Abstract
This paper presents an analog CMOS implementation of a neural network based on a spinal cord model. The network is comprised by three pairs of cells, Alpha motoneurons, Interneurons and Renshaw cells, which form the basic control motor system for a single limb movement in a human being. Neurons behaviour is described by a differential equation, which provides it with a dynamic performance. This network is useful to control limb movements based in an agonist pair of actuators, i.e. muscles for a human limb or electric motors or SMA fibers for machine applications. This structure has the advantage that allows independent control of limb position and stiffness, which makes it suitable for applications where inertial load compensation is a critical factor.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Guyton, A.C., Hall, J.E.: Textbook of Medical Physiology, 9th ed. W. B. Saunders Company, Toronto (1996)
Wu, C., Young, K., Hwang, K., Lehman, S.: Voluntary movements for robotic control. In: IEEE Control Systems. 1992.
Bullock, D., Contreras, J.L., Grossberg, S.: Inertial load compensation by a model spinal circuit during single joint movement. In: Tech. Report CAS/CNS-95-007.
Austria Mikro Systeme International A.G.: Hit-Kit 0.35.
Tanno, K., Ishizuka, O., Tang, Z.: Four-Quadrant CMOS Current-Mode Multiplier Independent of Device Parameters. In: IEEE Transactions on Circuits and Systems II, vol 47, pp 473–477, 2000.
Smith, S.L., Sánchez-Sinencio, E.: Low voltage integrators for high-frecuency CMOS filters using current mode techniques. In: IEEE Transactions on Circuits and Systems II, vol 43, pp 39–48, 1996.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Doménech-Asensi, G., Ruiz-Merino, R., Hauer, H., Díaz-Madrid, J.Á. (2003). Current mode CMOS synthesis of a motor–control neural system. In: Mira, J., Álvarez, J.R. (eds) Artificial Neural Nets Problem Solving Methods. IWANN 2003. Lecture Notes in Computer Science, vol 2687. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-44869-1_4
Download citation
DOI: https://doi.org/10.1007/3-540-44869-1_4
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-40211-4
Online ISBN: 978-3-540-44869-3
eBook Packages: Springer Book Archive