Abstract
If we want robots to engage effectively with humans in service applications or in collaborative work scenarios they have be endowed with the capacity to perceive the passage of time and control the timing of their actions. Here we report result of a robotics experiment in which we test a computational model of action timing based on processing principles of neurodynamics. A key assumption is that elapsed time is encoded in the consistent buildup of persistent population activity representing the memory of sensory or motor events. The stored information can be recalled using a ramp-to-threshold dynamics to guide actions in time. For the experiment we adopt an assembly paradigm from our previous work on natural human-robot interactions. The robot first watches a human executing a sequence of assembly steps. Subsequently, it has to execute the steps from memory in the correct order and in synchrony with an external timing signal. We show that the robot is able to efficiently adapt its motor timing and to store this information in memory using the temporal mismatch between the neural processing of the sensory feedback about executed actions and the external cue. © 2017 IEEE.

Abstract

Abstract
We study the conditions for the formation of multiple regions of high activity or "bumps" in a one-dimensional, homogeneous neural field with localized inputs. Stable multi-bump solutions of the integro-differential equation have been proposed as a model of a neural population representation of remembered external stimuli. We apply a class of oscillatory coupling functions and first derive criteria to the input width and distance, which relate to the synaptic couplings that guarantee the existence and stability of one and two regions of high activity. These input-induced patterns are attracted by the corresponding stable one-bump and two-bump solutions when the input is removed. We then extend our analytical and numerical investigation to N-bump solutions showing that the constraints on the input shape derived for the two-bump case can be exploited to generate a memory of N > 2 localized inputs. We discuss the pattern formation process when either the conditions on the input shape are violated or when the spatial ranges of the excitatory and inhibitory connections are changed. An important aspect for applications is that the theoretical findings allow us to determine for a given coupling function the maximum number of localized inputs that can be stored in a given finite interval.

Abstract
Differential diagnosis between Idiopathic Parkinson's disease (IPD) and Vascular Parkinsonism (VaP) is a difficult task, especially early in the disease. There is growing evidence to support the use of gait assessment in diagnosis and management of movement disorder diseases. The aim of this study is to evaluate the effectiveness of some machine learning strategies in distinguishing IPD and VaP gait. Wearable sensors positioned on both feet were used to acquire the gait data from 15 IPD, 15 VaP, and 15 healthy subjects. A comparative classification analysis was performed by applying two supervised machine learning algorithms: Multiple Layer Perceptrons (MLPs) and Deep Belief Networks (DBNs). The decisional space was composed of the gait variables, with or without neuropsychological evaluation (Montreal cognitive assessment (MoCA) score), top-ranked in an error incremental analysis. In the classification task of characterizing parkinsonian gait by distinguishing between patients (IPD+VaP) and healthy control, from the all strides classification of the gait performed by the person, high accuracy (93% with or without MoCA) was obtained for both algorithms. In the classification task of the two groups of patients (VaP vs. IPD), DBN classifier achieved higher performance (73% with MoCA). To the best of our knowledge, this is the first study on gait classification that includes a VaP group. DBN classifiers are not frequently applied in literature to similar studies, but the results here obtained demonstrate that the use of DBN classifiers based on gait analysis is promising to be a good support to the neurologist in distinguishing VaP and IPD.

Abstract
The literature on gait analysis in Vascular Parkinsonism (VaP), addressing issues such as variability, foot clearance patterns, and the effect of levodopa, is scarce. This study investigates whether spatiotemporal, foot clearance and stride-to-stride variability analysis can discriminate VaP, and responsiveness to levodopa. Fifteen healthy subjects, 15 Idiopathic Parkinson's Disease (IPD) patients and 15 VaP patients, were assessed in two phases: before (Off-state), and one hour after (On-state) the acute administration of a suprathreshold (1.5 times the usual) levodopa dose. Participants were asked to walk a 30-meter continuous course at a self-selected walking speed while wearing foot-worn inertial sensors. For each gait variable, mean, coefficient of variation (CV), and standard deviations SDI and SD2 obtained by Poincare analysis were calculated. General linear models (GLMs) were used to identify group differences. Patients were subject to neuropsychological evaluation (MoCA test) and Brain MRI. VaP patients presented lower mean stride velocity, stride length, lift-off and strike angle, and height of maximum toe (later swing) (p < .05), and higher %gait cycle in double support, with only the latter unresponsive to levodopa. VaP patients also presented higher CV, significantly reduced after levodopa. Yet, all VaP versus IPD differences lost significance when accounting for mean stride length as a covariate. In conclusion, VaP patients presented a unique gait with reduced degrees of foot clearance, probably correlated to vascular lesioning in dopaminergic/non-dopaminergic cortical and subcortical non-dopaminergic networks, still amenable to benefit from levodopa. The dependency of gait and foot clearance and variability deficits from stride length deserves future clarification.

Abstract
The goal of this study was grouping patients with parkinsonism that share similar gait characteristics based on principal component analysis (PCA). Spatiotemporal gait data during self-selected walking were obtained from 15 patients with Vascular Parkinsonism, 15 patients with Idiopathic Parkinson's Disease and 15 Controls. PCA was used to reduce the dimensionality of 12 gait characteristics for the 45 subjects. Fuzzy C-mean cluster analysis was performed plotting the first two principal components, which accounted for 84.1% of the total variability. Results indicates that it is possible to quantitatively differentiate different gait types in patients with parkinsonism using PCA. Objective graphical classification of gait patterns could assist in clinical evaluation as well as aid treatment planning.