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Biology and Control Theory: Current Challenges pp 53–75Cite as

Robotics Insights for the Modeling of Visually Guided Hand Movements in Primates

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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 357))

Abstract

In this chapter we focus on the modeling of cortical activity related to planning and control of visually guided reaching hand movements in primates. We bring a new light to this problem by considering the visual-servoing framework in robotics. A review of representative theories and models describing the neuronal processes related to 3D representation of space, motor control and visuomotor integration in Neuroscience is first presented. The kinematics and dynamics of manipulators and the basics of visual-servoing techniques in robotics are then recalled. In particular, for the control of a robotic arm with a deported camera, we underline the fact that the task-Jacobian is dependent on all the joints of the kinematic chain linking the camera to the end-effector. This point suggests that the motor activity during a visually guided movement of the hand cannot be completely encoded within a body-centered reference frame as claimed by numerous models in Neuroscience. Finally, we present an experimental result showing the existence of gaze-related signals in the monkey premotor cortex during visually guided reaching. This result corroborates the idea that the eye position with respect to the head and the head position with respect to the body, which belong to the kinematic chain linking the eye to the hand, must also be coded by neurons in premotor and motor cortex.

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Author information

Authors and Affiliations

  1. LAAS-CNRS, Université de Toulouse, 7 Avenue du Colonel Roche, 31077, Toulouse Cedex 4, France

    Philippe Souères

  2. Université Toulouse 3, Université Toulouse 1, INPT, CNRS, Université Paul Sabatier, IRIT, 31062, Toulouse Cedex 9, France

    Christophe Jouffrais

  3. Université Toulouse 3, CNRS, Faculté de Medecine de Rangueil, CerCo, 31062, Toulouse Cedex 9, France

    Simona Celebrini & Yves Trotter

Authors
  1. Philippe Souères
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  2. Christophe Jouffrais
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  3. Simona Celebrini
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  4. Yves Trotter
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Editor information

Editors and Affiliations

  1. LAAS-CNRS, 7 avenue du Colonel Roche, 31077, Toulouse cedex 4, France

    Isabelle Queinnec , Sophie Tarbouriech  & Germain Garcia ,  & 

  2. Laboratoire des Signaux et Systèmes (L2S, UMR CNRS 8506), CNRS-Supélec, 3, rue Joliot Curie, 91190, Gif-sur-Yvette, France

    Silviu-Iulian Niculescu

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© 2007 Springer-Verlag Berlin Heidelberg

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Souères, P., Jouffrais, C., Celebrini, S., Trotter, Y. (2007). Robotics Insights for the Modeling of Visually Guided Hand Movements in Primates. In: Queinnec, I., Tarbouriech, S., Garcia, G., Niculescu, SI. (eds) Biology and Control Theory: Current Challenges. Lecture Notes in Control and Information Sciences, vol 357. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-71988-5_4

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  • DOI: https://doi.org/10.1007/978-3-540-71988-5_4

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-71987-8

  • Online ISBN: 978-3-540-71988-5

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