What the draughtsman's hand tells the draughtsman's eye: A sensorimotor account of drawing

Ruben Coen Cagli, Paolo Coraggio, Paolo Napoletano, Giuseppe Boccignone

Research output: Contribution to journalArticle

9 Scopus citations


In this paper we address the challenging problem of sensorimotor integration, with reference to eye-hand coordination of an artificial agent engaged in a natural drawing task. Under the assumption that eye-hand coupling influences observed movements, a motor continuity hypothesis is exploited to account for how gaze shifts are constrained by hand movements. A Bayesian model of such coupling is presented in the form of a novel Dynamic Bayesian Network, namely an Input-Output Coupled Hidden Markov Model. Simulation results are compared to those obtained by eye-tracked human subjects involved in drawing experiments.

Original languageEnglish (US)
Pages (from-to)1015-1029
Number of pages15
JournalInternational Journal of Pattern Recognition and Artificial Intelligence
Issue number5
Publication statusPublished - Aug 1 2008
Externally publishedYes



  • Active vision
  • Biologically-inspired robots
  • Dynamic Bayesian networks
  • Sensorimotor integration

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition
  • Artificial Intelligence

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