论文标题
人类和机器人的身体模型
Body Models in Humans and Robots
论文作者
论文摘要
高级体感处理的神经认知模型强调了存储的身体表示在解释来自身体的实时感觉信号中的作用（Longo，Azanon和Haggard，2010年； Tame，Azanon和Longo，2019年）。对这种存储的表示形式的需求源于这样一个事实，即来自身体的即时感觉信号并未指定有关身体大小和形状的度量详细信息。因此，体感受的几个方面要求将立即的感觉信号与存储的身体表示结合。对于人形机器人而言，这个基本问题同样是正确的，并且有趣的是，为解释人类感知而开发的神经认知模型与独立于对类人生物机器人进行定位的人（例如ICUB）非常相似，该模型（例如ICUB），配备了人造电子皮肤在其大部分身体表面上（Roncone等，2014; Hoffmann; Hoffmann; hoffmann; hoffmann; 20221; hoffmann;在本章中，我们将回顾这些模型的关键特征，讨论它们彼此之间的相似性和差异，以及文献中的其他模型。使用机器人作为体现计算模型是合成方法论或“通过构建理解”的一个示例（例如Hoffmann和Pfeifer，2018年），计算体现的神经科学（Caligiore等，2010）或“自我的合成心理学”（Prescott和Camilleri，2019）。这样的模型的优势是，它们需要将它们纳入每个细节，从而使任何理论明确和完整。除了与仅通过简单地验证特定实现真正执行任务的生物学或心理现象相比，还可以（预先）验证这种理论的其他方法来验证这种理论：机器人可以将其本地化的位置触摸（请参阅https://youtu.be/youtu.be/pfse424t5mq）？
Neurocognitive models of higher-level somatosensory processing have emphasised the role of stored body representations in interpreting real-time sensory signals coming from the body (Longo, Azanon and Haggard, 2010; Tame, Azanon and Longo, 2019). The need for such stored representations arises from the fact that immediate sensory signals coming from the body do not specify metric details about body size and shape. Several aspects of somatoperception, therefore, require that immediate sensory signals be combined with stored body representations. This basic problem is equally true for humanoid robots and, intriguingly, neurocognitive models developed to explain human perception are strikingly similar to those developed independently for localizing touch on humanoid robots, such as the iCub, equipped with artificial electronic skin on the majority of its body surface (Roncone et al., 2014; Hoffmann, 2021). In this chapter, we will review the key features of these models, discuss their similarities and differences to each other, and to other models in the literature. Using robots as embodied computational models is an example of synthetic methodology or 'understanding by building' (e.g., Hoffmann and Pfeifer, 2018), computational embodied neuroscience (Caligiore et al., 2010) or 'synthetic psychology of the self' (Prescott and Camilleri, 2019). Such models have the advantage that they need to be worked out into every detail, making any theory explicit and complete. There is also an additional way of (pre)validating such a theory other than comparing to the biological or psychological phenomenon studied by simply verifying that a particular implementation really performs the task: can the robot localize where it is being touched (see https://youtu.be/pfse424t5mQ)?
