MODELS OF TRAJECTORY FORMATION AND TEMPORAL INTERACTION OF REACH AND GRASP

被引:267
作者
HOFF, B [1 ]
ARBIB, MA [1 ]
机构
[1] UNIV SO CALIF,CTR NEURAL ENGN,LOS ANGELES,CA 90089
关键词
COORDINATION; GRASP; MODEL; OPTIMIZATION; REACH;
D O I
10.1080/00222895.1993.9942048
中图分类号
Q189 [神经科学];
学科分类号
071006 ;
摘要
Our goal was to create a principled account of a body of behavioral kinematic data on reaching and grasping. We show how to transform an optimality principle for overall hand transport into a feedback control law and then incorporate look-ahead modules in the controller to compensate for delays in sensory feedback. This model describes the kinematics of hand transport under a variety of circumstances, including target perturbations. We then develop a model for the temporal coordination of reach and grasp. We provide an optimization principle for hand preshaping that trades off the costs of maintaining the hand in an open position and the cost of accelerating the change in grip size. This yields a control system for preshaping. We then show that a model that uses only expected duration for coordination, rather than kinematic or dynamic variables, can describe the kinematics of interaction of hand transport and preshape under a variety of circumstances, including perturbations of object position and object size.
引用
收藏
页码:175 / 192
页数:18
相关论文
共 36 条
[1]  
Arbib M.A., 1985, EXP BRAIN RES S, V10, P111, DOI DOI 10.1007/978-3-642-70105-4_
[2]  
Arbib MA., 2011, COMPR PHYSIOL, P1449, DOI DOI 10.1002/CPHY.CP010233
[3]  
ATKESON CG, 1985, J NEUROSCI, V5, P2318
[4]  
BULLOCK D, 1988, NEURAL NETWORKS NATU, P553
[5]   THEORY OF THE HUMAN OPERATOR IN CONTROL SYSTEMS I. THE OPERATOR AS AN ENGINEERING SYSTEM [J].
Craik, Kenneth J. W. .
BRITISH JOURNAL OF PSYCHOLOGY-GENERAL SECTION, 1947, 38 :56-61
[6]   FEEDBACK-CONTROL OF HAND-MOVEMENT AND FITTS LAW [J].
CROSSMAN, ERFW ;
GOODEVE, PJ .
QUARTERLY JOURNAL OF EXPERIMENTAL PSYCHOLOGY SECTION A-HUMAN EXPERIMENTAL PSYCHOLOGY, 1983, 35 (MAY) :251-278
[7]   THE COORDINATION OF ARM MOVEMENTS - AN EXPERIMENTALLY CONFIRMED MATHEMATICAL-MODEL [J].
FLASH, T ;
HOGAN, N .
JOURNAL OF NEUROSCIENCE, 1985, 5 (07) :1688-1703
[8]   THE CONTROL OF HAND EQUILIBRIUM TRAJECTORIES IN MULTIJOINT ARM MOVEMENTS [J].
FLASH, T .
BIOLOGICAL CYBERNETICS, 1987, 57 (4-5) :257-274
[9]   ARM TRAJECTORY MODIFICATIONS DURING REACHING TOWARDS VISUAL TARGETS [J].
FLASH, T ;
HENIS, E .
JOURNAL OF COGNITIVE NEUROSCIENCE, 1991, 3 (03) :220-230
[10]   BRAIN-STEM CONTROL OF SACCADIC EYE-MOVEMENTS [J].
FUCHS, AF ;
KANEKO, CRS ;
SCUDDER, CA .
ANNUAL REVIEW OF NEUROSCIENCE, 1985, 8 :307-337