Human Centric Robotics

developing robots that understand the neuroscience and control underlying human behaviours

Text Box:

Publications

 

 

   Book Chapters

 

B4  T. Ikegami, H. Nakamoto, G. Ganesh. Action and Prediction driven contagions in human actions. Book chapter in press in the MIT press Handbook on Embodied Cognition and Sports Psychology.

 

B3  G. Ganesh, T. Ikegami. Beyond Watching: Action understanding by humans and its implications for interacting robots. Book chapter in Dance Notations and Robot Motion , in the Springer Tracts in Advanced Robotics (STAR) collection

 

B2  E. Burdet, G. Ganesh, C.G. Yang, A. Albu-Schäffer. Interaction Force, Impedance and Trajectory Adaptation: by Humans, for Robots, Springer Tracts in Advanced Robotics Volume 79, 2014, pp 331-345

 

B1  E. Burdet, R. Gassert, G. Gowrishankar, D. Chapuis, H. Bleuler, fMRI Compatible Haptic Interfaces to Investigate Human Motor Control, In: Marcelo Ang and Oussama Khatib, editor, Springer Tracts in Advanced Robotics, Springer 25-34.

 

Journals and Proceedings

 

P17 K.P. Tee, J. Li, L.T.P. Chen, K.W. Wan, G. Ganesh (2018).Towards Emergence of Tool Use in Robots: Automatic Tool Recognition and Use without Prior Tool Learning. IEEE International Conference on Robotics and Automation, ICRA  2018.

 

J25 A. Takagi, F. Usai, G. Ganesh, V. Sanguineti, E. Burdet (2018). Haptic communication between humans is tuned by the hard or soft mechanics of interaction. In press, in PLOS computational Bilology.

 

P16 S Kato, N. Yamanobe, G. Venture, G. Ganesh (2018). Humans can predict where their partner would make a handover. ‘Late breaking report’ at the International Conference on Human Robot Interaction, HRI 2018.

 

J24  T. Ikegami, G. Ganesh (2017). Shared Mechanisms in the Estimation of Self-Generated Actions and the Prediction of Other’s Actions by Humans. ENEURO.0341-17.2017; DOI: https://doi.org/10.1523/ENEURO.0341-17.2017.

 

J23 L. Aymerich-Franch, D. Petit, G. Ganesh, A. Kheddar (2017). Object touch by a humanoid robot avatar induces haptic sensation in the real hand. Journal of Computer Mediated Communication. 22(4):215:230.

 

P15 J. Vogel, N. Takemura, H. Hoppner, P. van der Smagt, G. Ganesh (2017). Hitting the sweet spot: automatic optimization of energy transfer during tool-held hits. IEEE International Conference on Robotics and Automation, ICRA  2017.

 

             J22 A. Takagi*, G. Ganesh*, T. Yoshioka, M. Kawato, E. Burdet (2017). Physically interacting individuals estimate the partner’s goal to enhance their movements. Nature Human Behavior. doi:10.1038/s41562-017-0054

              

             J21 L. Aymerich-Franch, D. Petit, G. Ganesh, A. Kheddar (2017). Non-human looking robot arms produce illusion of embodiment. International Journal of Social Robotics.1-12.

       

       J20 L. Aymerich-Franch, D. Petit, G. Ganesh, A. Kheddar (2016).  The second me: seeing the real body during humanoid embodiment produces an illusion of bi-location. Consciousness and Cognition. 46:99-109. doi: 10.1016/j.concog.2016.09.017.

 

      J19 L. Aymerich-Franch, D. Petit, A. Kheddar, G. Ganesh (2016).  Forward modelling the rubber hand: illusion of ownership reorganizes the motor-sensory predictions by the brain. Royal Society Open Science. DOI:10.1098/rsos.160407

 

J18 S Zhang, H Mano, G Ganesh, T Robbins, B Seymour (2016). Multiple learning processes underlie human pain    conditioning. Current Biology, 21(1), p52–58.

 

             J17 L. Aymerich-Franch, G. Ganesh (2016). The role of functionality in the body model for self-attribution. Review  in Neuroscience Research. 104:31-7. doi: 10.1016/j.neures.2015

 

P15  L. Aymerich-Franch, D. Petit, G. Ganesh,  A. Kheddar (2015). Embodiment of a humanoid robot avatar is preserved       during partial and  delayed control. IEEE International Workshop on Advanced Robotics and its Social Impacts,  ARSO  2015.

 

J16 T. Pistohl, D. Joshi, G. Ganesh, A. Jackson K. Nazarpour (2014). Artificial Proprioceptive Feedback for Myoelectric Prosthesis Control. IEEE Transactions on Neural Systems & Rehabilitation Engineering. 23(3):498-507.

 

J15  T. Ikegami, G. Ganesh (2014). Watching novice action degrades expert’s performance- Evidence that the motor system is involved in action understanding by humans. Nature Scientific Reports. doi: 10.1038/srep06989.

·     In Scientific American Magazine

·     Sport : être mauvais est-il contagieux? in the CNRS magazine.

·        On TBS television ‘Asachan’ 

·        ‘hebo no darts miru na-’ in ‘Mainichi Shinbun’

·     Article in Japan’s leading newspaper ‘Asahi Shinbun

·       Yahoo Japans’ take on our experiment.

·         interview on Japan’s TBS radio

 

J14 G. Ganesh, T. Yoshioka,  R. Osu, T. Ikegami (2014). Immediate tool incorporation processes determine human motor planning with tools. Nature Communications. doi: 10.1038/ncomms5524.

 

J13 G. Ganesh, A. Takagi, R. Osu, T. Yoshioka, M. Kawato, E. Burdet (2014). Two is better than one: Physical interactions improve motor performance in humans. Nature Scientific Reports 4.doi10.1038/srep03824.

·        Mutual benefits observed during human-human physical interactions: Press release in Japan 

·        Practise makes perfect if you have a partner’s touch: Press release in London

            

J12  B. Vanderborght, A. Albu-Schaeffer, A. Bicchi, E. Burdet, D. Caldwell, R. Carloni, M. Catalano, G.Ganesh, M. Garabini, G. Grioli, S. Haddadin, A. Jafari, M. Laffranchi, D. Lefeber, F. Petit, S. Stramigioli, N. Tsagarakis, M. Van Damme, R. Van Ham, L. Visser, S. Wolf (2013). Variable Impedance Actuators: a Review. Elsevier Robotics and Autonomous systems. 61(12):1601-1614.

 

J11  G. Ganesh, R. Osu, E. Naito (2013). Feeling the force: Returning sensory signals determine effort ex  penditure during motor coordination. Nature Scientific Reports. doi10.1038/srep02648.

 

P14  T. Pistohl, A. Jackson, G. Ganesh, D. Joshi, K. Nazarpour. Artificial Proprioception for Myoelectric Control. IEEE Engineering in Medicine and Biology Conference EMBC, 2013.

 

J10  G.Ganesh, E. Burdet (2012). Motor planning explains human behavior in tasks with multiple solutions. Special Issue of Elsevier Robotics and Autonomous Systems: Models and technologies for multi-modal skill training. 61-ISSN:0921-8890 :362-368.

 

J9  M. Haruno, G. Ganesh, E. Burdet, M. Kawato (2012). Differential Correlates of force and co-contraction in the human premotor cortex. J. Neurophysiol. 107(1): 126-33.

 

P13  B. Vanderborght, A. Albu-Schaeffer, A. Bicchi, E. Burdet, D. Caldwell, R. Carloni, M. Catalano, G.Ganesh, M. Garabini, G. Grioli, S. Haddadin, A. Jafari, M. Laffranchi, D. Lefeber, F. Petit, S. Stramigioli, N. Tsagarakis, M. Van Damme, R. Van Ham, L. Visser, S. Wolf. Variable Impedance Actuators: Moving the Robots of Tomorrow. Video at IEEE International conference on intelligent robots and systems, IROS 2012.

{Best video award}

 

P12  G. Ganesh, N. Jarrasse, S. Hadaddin, A. Albu-Schaeffer, E. Burdet (2012). A Versatile Biomimetic Controller for contact tooling and haptic exploration, IEEE International Conference on Robotics and Automation, ICRA  2012.

 

J8  CG. Yang, G. Ganesh, S. Haddadin, S. Perusal, A. Albu-Schäffer, E. Burdet (2011). Human-like adaptation of force and impedance in stable and unstable Interactions. IEEE Trans. Robotics. 99: 1-13.                                

{Best Paper in 2011 award}

 

J7  E. Su, G. Ganesh, CF. Yeong, CL. Teo, WT. Ang, E. Burdet (2011). Effect of grip force and training in unstable dynamics on micromanipulation accuracy. IEEE Trans. Haptics 4(3): 167-74.

 

J6  J. Kodl, G. Ganesh, E. Burdet (2011). The CNS stochastically selects motor plan utilizing extrinsic and intrinsic representations. PLoS ONE 6(9): e24229.

 

P11  A. Melendez-Calderon, V. Komisar, G. Ganesh, E. Burdet (2011). Classification of strategies for disturbance attenuation in human-human collaborative tasks. IEEE Engineering in Medicine and Biology Conference EMBC, 2011.

 

P10  G. Ganesh, A. Albu-Schäffer, M. Haruno, M. Kawato, E. Burdet (2011). Force, Impedance and TrajectoryAdaptation: by Humans, for Robots. Invited poster at GCOE Cognitive Neuroscience Robotics, May 2011.

 

J5  T. Lemmin, G. Ganesh, R. Gassert, E. Burdet, M. Kawato, M. Haruno (2010). Model based attenuation of movement artifacts in fMRI, J. Neurosci. Methods. 192(1): 58-69.

 

P9  E. Burdet, G. Ganesh, C.G. Yang, A. Albu-Schäffer (2010). Interaction Force, Impedance and Trajectory

Adaptation: by Humans, for Robots. International Symposium for Experimental Robotics, ISER, 2010.

 

P8  G. Ganesh, A. Albu-Schäffer, M. Haruno, M. Kawato, E. Burdet (2010). Biomimetic motor behavior for simultaneous adaptation of force, impedance and trajectory in interaction tasks. IEEE International Conference on Robotics and Automation, ICRA, 2010.

{Best Cognitive Robotics Paper nominee }

 

P7 E. Su, G. Ganesh, C. F. Yeong, E. Burdet (2010). Accurate Micromanipulation induced by Performing in Unstable Dynamics. IEEE International Symposium on Robotics and human Interactive Communication, RO-MAN, 2010.

 

J4 G. Ganesh, M. Haruno, M. Kawato, E. Burdet (2010). Motor memory and local minimization of error and effort, not global optimization, determine motor behavior‏, J. Neurophysiol. 104(1): 382-90.

 

J3  G. Ganesh, E. Burdet, M. Haruno, M. Kawato (2008). Sparse linear regression for reconstructing muscle activity from human cortical fMRI, Neuroimage 42(4): 1463-72.

 

J2  G. Ganesh, D. Franklin, R. Gassert, H. Imamizu, M. Kawato (2007). Accurate online feedback of surface EMG measurements during fMRI, J. Neurophysiol. 97: 912-20.

 

P6 D. Chapuis, R. Gassert, G. Ganesh, E. Burdet, H. Bleuler (2006). Investigation of a cable transmission for the actuation of MR compatible haptic interfaces. Accepted to IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob, 2006.

 

P5 R. Gassert, L. Dovat, G. Ganesh, E. Burdet, H. Bleuler (2006). A 2-DOF fMRI compatible haptic interface to investigate the neural control of arm movements. IEEE International Conference on Robotics and Automation ICRA, 2006.

 

J1  L. Burztyn*, G. Ganesh*, H. Imamizu, M. Kawato, R. Flanagan (2006). Neural Correlates of internal model loading. Current Biology, 16: 2440–2445.

 

P4 L. Dovat, R. Gassert, D. Chapuis, G. Ganesh, E. Burdet, H. Bleuler (2005). A haptic interface based on potential mechanical energy to investigate human motor control using fMRI. IEEE Engineering in Medicine and Biology Conference EMBC, 2005.

 

P3 R. Gassert, L. Dovat, G. Ganesh, E. Burdet, H. Imamizu, H. Bleuler (2005). Multi-Joint arm movements to investigate motor control with fMRI. IEEE Engineering in Medicine and Biology Conference EMBC, 2005.

 

P2  E. Burdet, R. Gassert, G. Ganesh, D. Chapuis, H. Bleuler (2004). fMRI compatible haptic interfaces to investigate human motor control, International Symposium on Experimental Robotics, 2004.

 

P1 G. Ganesh, R. Gassert, H. Bleuler, and E (2004). Burdet. Dynamics and control of an mri compatible master-slave system with hydrostatic transmission. IEEE International Conference on Robotics and Automation ICRA 04, pages 1288–1294, 2004.

 

 

  Abstracts and Posters

 

       A31 Y. Suzuki, G. Ganesh, Y. Miyawaki. Investigation of the change in body representation due to a sixth finger. 17th Winter workshop on the mechanisms of brain and mind, January 2018.

 

       A30 T. Ikegami, G. Ganesh, H. Nakamoto. Presence and absence of prediction errors during action observation induce distinct motor contagions. Poster at Society for Neuroscience SFN meeting, November 2017.

 

      A29 K. Nakamura, G. Ganesh, AM Tobar, S. Suetia, N. Yoshimura, E. Yoshida, H. Ando, Y. Koike. Utilizing prediction errors to decode movement intention: a new technique. 17th Winter workshop on the mechanisms of brain and mind, January 2017.

 

       A28 K. Nakamura, G. Ganesh, AM Tobar, S. Suetia, N. Yoshimura, E. Yoshida, H. Ando, Y. Koike. Utilizing prediction errors to decode movement intention: a new technique. Poster at Motor control symposium, June 2016.

 

       A27 H. Nakamoto, T. Ikegami, G. Ganesh. 運動観察時の予測誤差の有無が自己の運動制御機構に及ぼす影響. Poster at Motor control symposium, June 2016.

 

       A26 T. Ikegami, G. Ganesh. Outcome prediction of observed actions affects one’s own outcome estimation but not action correction. Poster at Society for Neuroscience SFN meeting, November 2015.

 

      A25 N. Takemura, T. Yoshioka, T. Ikegami, D. Korhammer, Hannes Hoepner, P. van der Smagt, G. Ganesh. Towards measurement and understanding of human impedance control during voluntary impacts. Poster at  Neural Control of Movement, NCM, April 2015.

 

      A24 D. Korhammer N. Takemura, G. Ganesh, P. van der Smagt. Decoding arm stiffness from Electromyography during voluntary impacts. Poster at Neural Control of Movement, NCM, April 2015.

      

             A23 T. Ikegami, G. Ganesh. Outcome prediction of observed actions affects one’s own outcome estimation but not       action correction. Poster at Society for Neuroscience SFN meeting, November 2013.

 

              A22 N. Takemura, T. Yoshioka, T. Ikegami, D. Korhammer, Hannes Hoepner, P. van der Smagt, G. Ganesh.       Towards measurement and understanding of human impedance control during voluntary impacts. Poster at       Neural Control of Movement, NCM, April 2015.

 

              A21 D. Korhammer N. Takemura, G. Ganesh, P. van der Smagt. Decoding arm stiffness form Electromyography       during voluntary impacts. Poster at Neural Control of Movement, NCM, April 2015.

 

A20  T. Ikegami, G. Ganesh. Watching novice action degrades darts expert’s skill: Evidence that the motor system is involved in action understanding. Poster at Society for Neuroscience SFN meeting, November 2013.

 

A19  G. Ganesh. R. Osu, E. Naito. Feeling the load: Returning haptic signals influence effort inference during motor coordination. Poster at Motor control symposium, June 2013.

 

A18 T. Ikegami, G. Ganesh. Darts expert’s forward model degraded by watching novice darts throwing. Poster at Motor control symposium, June 2013.

 

A17 G. Ganesh. T. Ikegami. Tool kinematics mis-planning in humans. Poster at Motor control symposium, June 2012.

 

A16  T. Ikegami, G. Ganesh. How observation affects motor action. Poster at Motor control symposium, June 2012.

 

A15  T. Ikegami, G. Ganesh. Tool kinematics mis-planning in humans. Poster at Neural Control of Movement, NCM, April 2012.

 

A14  G. Ganesh, R. Osu, T. Yoshioka, M. Kawato, E. Burdet. Symbiosis of motor interaction. Poster at Japanese Society for Neuroscience meeting, JSFN, September 2011.

 

A13 T. Ikegami, G. Ganesh, T. Gibo, T. Yoshioka, M. Kawato, R. Osu. Multiple motor plans for the same environment modulated by history of endpoint error. Poster at Japanese Society for Neuroscience meeting, JSFN, September 2011.

 

A12  G. Ganesh, T. Ikegami, T. Gibo, E. Burdet, T. Yoshioka, M. Kawato, R. Osu. Effect of end-point error on trajectory adaptation during force field learning: Model. Poster at Neural Control of Movement, NCM, April 2011.

 

A11 T. Ikegami, G. Ganesh, T. Gibo, T. Yoshioka, M. Kawato, R. Osu. Effect of end-point error on trajectory adaptation during force field learning: Experiment. Poster at Neural Control of Movement, NCM, April 2011.

 

A10  Malendez-Calderon, V. Komisar, G. Ganesh, E. Burdet. Mechanisms of collaboration in human-human interactive tasks. Poster at Neural Control of Movement, NCM, April 2011.

 

A9 G. Ganesh, M. Haruno, M. Kawato, E. Burdet. Motor optimization in the presence of multiple error-effort minima. Poster at Neural Control of Movement, NCM, April 2010.

 

A8  J. Kodl*, G. Ganesh*, E. Burdet. Multiple solutions in movement planning. Poster at Brain and Mind Conference- Rusutsu, January 2010.

 

A7  羽倉信宏、番浩志、G. Ganesh、山本洋紀、春野雅彦:手位置の空間表現.日本神経科学会抄録集.P1-g02 Japanese Neuroscience Society, September 2009.

羽倉信宏,番浩志,G. Ganesh,山本洋紀,春野雅彦:手位置の脳内表現 No.24. Motor Control 研究会, June 2009.

 

A6 G. Ganesh, M. Haruno, E. Burdet. A Hypothesis-less analysis of the neural correlates of motor learning. Poster at Neural Control of Movement, NCM, April 2009.

 

A5  G. Ganesh, M. Haruno, E. Burdet. Transitions between reciprocal activation and co-contraction during posture control. Poster at Neural Control of Movement, NCM, April 2008.

 

A4  G. Ganesh, M. Haruno, E. Burdet, M. Kawato. Neural Correlates of Force and Impedance Learning. Poster at Japanese Society for Neuroscience meeting, JSFN, October 2008.

 

A3 G. Ganesh, M. Haruno, E. Burdet. Real time filtering of imaging artifacts from surface electromyography (EMG) during fMRI – technique and applications. Poster at Neural Control of Movement, NCM, April 2007.

 

A2  M. Haruno, G. Ganesh. Differential neural correlates of force control and muscle co-contraction control revealed by fMRI with on-line EMG feedback. Poster at Society for Neuroscience meeting, SFN, December 2006.

 

A1  DW. Franklin, G. Ganesh, R. Osu, H. Imamizu, TE. Milner and M. Kawato. Neural correlates of the control of muscle impedance. Poster at Human Brain Mapping, HBM, June 2006.

 

 

  Dissertations

 

PhD dissertation: Mechanisms of Motor Learning: by Humans, for Robots.

            Dept of Bioengineering, Imperial College London (2010).

 

Masters dissertation: Control of master-slave actuation systems for MRI/fMRI compatible haptic interfaces. Dept of Mechanical Engineering, National University of Singapore (2005).

 

 

 

Rough classification:  J* motor neuroscience;     J* robot-human interaction;     J* cognitive neuroscience

authors contributed equally

Rough classification:  J* motor neuroscience;     J* robot-human interaction;     J* cognitive neuroscience

authors contributed equally

Dr. Gowrishankar Ganesh,

Senior Researcher (CR1),

CNRS-AIST Joint Robotics Laboratory,

UMI3218/RL,
Central 2, 1-1-1 Umezono,

Tsukuba, Ibaraki 305-8568 JAPAN
e-mail:
g.ganesh AT aist . go . jp

            gans_gs AT hotmail . com