Reaching to grasp with a multi-jointed arm. I. Computational model

被引:61
作者
Torres, EB
Zipser, D
机构
[1] CALTECH, Div Biol, Beckman Labs 333, Pasadena, CA 91125 USA
[2] Univ Calif San Diego, Dept Cognit Sci, La Jolla, CA 92093 USA
关键词
D O I
10.1152/jn.00030.2002
中图分类号
Q189 [神经科学];
学科分类号
071006 ;
摘要
The generation of goal-directed movements requires the solution of many difficult computational problems. Among these are transformations from extrinsic to intrinsic reference frames, specifying solution paths, removing under-specification due to excess degrees of freedom and path multiplicity, constraint satisfaction, and error correction. There are no current motor-control computational models that address these issues in the context of realistic arm movement with redundant degrees of freedom. In this paper, we conjecture there is a geometric stage between sensory input and physical execution. The geometric stage determines movement trajectories independently of forces. It uses a gradient technique that relies on the metric of the space of postures to resolve endpoint path selection, posture-change specification, error correction, and multiple constraint satisfaction on-line without preplanning. The model is instantiated in an arm with seven degrees of freedom that moves in three-dimensional space. Simulated orientation-matching movements are compared with actual human movement data to assess the validity of several of the model's behavioral predictions.
引用
收藏
页码:2355 / 2367
页数:13
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