This Unique Text Combines Under- Graduate-level Control System Theory with Industrial Control System Prac- Tice. an Engineer Who Begins Working in the " Real World " after Graduation En- Counters Many Technical Issues and Interested in Reviewing?

The authors of this text address several issues related to the natural and external control of movement. The pathology of sensory-motor systems and current technologies aimed at restoring movement through neuroregeneration, neuroprosthesis, and artificial prosthesis are reviewed. The book is an extensive compilation of the work of both authors, including state-of-the-art work on artificial extremities and neural prostheses. Chapter 1 describes the part of the central nervous system that controls movement. In the first part, the authors discuss the morphology and physiology of the smallest basic unit, the neuron; in the second part, they describe the spectrum of functional motions that humans can master during their lifetime. Xerograms help the reader follow the discussion. In Chapter 2, the authors address the modeling of the main components involved in postural and movement control. The main component in movement is the central pattern generator—a neuronal network capable of controlling and activating individual muscles and the movements involved in walking, feeding, respiration, and so on. Furthermore, these movements can be characterized by certain kinematic features such as hand paths and velocity profiles. The authors go on to show the application of optimization theory to human reaching movements; the concepts of minimum energy, minimum torque, and minimum acceleration cost functions are discussed. Chapter 3 describes the pathology of sensory-motor systems and the assessment of disability, considering a number of injuries and diseases that can be treated with neurorehabilitation and neuroprosthesis. State-of-the-art systems for data acquisition and analysis of movement are also discussed; examples include interrupted light photography, infrared camera systems, and 3-D noncontact motion measurement systems that track small infrared markers on the patient. The trend is toward less or noninvasive techniques, such as goniometers using wireless communication to allow free movement. Chapter 4 deals with restoring movement by neuroregeneration or neurorehabilitation. State-of-the-art technologies for the latter include robotic “smart exercise partners” that can be used to move or guide the impaired arm. Neuroprosthesis is based on functional electrical stimulation principles. This technique consists of a number of cutaneous and subcutaneous methods used to activate motor nerve fibers, including electronic implantable stimulators. The chapter culminates with a description of various passive and electrically powered prostheses. Chapter 5 covers external control of movement, starting with an overview of the components of closed-loop control systems for movement. The state variables in these systems are the trajectories, the plant is the musculoskeletal system, and the disturbances are spasms and fatiguing of muscles. For those interested in intelligent control and nonparametric modeling of dynamic systems, the last part of this chapter describes the latest developments in hybrid control systems. Examples include rule-based control systems, inductive learning, artificial neural networks, fuzzy-logic networks, and wavelet networks. The authors describe how these techniques are being used to control neuroprostheses for grasping, reaching, and the movement of extremities. Finally, in Chapter 6 the authors provide their insights on the future of neuroregeneration, neurorehabilitation, and neural engineering. Intelligent control and micromachining technology will make it possible for implantable devices to interface directly with the central and peripheral nervous systems! This text is a good reference for those interested in the nervous system and control of movement, particularly the second part, which deals with tracking of movement and control. The volume incorporates more than 30 pages of references and is enriched with many illustrations.