Modeling and Evaluation of Human Motor Learning by Finger Manipulandum

Okasha A., Şengezer S., ÖZDEMİR O., YOZGATLIGİL C., TURGUT A. E., Arıkan K. B.

14th International Conference on Social Robotics, ICSR 2022, Florence, Italy, 13 - 16 December 2022, vol.13817 LNAI, pp.325-334 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 13817 LNAI
  • Doi Number: 10.1007/978-3-031-24667-8_29
  • City: Florence
  • Country: Italy
  • Page Numbers: pp.325-334
  • Keywords: Finger manipulandum, Free energy, Machine learning, Mirror paradigm
  • Middle East Technical University Affiliated: Yes


A finger manipulandum was developed to assess human motor learning in a virtual mirror game. The task is the leader-follower modality in the mirror paradigm. The follower in the virtual dynamic system is controlled by the force generated by the interaction between human and manipulandum due to pinching. One participant played the game for five consecutive days. The player’s kinematic tracking error was found to fit the free energy model leading to motor learning. In addition, the acquired data were processed with a machine learning algorithm to predict the retention data. Both the free energy model and predictors were found to provide promising results for more detailed motor learning models of healthy subjects and stroke patients.