Multijoint arm control: beyond reachinF
نویسندگان
چکیده
AbslractWe present a set of recent results on the control of movements in which the hand interacts with force fields that simulate the presence of dynamical objects and of surface boundaries. These experiments exploit the possibility of using humanlrobot interactions for exploring if and how the smoothness is enforced by the adaptive control system. We conclude that a) subjects learn to generate smooth motion of transported objects and that h) significant exceptions to smooth motions are observed in hand movements over curved boundaries. KeywordsAdaptation, Contact, Force-fields, Smoothness
منابع مشابه
Equilibrium-point control hypothesis examined by measured arm stiffness during multijoint movement.
For the last 20 years, it has been hypothesized that well-coordinated, multijoint movements are executed without complex computation by the brain, with the use of springlike muscle properties and peripheral neural feedback loops. However, it has been technically and conceptually difficult to examine this "equilibrium-point control" hypothesis directly in physiological or behavioral experiments....
متن کاملCerebellar damage diminishes long-latency responses to multijoint perturbations.
Damage to the cerebellum can cause significant problems in the coordination of voluntary arm movements. One prominent idea is that incoordination stems from an inability to predictively account for the complex mechanical interactions between the arm's several joints. Motivated by growing evidence that corrective feedback control shares important capabilities and neural substrates with feedforwa...
متن کاملControl strategies for the transition from multijoint to single-joint arm movements studied using a simple mechanical constraint.
Changes were studied in neuromotor control that were evoked by constraining the motion of the elbow joint during planar, supported movements of the dominant arm in eight normal human subjects. Electromyograph (EMG) recordings from shoulder and arm muscles were used to determine whether the normal multijoint muscle activity patterns associated with reaching to a visual target were modified when ...
متن کاملRecursive Filter Design for Estimating Time Varying Multijoint Human Arm Viscoelasticity
The time varying human multijoint arm dynamics can be modeled by two factors, simplified musculoskeletal dynamics and the uncertainty factor consisting of measurement noises and modeling error of a rigid body dynamics. In some cases, the uncertainty factor may not be Gaussian; the Kalman filter is no longer the optimal filter. In this paper, for the non-Gaussian environment, a recursive filter ...
متن کاملMultijoint reflex responses to constant-velocity volitional movements of the stroke elbow.
Multijoint reflex coupling could impact the voluntary control of functional arm movements in people post stroke. The multijoint responses to active-assist, constant-velocity movements of the elbow joint were measured in 14 individuals post stroke and 9 neurologically intact controls. Resulting responses in the stroke group illustrated a change in the reflex coupling of the elbow and shoulder mu...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2004