A principled approach to biological motor control for generating humanoid robot reaching movements

2008 ◽  
Author(s):  
Tran Minh Tuan ◽  
Philippe Soueres ◽  
Michel Taix ◽  
Emmanuel Guigon
Keyword(s):  
Motor Control ◽  
Humanoid Robot ◽  
Reaching Movements ◽  
Biological Motor

Muscle torques and joint accelerations provide more sensitive measures of post-stroke movement deficits than joint angles.

2021 ◽  
Author(s):  
Ariel B Thomas ◽  
Erienne V Olesh ◽  
Amelia Adcock ◽  
Valeriya Gritsenko
Keyword(s):  
Motor Control ◽  
Motion Capture ◽  
Reaching Movements ◽  
Motor Deficits ◽  
Joint Angles ◽  
Active Joint ◽  
Joint Torques ◽  
Post Stroke ◽  
Muscle Moments ◽  
Muscle Torques

The whole repertoire of complex human motion is enabled by forces applied by our muscles and controlled by the nervous system. The impact of stroke on the complex multi-joint motor control is difficult to quantify in a meaningful way that informs about the underlying deficit in the active motor control and intersegmental coordination. We tested whether post-stroke deficit can be quantified with high sensitivity using motion capture and inverse modeling of a broad range of reaching movements. Our hypothesis is that muscle moments estimated based on active joint torques provide a more sensitive measure of post-stroke motor deficits than joint angles. The motion of twenty-two participants was captured while performing reaching movements in a center-out task, presented in virtual reality. We used inverse dynamics analysis to derive active joint torques that were the result of muscle contractions, termed muscle torques, that caused the recorded multi-joint motion. We then applied a novel analysis to separate the component of muscle torque related to gravity compensation from that related to intersegmental dynamics. Our results show that muscle torques characterize individual reaching movements with higher information content than joint angles do. Moreover, muscle torques enable distinguishing the individual motor deficits caused by aging or stroke from the typical differences in reaching between healthy individuals. Similar results were obtained using metrics derived from joint accelerations. This novel quantitative assessment method may be used in conjunction with home-based gaming motion-capture technology for remote monitoring of motor deficits and inform the development of evidence-based robotic therapy interventions.

scholarly journals Morphological Computation Increases From Lower- to Higher-Level of Biological Motor Control Hierarchy

2020 ◽  
Vol 7 ◽  
Author(s):  
Daniel F. B. Haeufle ◽  
Katrin Stollenmaier ◽  
Isabelle Heinrich ◽  
Syn Schmitt ◽  
Keyan Ghazi-Zahedi
Keyword(s):  
Motor Control ◽  
Morphological Computation ◽  
Biological Motor ◽  
Control Hierarchy

Two functionally different synergies during arm reaching movements involving the trunk

1995 ◽  
Vol 73 (5) ◽  
pp. 2120-2122 ◽  
Author(s):  
S. Ma ◽  
A. G. Feldman
Keyword(s):  
Motor Control ◽  
Degrees Of Freedom ◽  
Arm Movements ◽  
The Other ◽  
Reaching Movements ◽  
Positional Error ◽  
Trunk Motion ◽  
Arm Reaching ◽  
Trunk Movements ◽  
The Right

1. To address the problem of the coordination of a redundant number of degrees of freedom in motor control, we analyzed the influence of voluntary trunk movements on the arm endpoint trajectory during reaching. 2. Subjects made fast noncorrected planar movements of the right arm from a near to a far target located in the ipsilateral work space at a 45 degrees angle to the sagittal midline of the trunk. These reaching movements were combined with a forward or a backward sagittal motion of the trunk. 3. The direction, positional error, curvature, and velocity profile of the endpoint trajectory remained invariant regardless of trunk movements. Trunk motion preceded endpoint motion by approximately 175 ms, continued during endpoint movement to the target, and outlasted it by 200 ms. This sequence of trunk and arm movements was observed regardless of the direction of the endpoint trajectory (to or from the far target) or trunk movements (forward or backward). 4. Our data imply that reaching movements result from two control synergies: one coordinates trunk and arm movements leaving the position of the endpoint unchanged, and the other produces interjoint coordination shifting the arm endpoint to the target. The use of functionally different synergies may underlie a solution of the redundancy problem.

scholarly journals Online control of reach accuracy in mice

2020 ◽  
Vol 124 (6) ◽  
pp. 1637-1655
Author(s):  
Matthew I. Becker ◽  
Dylan J. Calame ◽  
Julia Wrobel ◽  
Abigail L. Person
Keyword(s):  
Machine Learning ◽  
Motor Control ◽  
Online Control ◽  
Reaching Movements ◽  
Statistical Machine Learning ◽  
Analytical Frameworks

Mice use reaching movements to grasp and manipulate objects in their environment, similar to primates. To better establish mouse reach as a model for motor control, we implement several analytical frameworks, from basic kinematic relationships to statistical machine learning, to quantify mouse reach, finding many canonical features of primate reaches are conserved in mice, as well as evidence for midflight course corrections, expanding the utility of mouse reach paradigms for motor control studies.

scholarly journals Gyro-Sensor-Based Vibration Control for Dynamic Humanoid-Robot Walking on Inclined Surfaces

Sensors ◽  
2020 ◽  
Vol 20 (24) ◽  
pp. 7139
Author(s):  
Sunandan Dutta ◽  
Mitiko Miura-Mattausch ◽  
Yoshihiro Ochi ◽  
Naoto Yorino ◽  
Hans Jürgen Mattausch
Keyword(s):  
Motor Control ◽  
Control System ◽  
Humanoid Robot ◽  
Surface Friction ◽  
Frequency Domain Analysis ◽  
Feedback Gain ◽  
Gyro Sensor ◽  
Inclined Surfaces ◽  
Novel Method ◽  
Motor Control System

An efficient motor-control system for stable walking of the lightweight humanoid robot KONDO KHR-3HV on inclined surfaces is investigated. The motor-control system is based on the angular velocity of the pitch motion of the robot, which is detected by a gyro sensor attached to the robot torso and referred to as the angular-pitch velocity. The robot gait is analyzed for different downslopes with and without the motor-feedback control. A novel method of frequency-domain analysis of the angular-pitch velocity is proposed for explaining the reasons behind the instabilities of dynamic humanoid-robot walking on inclined surfaces. The results show, that a nonlinear nature of the motor torque, due to a force induced by the slope, gives rise to harmonics of the fundamental walking frequency of 1.73 Hz. These harmonics are the origin of the unstable robot walking. Additionally, the feedback-gain parameters KA and KH affect the amplitudes of the harmonics, which give rise to vibrations at a higher surface inclination. Increased surface friction allows a reduction of the feedback gain, which reduces this specific contribution to the harmonics and thus stabilizes the robot. To improve the walking stability on inclined surfaces, it is found that the damped natural frequency of the motor-control system must be kept lower than the fundamental walking frequency.

Force Control and Reaching Movements on the iCub Humanoid Robot

2016 ◽  
pp. 161-182 ◽  
Author(s):  
Giorgio Metta ◽  
Lorenzo Natale ◽  
Francesco Nori ◽  
Giulio Sandini
Keyword(s):  
Force Control ◽  
Humanoid Robot ◽  
Reaching Movements
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