A mathematical model of the adaptive control of human arm motions |
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Authors: | Robert M Sanner Makiko Kosha |
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Institution: | (1) University of Maryland, Space Systems Laboratory, College Park, MD 20742, USA, US |
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Abstract: | This paper discusses similarities between models of adaptive motor control suggested by recent experiments with human and
animal subjects, and the structure of a new control law derived mathematically from nonlinear stability theory. In both models,
the control actions required to track a specified trajectory are adaptively assembled from a large collection of simple computational
elements. By adaptively recombining these elements, the controllers develop complex internal models which are used to compensate
for the effects of externally imposed forces or changes in the physical properties of the system. On a motor learning task
involving planar, multi-joint arm motions, the simulated performance of the mathematical model is shown to be qualitatively
similar to observed human performance, suggesting that the model captures some of the interesting features of the dynamics
of low-level motor adaptation.
Received: 20 September 1994 / Accepted in revised form: 18 November 1998 |
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Keywords: | |
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