Adaptive feedback control models of the vestibulocerebellum and spinocerebellum

Gomi, Hiroaki; Kawato, Mitsuo

doi:10.1007/bf00201432

Cited by 172 publications

(73 citation statements)

References 32 publications

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“…Although the potential advantages of acceleration feedback have long been recognized [23,29,60], only with the availability of inexpensive triaxial accelerometers have their beneficial effects on balance control been investigated experimentally [65,66]. The fact that the delayed PDA controller is superior to the delayed PD controller with respect to stabilizability suggests that other fields of neuroscience in which PD controllers have been used previoulsy could also benefit by involving acceleration feedback in the control law.…”

Section: Resultsmentioning

confidence: 99%

Acceleration feedback improves balancing against reflex delay

Insperger

Milton

Stépàn

2013

J. R. Soc. Interface.

123

111

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A model for human postural balance is considered in which the time-delayed feedback depends on position, velocity and acceleration (proportionalderivative-acceleration (PDA) feedback). It is shown that a PDA controller is equivalent to a predictive controller, in which the prediction is based on the most recent information of the state, but the control input is not involved into the prediction. A PDA controller is superior to the corresponding proportional-derivative controller in the sense that the PDA controller can stabilize systems with approximately 40 per cent larger feedback delays. The addition of a sensory dead zone to account for the finite thresholds for detection by sensory receptors results in highly intermittent, complex oscillations that are a typical feature of human postural sway.

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Section: Resultsmentioning

confidence: 99%

Acceleration feedback improves balancing against reflex delay

Insperger

Milton

Stépàn

2013

J. R. Soc. Interface.

123

111

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“…It can be seen as a transformation from head velocity to eye velocity (Jordan, 1990). When the target is not at infinite distance, a real time adaptation is achieved, for which Kawato (1990), Kawato and Gomi (1992) and Gomi and Kawato (1992) proposed and verified a computational model called Feedback Error Learning (FEL).…”

Section: Coordination Of Redundant Dofs: Emergent Vormentioning

confidence: 99%

“…Thus, reflexive motor command serves as an error signal for the learning of the adaptive component; the network learns to minimize the interventions of the reflexive component. This is the FEL model Gomi and Kawato, 1992).…”

Section: The Experimental Systemmentioning

confidence: 99%

Neural learning of embodied interaction dynamics

Kuniyoshi¹,

Berthouze²

1998

Neural Networks

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This paper presents our approach towards realizing a robot which can bootstrap itself towards higher complexity through embodied interaction dynamics with the environment including other agents. First, the elements of interaction dynamics are extracted from conceptual analysis of embodied interaction and its emergence, especially of behavioral imitation. Then three case studies are made, presenting our neural architecture and the robotic experiments on some of the important elements discussed above: self exploration and entrainment, emergent coordination, and categorizing self behavior. Finally, we propose that integrating all these elements will be an important step towards realizing the bootstrapping agent envisaged above. ᭧

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“…Concepts from robotics have been introduced to motion control. Leaving the solution of an inverse-dynamics to neural network problem (7) (8) , researchers have sought plausible cost functions to generate trajectories of the arm. To generate a smooth trajectory, the minimum jerk model was a) Correspondence to: Eizo Miyashita.…”

Section: Introductionmentioning

confidence: 99%

Understanding Motion Control of the Body Using Optimal Feedback Control

Miyashita

2016

IEEJ Journal IA

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The motion control mechanism of the body is a major subject of neuroscience, and investigations of it are expected to contribute to an improved understanding of our bodies. An optimal feedback control (OFC) model is one of the newest control models introduced to neuroscience. In this paper, the motion control mechanism of reaching arm movements was reviewed in the framework of OFC referring to recent works carried out at the author's laboratory. The movement of the arm was simulated using an iterative linear-quadratic-Gaussian method to realize an approximate optimal controller. The reactive response to a perturbing force during reaching movements of the arm was measured experimentally, and compared with the simulated results using OFC. OFC was able to reproduce some aspects of the reaching movements of the arm when a cost function was appropriately defined. This suggests that OFC is a plausible base model to describe the internal state of the body, and a further improvement of the model is expected to contribute to the development of efficient training methods for improving quality of movement, both for healthy and disabled persons.

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Adaptive feedback control models of the vestibulocerebellum and spinocerebellum

Cited by 172 publications

References 32 publications

Acceleration feedback improves balancing against reflex delay

Acceleration feedback improves balancing against reflex delay

Neural learning of embodied interaction dynamics

Understanding Motion Control of the Body Using Optimal Feedback Control

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