Inverse biomimetics: How robots can help to verify concepts concerning sensorimotor control of human arm and leg movements

被引：22

作者：

Kalveram, Karl Theodor ^{[1
,2
]}

Seyfarth, Andre ^{[1
]}

机构：

[1] Univ Jena, Lauflabor Locomot Lab, D-07743 Jena, Germany

[2] Univ Dusseldorf, Inst Expt Psychol, D-40225 Dusseldorf, Germany

来源：

JOURNAL OF PHYSIOLOGY-PARIS | 2009年 / 103卷 / 3-5期

关键词：

Feedforward; Negative feedback; Exploitive control; Robotics; Aiming; Hopping; HUMAN ELBOW JOINT; MOTOR CONTROL; VOLUNTARY MOVEMENT; STIFFNESS; DYNAMICS; WALKING; MODEL; POSITION;

D O I：

10.1016/j.jphysparis.2009.08.006

中图分类号：

Q189 [神经科学];

学科分类号：

071006 ;

摘要：

Simulation test, hardware test and behavioral comparison test are proposed to experimentally verify whether a technical control concept for limb movements is logically precise. physically sound, and biologically relevant. Thereby, robot test-beds may play an integral part by mimicking functional limb movements. The procedure is exemplarily demonstrated for human aiming movements with the forearm: when comparing competitive control concepts, these movements are described best by a spring-like operating muscular-skeletal device which is assisted by feedforward control through an inverse internal model of the limb - without regress to a forward model of the limb. In a perspective on hopping, the concept of exploitive control is addressed, and its comparison to concepts derived from classical control theory advised. (C) 2009 Elsevier Ltd. All rights reserved.

引用

页码：232 / 243

页数：12

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