Abstract
Fast and coordinated arm movements should be executed under feedforward control since biological feedback loops, in particular those via the periphery, are slow and have small gains. Recent estimates show dynamic stiffness is low during movement (Bennett et al. 1992; Bennett 1993; Gomi & Kawato 1996). Thus, internal, neural models such as an inverse dynamics model are necessary (Kawato et al. 1993; Katayama & Kawato 1993). Analysis of the activity of single Purkinje cells suggests the existence of an inverse dynamics model in the cerebellum (Shidara et al. 1993). Trajectories of point-to-point arm movements using multi-joints are characterized by roughly straight hand paths and bell-shaped speed profiles (Morasso 1981). Kinematic and dynamic optimization principles have been proposed to account for these invariant features so far (Flash & Hogan 1985; Uno et al. 1989; Kawato 1992; Kawato 1996). Experimental data support the dynamic optimization theory, which requires both forward and inverse models of the motor apparatus and the external world.
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Kawato, M. (2000). A Bi-Directional Theory Approach to Prerational Intelligence. In: Cruse, H., Dean, J., Ritter, H. (eds) Prerational Intelligence: Adaptive Behavior and Intelligent Systems Without Symbols and Logic, Volume 1, Volume 2 Prerational Intelligence: Interdisciplinary Perspectives on the Behavior of Natural and Artificial Systems, Volume 3. Studies in Cognitive Systems, vol 26. Springer, Dordrecht. https://doi.org/10.1007/978-94-010-0870-9_35
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DOI: https://doi.org/10.1007/978-94-010-0870-9_35
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