Generalization in adaptation to stable and unstable dynamics

PloS One
Abdelhamid KadiallahE Burdet

Abstract

Humans skillfully manipulate objects and tools despite the inherent instability. In order to succeed at these tasks, the sensorimotor control system must build an internal representation of both the force and mechanical impedance. As it is not practical to either learn or store motor commands for every possible future action, the sensorimotor control system generalizes a control strategy for a range of movements based on learning performed over a set of movements. Here, we introduce a computational model for this learning and generalization, which specifies how to learn feedforward muscle activity in a function of the state space. Specifically, by incorporating co-activation as a function of error into the feedback command, we are able to derive an algorithm from a gradient descent minimization of motion error and effort, subject to maintaining a stability margin. This algorithm can be used to learn to coordinate any of a variety of motor primitives such as force fields, muscle synergies, physical models or artificial neural networks. This model for human learning and generalization is able to adapt to both stable and unstable dynamics, and provides a controller for generating efficient adaptive motor behavior in robots. Simula...Continue Reading

References

Jan 1, 1992·Biological cybernetics·F A Mussa-Ivaldi, S F Giszter
Jan 1, 1990·Cold Spring Harbor Symposia on Quantitative Biology·G E LoebJ He
Apr 30, 1996·Proceedings of the National Academy of Sciences of the United States of America·F GandolfoE Bizzi
Jan 1, 1995·Experimental Brain Research·J Won, N Hogan
Jul 4, 1998·Biological cybernetics·E Burdet, T E Milner
Sep 2, 1998·Nature·C M Harris, D M Wolpert
May 20, 1999·Experimental Brain Research·G E LoebE J Cheng
Jun 12, 1999·Biological cybernetics·R M Sanner, M Kosha
Dec 22, 1999·Journal of Cognitive Neuroscience·D J Serrien, M Wiesendanger
Oct 26, 2000·Nature·K A Thoroughman, R Shadmehr
Jan 13, 2001·Experimental Brain Research·P L Gribble, D J Ostry
Feb 24, 2001·Philosophical Transactions of the Royal Society of London. Series B, Biological Sciences·F A Mussa-Ivaldi, E Bizzi
Jun 19, 2001·Journal of Motor Behavior·D Rancourt, N Hogan
Oct 31, 2002·Nature Neuroscience·Emanuel Todorov, Michael I Jordan
Mar 26, 2003·The European Journal of Neuroscience·Deborah J Serrien, Peter Brown
Jun 5, 2003·Experimental Brain Research·David W FranklinTheodore E Milner
Aug 9, 2003·Journal of Neurophysiology·Christine Tong, J Randall Flanagan
Feb 1, 1955·American Journal of Ophthalmology·M W FRIEDMAN
Nov 15, 2003·Journal of Neurophysiology·David W FranklinTheodore E Milner
Apr 2, 2004·The Journal of Neuroscience : the Official Journal of the Society for Neuroscience·Jeffrey A Saunders, David C Knill
Jun 18, 2004·Journal of Neurophysiology·David W FranklinTheodore E Milner
Jan 22, 2005·Journal of Neurophysiology·Nicole MalfaitDavid J Ostry
Jun 18, 2005·The Journal of Physiology·Theodore E Milner, David W Franklin
Sep 30, 2005·The Journal of Neuroscience : the Official Journal of the Society for Neuroscience·Kurt A Thoroughman, Jordan A Taylor
Nov 4, 2005·Journal of Neurophysiology·C K ThomasB Bigland-Ritchie
Nov 12, 2005·Biological cybernetics·E BurdetM Kawato
Jul 28, 2006·The Journal of Neuroscience : the Official Journal of the Society for Neuroscience·Andrea d'AvellaFrancesco Lacquaniti
Sep 29, 2006·Journal of Neurophysiology·Emmanuel GuigonMichel Desmurget
Oct 10, 2006·Nature Neuroscience·Daichi NozakiStephen H Scott
Mar 30, 2007·Journal of Neurophysiology·Jeremy L EmkenDavid J Reinkensmeyer
Jul 20, 2007·The Journal of Neuroscience : the Official Journal of the Society for Neuroscience·David W FranklinMitsuo Kawato
Sep 29, 2007·Current Biology : CB·Jörn Diedrichsen
Mar 7, 2008·The Journal of Neuroscience : the Official Journal of the Society for Neuroscience·William J Kargo, Simon F Giszter
Oct 17, 2008·The Journal of Neuroscience : the Official Journal of the Society for Neuroscience·Mark J Wagner, Maurice A Smith
Oct 31, 2008·The Journal of Neuroscience : the Official Journal of the Society for Neuroscience·David W FranklinMitsuo Kawato
Nov 28, 2008·The Journal of Neuroscience : the Official Journal of the Society for Neuroscience·Michael Dimitriou, Benoni B Edin
Dec 26, 2008·The Journal of Neuroscience : the Official Journal of the Society for Neuroscience·David W Franklin, Daniel M Wolpert
Jul 14, 2009·Journal of Motor Behavior·Tanvi Bhatt, Yi-Chung Pai
Oct 23, 2009·The Journal of Neuroscience : the Official Journal of the Society for Neuroscience·Jonathan ShemmellEric J Perreault
Nov 26, 2009·Biological cybernetics·Keng Peng TeeEtienne Burdet

❮ Previous
Next ❯

Citations

Jul 14, 2012·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·E BurdetD B Popović
Jun 26, 2015·PloS One·Ian S Howard, David W Franklin
Sep 12, 2014·Journal of Neurophysiology·Max BernikerKonrad P Kording

❮ Previous
Next ❯

Software Mentioned

VF
Matlab

Related Concepts

Trending Feeds

COVID-19

Coronaviruses encompass a large family of viruses that cause the common cold as well as more serious diseases, such as the ongoing outbreak of coronavirus disease 2019 (COVID-19; formally known as 2019-nCoV). Coronaviruses can spread from animals to humans; symptoms include fever, cough, shortness of breath, and breathing difficulties; in more severe cases, infection can lead to death. This feed covers recent research on COVID-19.

Blastomycosis

Blastomycosis fungal infections spread through inhaling Blastomyces dermatitidis spores. Discover the latest research on blastomycosis fungal infections here.

Nuclear Pore Complex in ALS/FTD

Alterations in nucleocytoplasmic transport, controlled by the nuclear pore complex, may be involved in the pathomechanism underlying multiple neurodegenerative diseases including Amyotrophic Lateral Sclerosis and Frontotemporal Dementia. Here is the latest research on the nuclear pore complex in ALS and FTD.

Applications of Molecular Barcoding

The concept of molecular barcoding is that each original DNA or RNA molecule is attached to a unique sequence barcode. Sequence reads having different barcodes represent different original molecules, while sequence reads having the same barcode are results of PCR duplication from one original molecule. Discover the latest research on molecular barcoding here.

Chronic Fatigue Syndrome

Chronic fatigue syndrome is a disease characterized by unexplained disabling fatigue; the pathology of which is incompletely understood. Discover the latest research on chronic fatigue syndrome here.

Evolution of Pluripotency

Pluripotency refers to the ability of a cell to develop into three primary germ cell layers of the embryo. This feed focuses on the mechanisms that underlie the evolution of pluripotency. Here is the latest research.

Position Effect Variegation

Position Effect Variagation occurs when a gene is inactivated due to its positioning near heterochromatic regions within a chromosome. Discover the latest research on Position Effect Variagation here.

STING Receptor Agonists

Stimulator of IFN genes (STING) are a group of transmembrane proteins that are involved in the induction of type I interferon that is important in the innate immune response. The stimulation of STING has been an active area of research in the treatment of cancer and infectious diseases. Here is the latest research on STING receptor agonists.

Microbicide

Microbicides are products that can be applied to vaginal or rectal mucosal surfaces with the goal of preventing, or at least significantly reducing, the transmission of sexually transmitted infections. Here is the latest research on microbicides.