish dancers regardless of the dance style. Spanish dancers had a greater ability to perform motor imagery compared with non-dancer individuals, needing less time to perform these mental tasks. Men non-dancers had a greater ability to generate motor imagery than women. Reinforcing the training of kinaesthetic motor imagery might be useful for professional Spanish dancers.     

Direct Visual Observation of Wing Movements during the Honey Bee Waggle Dance

Recruitment-related behaviours such as waggle dances enable honey bee foragers to inform their nestmates about the location of important resources. However, it is still not known how the information contained in a dance performed in the darkness of the nest is transferred to followers. Although, there are findings indicating that dancing honey bees produce airborne sounds which may convey the information, there has only been indirect evidence that moving wings are the source of these airborne sounds. In this study, honey bee dances were recorded using a high-speed camera in order to directly observe and precisely measure the frequency of wing beats and abdomen wags of dancers. Dancing bees moved their wings for 40.4% of the duration of a waggle run and for only 8.1% of the duration of a circle run. The episodes of wing movements consisted of one to five wing beats and were separated by intervals of motionless wings. The mean frequency of wing beats was 167.0 Hz and significantly differed depending on the number of wing beats in one episode (p < 0.001) and the position of the wings (p = 0.007). The mean frequency of abdomen wags was 14.6 Hz. The mean number of followers was 7.9 and significantly more of them gathered around the abdomens of dancers than around their heads and thoraxes (p = 0.001). The results of this study support the assumption that moving wings are the source of airborne sounds emitted during honey bee dances.     

Increase in dance imprecision with decreasing foraging distance in the honey bee <Emphasis Type="Italic">Apis mellifera</Emphasis> L. is partly explained by physical constraints

Honey bee foragers communicate the direction and distance of both food sources and new nest sites to nest mates by means of a symbolic dance language. Interestingly, the precision by which dancers transfer directional information is negatively correlated with the distance to the advertised food source. The ‘tuned-error’ hypothesis suggests that colonies benefit from this imprecision as it spreads recruits out over a patch of constant size irrespective of the distance to the advertised site. An alternative to the tuned-error hypothesis is that dancers are physically incapable of dancing with great precision for nearby sources. Here we revisit the tuned-error hypothesis by studying the change in dance precision with increasing foraging distance over relatively short distances while controlling for environmental influences. We show that bees indeed increase their dance precision with the increase in foraging distance. However, we also show that dances performed by swarm-scouts for a nearby (30 m) nest site, where there could be no benefit to imprecision, are either without or with only limited directional information. This result suggests that imprecision in dance communication is caused primarily by physical constraints in the ability of dancers to turn around quickly enough when the advertised site is nearby.     

Honeybees establish specific sites on the comb for their waggle dances

Successful honeybee foragers perform dances on the surface of the comb where they interact with nectar receivers and dance followers. We have recorded the sites at which dances take place in large ten-frame hives and in two-frame observation hives. We find that dancing bees are most commonly found on particular combs in large hives and in particular areas on the combs in the observation hives. Although the site where dances take place may change from day to day, dancers will keep to the same site during the foraging period in any one day. Furthermore, if an established dance site is artificially relocated in the hive during the day, dancers seek these sites out before commencing their dances. We conclude that the dance sites are labelled in some way and so promote the congregation of both dancers and dance followers at the same site. Accepted: 27 November 1996     

Can Machines Think? Interaction and Perspective Taking with Robots Investigated via fMRI

Background

When our PC goes on strike again we tend to curse it as if it were a human being. Why and under which circumstances do we attribute human-like properties to machines? Although humans increasingly interact directly with machines it remains unclear whether humans implicitly attribute intentions to them and, if so, whether such interactions resemble human-human interactions on a neural level. In social cognitive neuroscience the ability to attribute intentions and desires to others is being referred to as having a Theory of Mind (ToM). With the present study we investigated whether an increase of human-likeness of interaction partners modulates the participants'' ToM associated cortical activity.

Methodology/Principal Findings

By means of functional magnetic resonance imaging (subjects n = 20) we investigated cortical activity modulation during highly interactive human-robot game. Increasing degrees of human-likeness for the game partner were introduced by means of a computer partner, a functional robot, an anthropomorphic robot and a human partner. The classical iterated prisoner''s dilemma game was applied as experimental task which allowed for an implicit detection of ToM associated cortical activity. During the experiment participants always played against a random sequence unknowingly to them. Irrespective of the surmised interaction partners'' responses participants indicated having experienced more fun and competition in the interaction with increasing human-like features of their partners. Parametric modulation of the functional imaging data revealed a highly significant linear increase of cortical activity in the medial frontal cortex as well as in the right temporo-parietal junction in correspondence with the increase of human-likeness of the interaction partner (computerConclusions/SignificanceBoth regions correlating with the degree of human-likeness, the medial frontal cortex and the right temporo-parietal junction, have been associated with Theory-of-Mind. The results demonstrate that the tendency to build a model of another''s mind linearly increases with its perceived human-likeness. Moreover, the present data provides first evidence of a contribution of higher human cognitive functions such as ToM in direct interactions with artificial robots. Our results shed light on the long-lasting psychological and philosophical debate regarding human-machine interaction and the question of what makes humans being perceived as human.