A model for sensorimotor control and learning

A model for motor learning, generalization, and adaptation is presented. It is shown that the equations of motion of a limb can be expressed in a parametric form that facilitates transformation of desired trajectories into plans. These parametric equations are used in conjunction with a quantized multidimensional memory organized by state variables. The memory is supplied with data derived from the analysis of practice movements. A small computer and mechanical arm are used to implement the model and study its properties. Results verify the ability to acquire new movements, adapt to mechanical loads, and generalize between similar movements.

[1]  F. A. Miles,et al.  Adaptive plasticity in the vestibulo-ocular responses of the rhesus monkey. , 1974, Brain research.

[2]  G. Jones,et al.  Extreme vestibulo‐ocular adaptation induced by prolonged optical reversal of vision , 1976, The Journal of physiology.

[3]  Murray Eden,et al.  Handwriting and pattern recognition , 1962, IRE Trans. Inf. Theory.

[4]  L R YOUNG,et al.  BIOLOGICAL CONTROL SYSTEMS--A CRITICAL REVIEW AND EVALUATION. DEVELOPMENTS IN MANUAL CONTROL. NASA CR-190. , 1965, NASA contractor report. NASA CR. United States. National Aeronautics and Space Administration.

[5]  G. Jones,et al.  Observations on the control of stepping and hopping movements in man , 1971, The Journal of physiology.

[6]  Central Control of movement. I. Introduction. , 1971, Neurosciences Research Program bulletin.

[7]  Hammond Ph,et al.  The influence of prior instruction to the subject on an apparently involuntary neuro-muscular response. , 1956 .

[8]  Hirochika Inoue,et al.  Kinematics of the MIT-AI-VICARM Manipulator , 1974 .

[9]  Bernard Roth,et al.  The Near-Minimum-Time Control Of Open-Loop Articulated Kinematic Chains , 1971 .

[10]  Horst Mittelstaedt,et al.  The analysis of behavior in terms of control systems , 1958 .

[11]  P. Hammond,et al.  The influence of prior instruction to the subject on an apparently involuntary neuro-muscular response. , 1956, The Journal of physiology.

[12]  Richard C. Waters.  A Mechanical Arm Control System , 1974 .

[13]  G. Jones,et al.  Short‐term adaptive changes in the human vestibulo‐ocular reflex arc , 1976, The Journal of physiology.

[14]  Arthur E. Bryson,et al.  Applied Optimal Control , 1969 .

[15]  Marc Raibert,et al.  Control and Learning by the State Space Model: Experimental Findings , 1977 .

[16]  R. Held.  Exposure-history as a factor in maintaining stability of perception and coordination. , 1961, The Journal of nervous and mental disease.

[17]  G. Jones,et al.  Muscular control of landing from unexpected falls in man , 1971, The Journal of physiology.

[18]  Marc Raibert.  A State Space Model for Sensorimotor Control and Learning , 1976 .

[19]  M. Raibert.  Analytical equations vs. table look-up for manipulation: A unifying concept , 1977, 1977 IEEE Conference on Decision and Control including the 16th Symposium on Adaptive Processes and A Special Symposium on Fuzzy Set Theory and Applications.

[20]  R. Held,et al.  A Neural Model for Labile Sensorimotor Coordinations , 1962 .

[21]  D. Marr.  A theory of cerebellar cortex , 1969, The Journal of physiology.

[22]  E. Holst.  Relations between the central Nervous System and the peripheral organs , 1954 .

[23]  R. Held,et al.  MOVEMENT-PRODUCED STIMULATION IN THE DEVELOPMENT OF VISUALLY GUIDED BEHAVIOR. , 1963, Journal of comparative and physiological psychology.

[24]  B. Rust,et al.  A simple algorithm for computing the generalized inverse of a matrix , 1966, CACM.

[25]  Richard Paul Collins Paul,et al.  Modelling, trajectory calculation and servoing of a computer controlled arm , 1972 .

[26]  King-Sun Fu,et al.  Learning control systems and intelligent control systems: An intersection of artifical intelligence and automatic control , 1971 .

[27]  L R Young,et al.  Biological control systems--a critical review and evaluation. NASA CR-577. , 1966, NASA contractor report. NASA CR. United States. National Aeronautics and Space Administration.

[28]  Kumpati S. Narendra,et al.  Adaptation and learning in automatic systems , 1974 .