How do animals visually guide their activities in a cluttered environment? Gibson (1979) proposed that they perceive what environmental objects offer or afford for action. An analysis of affordances in terms of the dynamics of an animal-environment system is presented. Critical points, corresponding to phase transitions in behavior, and optimal points, corresponding to stable, preferred regions of minimum energy expenditure, emerge from variation in the animal-environment fit. It is hypothesized that these points are constants across physically similar systems and that they provide a natural basis for perceptual categories and preferences. In three experiments these hypotheses are examined for the activity of human stair climbing, by varying riser height with respect to leg length. The perceptual category boundary between "climbable" and "unclimbable" stairs is predicted by a biomechanical model, and visually preferred riser height is predicted from measurements of minimum energy expenditure during climbing. It is concluded that perception for the control of action reflects the underlying dynamics of the animal-environment system.

Perceiving affordances : Visual guidance of stair climbing

Méthodes : Sur une série de 31 femmes présentant des varices périnéales d’origine extrasaphéniennes ayant bénéficié d’une exploration radiologique veineuse pelvienne et de l’embolisation des veines incontinentes nous avons étudié les résultats et les corrélations anatomo-clinique entre les varices et les signes cliniques de l’insuffisance veineuse pelvienne. Un sous-groupe B de 23 patientes présentant une insuffisance veineuse pelvienne et des signes cliniques a été comparé à un groupe A de 4 patientes qui ne présentaient pas d’insuffisance veineuse pelvienne à l’exploration. Nous avons choisi d’étudier 3 signes cliniques : la douleur pelvienne et la douleur des membres inférieurs survenant au début ou pendant les règles ainsi que la dyspareunie. La symptomatologie a été évaluée sur une échelle analogique de 0 à 10 et un score clinique (de 0 à 30) a été établi en ajoutant ces 3 chiffres.

http://link.springer.com/content/pdf/10.1007/BF02973687.pdf

Références bibliographiques: La fibroscopie bronchique

In cricket, a batsman watches a fast bowler's ball come toward him at a high and unpredictable speed, bouncing off ground of uncertain hardness. Although he views the trajectory for little more than half a second, he can accurately judge where and when the ball will reach him. Batsmen's eye movements monitor the moment when the ball is released, make a predictive saccade to the place where they expect it to hit the ground, wait for it to bounce, and follow its trajectory for 100−200 ms after the bounce. We show how information provided by these fixations may allow precise prediction of the ball's timing and placement. Comparing players with different skill levels, we found that a short latency for the first saccade distinguished good from poor batsmen, and that a cricket player's eye movement strategy contributes to his skill in the game.

/pdf/from-eye-movements-to-actions-how-batsmen-hit-the-ball-1inhyfqshe.pdf

From eye movements to actions: how batsmen hit the ball.

An attempt to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object is described. The interplay of hand-eye coordination in dynamic grasping tasks such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system is explored. The goal is to build an integrated sensing and actuation system that can operate in dynamic as opposed to static environments. The system built addresses three distinct problems in using robotic hand-eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system operates at approximately human arm movement rates. Experimental results in which a moving model train is tracked, stably grasped, and picked up by the system are presented. The algorithms developed to relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks. >

/pdf/automated-tracking-and-grasping-of-a-moving-object-with-a-4gi8l4udod.pdf

Automated tracking and grasping of a moving object with a robotic hand-eye system

Comparison of initial and terminal temporal accuracy of 5 male top table tennis players performing attacking forehand drives led to the conclusion that because of a higher temporal accuracy at the moment of ball/bat contact than at initiation the players did not fully rely on a consistent movement production strategy. Functional trial-to-trial variation was evidenced by negative correlations between the perceptually specified time-to-contact at the moment of initiation and the mean acceleration during the drive; within-trial adaptation was also evident for two of the Ss. It is argued that task constraints provide the organizing principles for perception and action at the same time, thereby establishing a mutual dependency between the two. Allowing for changes in these parameters over time, a unified explanation is suggested that does not take recourse to large amounts of (tacit) knowledge on the part of the S.

Timing an attacking forehand drive in table tennis.

To investigate the timing of actions relative to events in the environment, we observed subjects leaping to punch a falling ball. We analysed their knee and elbow angles as functions of time for three ball-drop heights, finding that the differences in the functions for the different heights could be explained on the basis that the subjects were gearing their actions to a particular optic variable. This variable specifies the time remaining before contact with an object if the closing velocity is constant; for the falling ball it gives an increasingly accurate estimate of the time-to-contact. Our visuo-moto control model incorporates a delay parameter, the value of which was estimated from the data. In addition, correlations indicated that the knee and elbow were generally quite tightly coupled. The relationship of this task to laboratory tracking tasks and to the timing of actions in everyday life is described.

T. M. H. Clayton

Papers

Visual timing in hitting an accelerating ball