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
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
Sensory Motor Sensory Motor Performance Program Performance Program (SMPP) at RIC(SMPP) at RIC
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• 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
2
Must read
Motivations
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3
Must read
Where to get many (not all) of these
papershttp://165.124.30.8/savedLiterature
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
• Launch & correct4
Must read
Woodworth, R. S. The accuracy of voluntary movement. Psychological
Review 3 (1899)
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
• 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)
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
• 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)
Sensory Motor Sensory Motor Performance Program Performance Program (SMPP) at RIC(SMPP) at RIC
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Must read
fitts
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
• credited with the early propoosal of "motor program" theory.
• see also henry&rogers(60) and adams(71)
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Must read
Keele SW (1968) Movement control in skilled motor performance. Psychological
Bulletin 70: 387-403
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
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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)
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
McGruer
• Block diagram and transfer function models for motor control
• Feedback delay
Sensory Motor Sensory Motor Performance Program Performance Program (SMPP) at RIC(SMPP) at RIC
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• Anticipatory Postural Adjustments11
Must read
Belin'kii VY, Gurfinkel VS, Pal'tsev YI (1967) Elements of control of voluntary movements.
Biofizika 12: 137-141
Sensory Motor Sensory Motor Performance Program Performance Program (SMPP) at RIC(SMPP) at RIC
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Morton Merton Marsden
• Predictions that gamma motor neurons proactively instill a contraction that cause the motion
• Falsified by data
Sensory Motor Sensory Motor Performance Program Performance Program (SMPP) at RIC(SMPP) at RIC
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• 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
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Must read
Evarts EV (1973) Motor cortex reflexes associated with learned movement. Science 179: 501-503
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
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
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
• 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)
Sensory Motor Sensory Motor Performance Program Performance Program (SMPP) at RIC(SMPP) at RIC
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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
Sensory Motor Sensory Motor Performance Program Performance Program (SMPP) at RIC(SMPP) at RIC
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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
Sensory Motor Sensory Motor Performance Program Performance Program (SMPP) at RIC(SMPP) at RIC
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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
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
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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)
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
• 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)
Sensory Motor Sensory Motor Performance Program Performance Program (SMPP) at RIC(SMPP) at RIC
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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).
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
• 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)
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
Stark & clark (thanks to Shapiro)
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
• 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
Sensory Motor Sensory Motor Performance Program Performance Program (SMPP) at RIC(SMPP) at RIC
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• 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)
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
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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)
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
27
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.
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
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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)
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
Flanagan and Rao, 1995
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Neural Machine Interaction (NMI) Lab Neural Machine Interaction (NMI) Lab U. Illinois at ChicagoU. Illinois at Chicago
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Must read
Kawato, M. Internal models for motor control and trajectory planning. Current
Opinion in Neurobiology 9, 718-727 (1999)
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
• 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
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
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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).
Sensory Motor Sensory Motor Performance Program Performance Program (SMPP) at RIC(SMPP) at RIC
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Must read
Koerding & wolpert 2005
Sensory Motor Sensory Motor Performance Program Performance Program (SMPP) at RIC(SMPP) at RIC
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Must read
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