A MINIMAL CONTROL SCHEMA FOR GOAL-DIRECTED ARM MOVEMENTS BASED ON PHYSIOLOGICAL INTER-JOINT COUPLINGS

Till Bockemühl, Volker Dürr

Abstract

Substantial evidence suggests that nervous systems simplify motor control of complex body geometries by use of higher level functional units, so called motor primitives or synergies. Although simpler, such high level functional units still require an adequate controller. In a previous study, we found that kinematic inter-joint couplings allow the extraction of simple movement synergies during unconstrained 3D catching movements of the human arm and shoulder girdle. Here, we show that there is a bijective mapping between movement synergy space and 3D Cartesian hand coordinates within the arm’s physiological working range. Based on this mapping, we propose a minimal control schema for a 10-DoF arm and shoulder girdle. All key elements of this schema are implemented as artificial neural networks (ANNs). For the central controller, we evaluate two different ANN architectures: a feed-forward network and a recurrent Elman network. We show that this control schema is capable of controlling goal-directed movements of a 10-DoF arm with as few as five hidden units. Both controller variants are sufficient for the task. However, end-point stability is better in the feed-forward controller.

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Paper Citation


in Harvard Style

Bockemühl T. and Dürr V. (2010). A MINIMAL CONTROL SCHEMA FOR GOAL-DIRECTED ARM MOVEMENTS BASED ON PHYSIOLOGICAL INTER-JOINT COUPLINGS . In Proceedings of the International Conference on Fuzzy Computation and 2nd International Conference on Neural Computation - Volume 1: ICNC, (IJCCI 2010) ISBN 978-989-8425-32-4, pages 220-226. DOI: 10.5220/0003084102200226


in Bibtex Style

@conference{icnc10,
author={Till Bockemühl and Volker Dürr},
title={A MINIMAL CONTROL SCHEMA FOR GOAL-DIRECTED ARM MOVEMENTS BASED ON PHYSIOLOGICAL INTER-JOINT COUPLINGS},
booktitle={Proceedings of the International Conference on Fuzzy Computation and 2nd International Conference on Neural Computation - Volume 1: ICNC, (IJCCI 2010)},
year={2010},
pages={220-226},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003084102200226},
isbn={978-989-8425-32-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Fuzzy Computation and 2nd International Conference on Neural Computation - Volume 1: ICNC, (IJCCI 2010)
TI - A MINIMAL CONTROL SCHEMA FOR GOAL-DIRECTED ARM MOVEMENTS BASED ON PHYSIOLOGICAL INTER-JOINT COUPLINGS
SN - 978-989-8425-32-4
AU - Bockemühl T.
AU - Dürr V.
PY - 2010
SP - 220
EP - 226
DO - 10.5220/0003084102200226