Modular, Multimodal Arm Control Models

Ehrenfeld, Stephan; Herbort, Oliver; Butz, Martin V.

doi:10.1007/978-3-642-39875-9_7

Computational and Robotic Models of the Hierarchical Organization of Behavior 2013

DOI: 10.1007/978-3-642-39875-9_7

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Modular, Multimodal Arm Control Models

Stephan Ehrenfeld

Oliver Herbort

Martin V. Butz

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Cited by 2 publications

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“… 18. There is another reason to abandon the term: There is an older, more precise meaning of modularity that predates Fodor; has already been in use in other fields such as physiology, developmental and evolutionary biology, artificial intelligence, and software engineering; and is not equivalent to evolutionary psychology’s notion of functional specialization. This original version of modularity is a characteristic of a system—described at either a functional or implementation level—in which the system executes its function by decomposing the problem it solves into hierarchically arranged tasks and subtasks (Ehrenfeld et al, 2013). Hierarchically arranged systems nested within other systems solve these types of problems in which “no ‘demon’ or other local process can know enough about the overall situation to make good decision; but no top-level manager can know enough details either” (Minsky, 1974/1975, p. 60; see also Lorenz, 1948/1996).…”

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confidence: 99%

Why Evolutionary Psychology Should Abandon Modularity

Pietraszewski

Wertz

2021

Perspect Psychol Sci

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A debate surrounding modularity—the notion that the mind may be exclusively composed of distinct systems or modules—has held philosophers and psychologists captive for nearly 40 years. Concern about this thesis—which has come to be known as the massive modularity debate—serves as the primary grounds for skepticism of evolutionary psychology’s claims about the mind. In this article we argue that the entirety of this debate, and the very notion of massive modularity itself, is ill-posed and confused. In particular, it is based on a confusion about the level of analysis (or reduction) at which one is approaching the mind. Here we provide a framework for clarifying at what level of analysis one is approaching the mind and explain how a systemic failure to distinguish between different levels of analysis has led to profound misunderstandings of not only evolutionary psychology but also of the entire cognitivist enterprise of approaching the mind at the level of the mechanism. We furthermore suggest that confusions between different levels of analysis are endemic throughout the psychological sciences—extending well beyond issues of modularity and evolutionary psychology. Therefore, researchers in all areas should take preventive measures to avoid this confusion in the future.

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confidence: 99%

Why Evolutionary Psychology Should Abandon Modularity

Pietraszewski

Wertz

2021

Perspect Psychol Sci

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How does the CNS control arm reaching movements? Introducing a hierarchical nonlinear predictive control organization based on the idea of muscle synergies

Dehghani

Bahrami

2020

PLoS ONE

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In this study, we introduce a hierarchical and modular computational model to explain how the CNS (Central Nervous System) controls arm reaching movement (ARM) in the frontal plane and under different conditions. The proposed hierarchical organization was established at three levels: 1) motor planning, 2) command production, and 3) motor execution. Since in this work we are not discussing motion learning, no learning procedure was considered in the model. Previous models mainly assume that the motor planning level produces the desired trajectories of the joints and feeds it to the next level to be tracked. In the proposed model, the motion control is described based on a regulatory control policy, that is, the output of the motor planning level is a step function defining the initial and final desired position of the hand. For the command production level, a nonlinear predictive model was developed to explain how the time-invariant muscle synergies (MSs) are recruited. We used the same computational model to explain the arm reaching motion for a combined ARM task. The combined ARM is defined as two successive ARM such that it starts from point A and reaches to point C via point B. To develop the model, kinematic and kinetic data from six subjects were recorded and analyzed during ARM task performance. The subjects used a robotic manipulator while moving their hand in the frontal plane. The EMG data of 15 muscles were also recorded. The MSs used in the model were extracted from the recorded EMG data. The proposed model explains two aspects of the motor control system by a novel computational approach: 1) the CNS reduces the dimension of the control space using the notion of MSs and thereby, avoids immense computational loads; 2) at the level of motor planning, the CNS generates the desired position of the hand at the starting, via and the final points, and this amounts to a regulatory and non-tracking structure.

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Modular, Multimodal Arm Control Models

Cited by 2 publications

References 78 publications

Why Evolutionary Psychology Should Abandon Modularity

Why Evolutionary Psychology Should Abandon Modularity

How does the CNS control arm reaching movements? Introducing a hierarchical nonlinear predictive control organization based on the idea of muscle synergies

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