Emilio Bizzi, Neville Hogan, Ferdinando Mussa-Ivaldi, and Simon Giszter. Does the nervous system use equilibrium-point control to guide single and multiple joint movements? Behavioral and Brain Sciences, 15:603--613, 1992.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....function in two dimensions. 6.1. Example 1: Smooth function approximation This example demonstrates the construction of the complete inverse of a smooth function, which is not an injective. We have drawn 400 examples from the function y=sin(x 2) Where xi was uniformly distributed in the range [ 2,2]. The results of the I IH algorithm are given in Fig 6 and Fig 7. Let us demonstrate the results of the inverse PMLE function, which implements the architecture in Fig 5. The complete inverse of the target value 0.5 is the following matrix containing 4 possible solutions: X] ipmle(D,W, ....

....a two dimensional function. We have chosen to check the algorithm on the following function, which can be presented as a typical control problem. 4. X 2 X2 We have drawn 4000 examples from the following function y 2 where x 2 1 l x 2 and x2 were uniformly distributed in the range [ 2,2]. The results of the HH algorithm are presented in Fig 9, Fig 10 and Fig 11. 19 This function was taken from Lee and Lee [19] who considered it as describing a nonlinear system. They tried to identify the dynamics of the difference equation, y(k l) 4 y(k ) u (k) 2, with their multi resolution ....

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E. Bizzi, N. Hogan, F.A. Mussa-Ivaldi and S. Giszter, Does the nervous system use equilibrium-point control to guide single and multiple joint movements? Behavioral and Brain sciences 15 (1992) 603-613.

....in two dimensions. 6.1. Example 1: Smooth function approximation This example demonstrates the construction of the complete inverse of a smooth function, which is not an injective. We have drawn 400 examples from the function y=sin(x 2 ) Where x i was uniformly distributed in the range [ 2,2]. The results of the HH algorithm are given in Fig 7 and Fig 8. Let us demonstrate the results of the inverse PMLE function, which implements the architecture in Fig 6. The complete inverse of the target value 0.5 is the following matrix containing 4 possible solutions: 0.7485 1.6185 0.7285 ....

....a two dimensional function. We have chosen to check the algorithm on the following function, which can be presented as a typical control problem. We have drawn 4000 examples from the following function y x x x = 4 1 2 2 2 2 2 1 where x 1 and x 2 were uniformly distributed in the range [ 2,2]. The results of the HH algorithm are presented in Fig 10, Fig 12 and Fig 13. This function was taken from Lee and Lee [19] who considered it as describing a nonlinear system. They tried to identify the dynamics of the difference equation, 2 1 4 1 2 = k u k y k y k y , ....

[Article contains additional citation context not shown here]

E. Bizzi, N. Hogan, F.A. Mussa-Ivaldi and S. Giszter, Does the nervous system use equilibrium-point control to guide single and multiple joint movements? Behavioral and Brain sciences 15 (1992) 603-613.

....system, which abounds in integrators. Will marginality prove to be a basic feature of other motor areas Postural systems are prime candidates for marginality, due to their similarity to gaze stabilizing systems. If the equilibrium point hypothesis of movement as a kind of postural shift is correct[25], marginality could also be important for the control of voluntary movement. Line attractors have also appeared in recent models of the motor[26] primary visual[27] and inferotemporal[28] cortices. 11 Acknowledgments I am indebted to B. Shraiman and D. Tank for ideas and encouragement, D. ....

E. Bizzi, N. Hogan, F. A. Mussa-Ivaldi, and S. Giszter. Does the nervous system use equilibrium-point control to guide single and multiple joint movements? Behav. and Brain Sci., 15:603--613, 1992. 13

....stuck before it reached its equilibrium position E1, one that stuck at its equilibrium position E2, and one that overshot its equilibrium position E3. Controlling the Spring Mass System The idea that limb movements may be generated by equilibrium point control has been studied extensively (see Bizzi et al. 1992) for a review) However, in this system the endpoints of movements are not necessarily equilibrium positions. Thus to move the mass to a target position, it does not suffice to set equilibrium position to the target. In this section we describe a control regime that is biologically motivated and ....

Bizzi, E, Hogan, N, Mussa-Ivaldi, FA, & Giszter, S (1992). Does the nervous system useequilibrium-point control to guide single and multiple joint movements? Behavioral and Brain Sciences, 15, 603--613.

....code it is running, and gives a guess as to why it was last reset. The bulk of the code on a motor controller is for servocontrol. The servo code decides just what kind of muscle a motor looks like to the rest of Cog s brain. After reviewing some literature on theories of biological motor control (Bizzi, Hogan et al. 1992), and equilibrium point control (McIntyre Bizzi 1993) in particular, I decided to implement a basic proportional derivative (PD) controller for the neck motors. The PD controller has adjustable gains so it is possible to execute equillibrium point guided movements from the 68332, and as a ....

Bizzi, E., Hogan, N. et al. (1992), `Does the nervous system use equilibrium-point control to guide single and multiple joint movements?', Behavioral and Brain Sciences 15, 603--613.

....tries to bring it back (see Figure 9) This The JANUS Society 9 (a) b) c) Figure 8: The workspace of one of the JANUS arms (left) a) from the front, b) from above and (c) from the top. mechanism continually competes with the other arm controlling forces. This biologically motivated model [3] enables the arm to turn to naturally looking and unique positions for each TCP point (see Figure 10) 9.2 Principles 7 and 5 In JANUS the Principle 7 permeates the entire architecture (see Figure 11) The whole system is composed of a set of reagents running in parallel. They communicate via a ....

E. Bizzi, N. Hogan, F. A. Mussa-Ivaldi, and S. Giszter. Does the nervous system use equilibrium-point control to guide single and multiple joint movements? Behavioural and Brain Sciences, 15(4):603--613, 1992.

....trajectories, 2. the model for interpreting the demonstrated trajectories must also provide the parameters used for robot control, and 3. the model must be based on considerations of human movement control. Equilibrium point control is a popular hypothesis for the control of human movement [2, 11]. According to this hypothesis, human muscles act as tunable springs and movement is controlled by specifying the stiffness and the desired equilibrium lengths of the muscles involved in the movement. This hypothesis has also been used in the control of robots for tasks involving contact with the ....

E. Bizzi, N. Hogan, F. A. Mussa-Ivaldi, and S. Giszter. Does the nervous system use equilibrium-point control to guide single and multiple joint movements ? Behavioral and Brain Sciences, 15:603--613, 1992.

....to change only slowly. A common mission path would consist of a few key reference points, such as the final TCP position and main obstacle avoidance sub goals, with the intermediate arm positions being determined mainly by such competing factors as minimum jerk [9] equilibrium point movement [5], non complex obstacle avoidance of the bulk of the arm, and shortest distance to goal. Thus there is often a great deal of freedom in the motion between key reference points, and, although one may join the points to produce a recognizable mission path, this is mainly just a guideline for the ....

E. Bizzi, N. Hogan, F. A. Mussa-Ivaldi, and S. Giszter. Does the nervous system use equilibrium-point control to quide single and multiple joint movements? Behavioral and Brain Sciences, 15(4):603--613, 1992.

....Schweighofer s model. 4.1 Servos The servos in our model are an approximation of position controlled electric servo motors commonly used in robotic hardware and model vehicles. Since a servo responds continuously to its target position input, it essentially implements equilibrium point control [3]. This permits us to simply describe joint trajectories as a set of intermediate joint positions. 4.2 Central pattern generator Similar to biological systems, our model has a mechanism for generating a base pattern of joint movements for a walking gait, called a central pattern generator. We ....

E. Bizzi, N. Hogan, F. A. Mussa-Ivaldi, and S. Giszter. Does the nervous system use equilibriumpoint control to guide single and multiple joint movements ? Behavioral and Brain Sciences, 15:603--613, 1992.

....1 1; only the mapping from end point locations to motorneuron commands need be known. While physiological evidence soon ruled out this simple model (Bizzi et al. 1984) the idea of using the viscoelastic properties of the arm to simplify movement control is still influential (Feldman, 1986; Bizzi et al. 1992). Current models posit that instead of only specifying the final position of the limb, there is a Cartesian planner which specifies either a series of equilibrium points over time or an entire virtual trajectory (Flash, 1987) These examples were meant to illustrate what we mean by the structure ....

.... symmetric velocity profiles (Morasso et al. 1983; Milner, 1992) On the other hand, the Equilibrium Point Control Hypothesis holds that the velocity profile of pointing movements are due, at least in part, to the viscoelastic properties of the arm (Mussa Ivaldi et al. 1985; Flash, 1987; Bizzi et al. 1992). Finally, a recent model by Jordan et al. 1994) shows that the stereotyped velocity profiles seen in reaching movements can emerge from a hierarchically organized adaptive controller whose error criteria are purely path dependent. For rhythmic movements there is a similar dichotomy of opinions. ....

Bizzi, E., Hogan, N., Mussa-Ivaldi, F., and Giszter, S. (1992). Does the nervous system use equilibrium-point control to guide single and multiple joint movements. Behavioral and Brain Sciences, 15:603--613.

....5.3 TheintialexperimentalconditionsforExperimentSEG. 147 14 Chapter 1 Introduction Human motor production has been analyzed and modeled for many years [Woodworth, 1899, Bernstein,1967, Adams, 1971, Schmidt, 1975] Various insightful models have been hypothesized [Flash and Hogan, 1985, Bizzi, et al. 1991, Mazzoni, et al. 1991, Kawato and Gomi, 1992, Contreras Vidal, et al. 1997] but the depth of our biologically derived control of movement is still not well captured. As a consequence, non biologically driven strategies have been implemented in robots designed to perform movements in specific environments. With these strategies, robots ....

Bizzi, E., Hogan, N., Mussa-Ivaldi, F.A., and Giszter, S.F. (1992) Does the nervous system use equilibrium-point control to guide single and multiple joint movements? The Behavioral and Brain Sciences, 15(4), pp.603-- 613.

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Emilio Bizzi, Neville Hogan, Ferdinando Mussa-Ivaldi, and Simon Giszter. Does the nervous system use equilibrium-point control to guide single and multiple joint movements? Behavioral and Brain Sciences, 15:603--613, 1992.

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E. Bizzi, N. Hogan, F. A. Mussa-Ivaldi, and S. Giszter. Does the nervous system use equilibrium-point control to guide single and multiple joint movements? Behavioral and Brain Sciences, 15:501--613, 1992.

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Bizzi E, Hogan N, Mussa-Ivaldi FA & Giszter S (1992) "Does the nervous system use equilibrium-point control to guide single and multiple joint movements?" Behavioral and Brain Sciences, vol. 15: 603-613.

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Bizzi, E., Hogan, N., Mussa Ivaldi, F.A., Giszter, S.F. (1992) Does the nervous system use equilibrium-point control to guide single and multiple movements? Behavioral and Brain Sciences 15, 603-613.

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Bizzi E, Hogan N, Mussa-Ivaldi FA & Giszter S (1992) "Does the nervous system use equilibrium-point control to guide single and multiple joint movements?" Behavioral and Brain Sciences, vol. 15: 603-613.

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