Biomedical Engineering Reference
In-Depth Information
Chapter 17
ModellingMotorControl
Paradigms
Pietro G. Morasso, and Vittorio Sanguineti
University of Genova, DIST (Department of Informatics Systems and
Telecommunications), Via Opera Pia 13, I-16145 Genova, Italy
CONTENTS
17.1 Introduction: the ecological nature of motor control
17.2 Theroboticperspective
17.2.1 Logical decomposition of motor control into cascaded computa-
tionalprocesses
17.2.2 The Achilles' heel of feedback control
17.3 Thebiologicalperspective
17.3.1 Motorequivalenceandspatio-temporalinvariances
17.3.2 Theviscous-elasticpropertiesofthehumanmuscles
17.3.3 Dynamic compensation: anticipatory feedforward and feedback
control
17.4 The role of cerebellum in the coordination of multiple joints
17.4.1 Abnormal feedforward control in ataxic patients
17.5 Controlling unstable plants
17.5.1 Stabilisation of the standing posture: evidence of anticipatory
compensation
17.5.2 Arm trajectory in a divergent force field: evidence of stiffness
modulation
17.5.3 Choosing between stiffness modulation and anticipatory com-
pensation
17.5.4 Implementinganticipatorycompensation
17.6 Motorlearningparadigms
17.6.1 Learningparadigmsinneuralnetworks
17.6.2 Adaptivebehaviourandmotorlearning
17.6.3 Adistributedcomputationalarchitecture
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