Sensory Motor Performance Program (SMPP) at RIC Neural Machine Interaction (NMI) Lab U. Illinois at...

Sensory Motor Sensory Motor Performance Program Performance Program (SMPP) at RIC(SMPP) at RIC

Neural Machine Interaction (NMI) Lab Neural Machine Interaction (NMI) Lab U. Illinois at ChicagoU. Illinois at Chicago


MOTOR CONTROLJim Patton 9/28/2009

Important Articles

Lecture to MLB, Sept 29,2009



• New students do not know where to start• Perhaps the beginning of a course. Recently

proposed– Haptic programming for human robotic training

experiments– Modeling and simulation of healthy and pathological

motor control

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Must read

Motivations



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Must read

Where to get many (not all) of these

papershttp://165.124.30.8/savedLiterature



• Launch & correct4

Must read

Woodworth, R. S. The accuracy of voluntary movement. Psychological

Review 3 (1899)



• postural reflexes

• dependence on the anti-gravity stretch reflex

• traced the afferent stimulus to proprioceptive end organs

5

Must read

Sherrington, C. S. The integrative action of the nervous system

(Constable, London, 1906)



• This book is not his first work – that was in the 1930’s in Russian

• Motor variability• Synergies• Learning by Freezing of

degrees of freedom

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Must read

Bernstein, N. The coordination and regulation of movement (Pegammon

Press, Oxford, 1967)



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Must read

fitts



• credited with the early propoosal of "motor program" theory.

• see also henry&rogers(60) and adams(71)

8

Must read

Keele SW (1968) Movement control in skilled motor performance. Psychological

Bulletin 70: 387-403



9

Must read

Feldman, A. G. Functional tuning of the nervous system during control of movement or maintenance of steady posture -- III.

mechanographic analysis of the execution by man of the simplest motor tasks. Biofizika 11,

667-675 (1966)



McGruer

• Block diagram and transfer function models for motor control

• Feedback delay



• Anticipatory Postural Adjustments11

Must read

Belin'kii VY, Gurfinkel VS, Pal'tsev YI (1967) Elements of control of voluntary movements.

Biofizika 12: 137-141



Morton Merton Marsden

• Predictions that gamma motor neurons proactively instill a contraction that cause the motion

• Falsified by data



• The magnitude of response can depend on attention and descending modulatory signals from the brain, except for a component of the spinal stretch reflex (the fastest, monosynaptic component), which appears to be invariant

13

Must read

Evarts EV (1973) Motor cortex reflexes associated with learned movement. Science 179: 501-503



Nichols TR, Houk JC (1975) Improvement in linearity and regulation of stiffness

that results from actions of stretch reflex. Journal of Neurophysiology 39: 119-142

• Suggests a control framework for Spindle afferents

• Spindle afferents reduce yielding



• ALSO John Soecting came out about the same time

• Multijoint movements

• Straight line movements

• Bell-shaped velocity profile

• Hand held manipulandum (pantagraph)

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Must read

Morasso, P. Spatial control of arm movements. Experimental Brain

Research 42, 223-227 (1981)



Hollerbach & flash 1982

• Equations of motion can tell you Torques are not negligiable during motions

• Speed scales with torques

• Speeding up is a possible strategy for learning multijoint motions



Atkeson and Hollerbach 1985

• Scaling of unrestrained motions

• Movements in 3D, presence of gravity causes movement not to be as straight-lined

• Straightness of movements is overrated



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Must read

Houk JC, Rymer WZ, Crago, P (1981) Dependence of Dynamic Response of Spindle Receptors on

Muscle Length and Tension. Journal of Neurophysiology 46: 143-166



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Must read

Flash, T. & Hogan, N. The coordination of arm movements: An experimentally confirmed

mathematical model. Journal of Neuroscience 5, 1688-1703 (1985)



• Deaffrented rhesus monkey forearm• test theory: descending switch for end pos vs.

virtual trajectory• Hold & release, measure torque & accel transients• Perturb arm, returns to point between init and end

position=>virtual trajectory control

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Must read

Bizzi, E., Accornero, N., Chapple, W. & Hogan, N. Posture Control and trajectory formation during arm movement. Journal of Neuroscience 4, 2738-2744

(1984)



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Must read

Miles, F. A. & Eighmy, B. B. Long-term adaptive changes in primate vestibuloocular reflex I:

Behavioral observations. Journal of Neurophysiology 43, 1406-1425 (1980).



• Some Cosine tuned cells in cortex• spatially distributed preferences for motion• Kalaska went on to show this is good in terms of

force• Many others came later and showed this is true for

many features – you have neurons cosine tuned for just about everythng, and that the same cells may have same job in different tasks

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Must read

Georgeopolis, A. P., Kalaska, J. F., Camintini, R. & Massey, J. T. On the relations between the direction of two dimensional arm

Movements and cell discharge in primate motor cortex. Journal of Neuroscience 2, 1527-1537 (1982)



Stark & clark (thanks to Shapiro)



• INITIAL platform perturb study. • Tilting, translating, or both. • Distinguishing between plain old stretch reflex

stabilization & higher involvement. • Tuning of reflexes was observed in adaptation to

new condition in 3-5 trials.

• Cerebellar patients did not

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Must read

Nashner LM (1976) Adapting reflexes controlling the human posture. Experimental Brain Research

26: 59-72



• Cocontraction modeling25

Must read

Hogan, N. Adaptive control of mechanical impedance by coactivation of antagonist

muscles. IEEE Transactions on Automatic Control AC-29, 681-690 (1984)



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Must read

Flash, T. & Hogan, N. The coordination of arm movements: An experimentally confirmed

mathematical model. Journal of Neuroscience 5, 1688-1703 (1985)



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Must read

Uno Y, Kawato M, Suzuki R (1989) Formation and control of optimal trajectory in human multijoint arm movement. Minimum torque change model.

Biol Cybern 61:89-102.



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Must read

Shadmehr, R. & Mussa-Ivaldi, F. A. Adaptive representation of dynamics during learning of a motor task. Journal of Neuroscience 14, 3208-

3224 (1994)



Flanagan and Rao, 1995



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Must read

Kawato, M. Internal models for motor control and trajectory planning. Current

Opinion in Neurobiology 9, 718-727 (1999)



• Initial signal dependent noise that leads optimal predictions of movement

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Must read

Harris CM, Wolpert DM (1998) Signal-dependent noise determines motor

planning. Nature 394: 780-784



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Must read

Ernst, M. & Banks, M. Humans integrate visual and haptic information in a

statistically optimal fashion. Nature 415, 429-433 (2002).



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Must read

Koerding & wolpert 2005



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Must read

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fin



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Must read

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Sensory Motor Performance Program (SMPP) at RIC Neural Machine Interaction (NMI) Lab U. Illinois at...

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