Dynamic primitives of motor behavior
Dynamic primitives of motor behavior
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DOI：
10.1007/s00422-012-0527-1
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发表时间：
2012-12-01
影响因子：
1.9
通讯作者：
Sternad, Dagmar
中科院分区：
文献类型：
--
作者：
Hogan, Neville;Sternad, Dagmar
我们提出了一种基于动态原语的感觉运动控制理论，我们将其定义为吸引子。为了解释人类交互行为的广泛类别，特别是工具的使用，我们提出了三个不同的原语：子运动，振荡和机械阻抗，后者是与物体交互所必需的。由于神经肌肉系统的基本特征，最值得注意的是，它的反应缓慢，我们认为，编码参数化的原语可能是一个必要的简化所需的学习，性能和保留复杂的技能。基元可以同时和顺序地组合以产生可观察的力和运动。这可以通过定义由与阻抗相互作用的子运动和/或振荡组成的虚拟轨迹来实现。识别基元需要小心：原则上，重叠的子运动足以组成所有观察到的运动，但生物学证据表明，振荡是一个独特的基元。相反，我们认为，运动的协同作用，经常讨论的复杂行动的原语，可能是一个紧急的后果，神经肌肉阻抗。为了说明这些动态原语如何解释复杂的动作，我们简要回顾了三种类型的交互行为：约束运动，影响任务和操纵动态对象。
We present in outline a theory of sensorimotor control based on dynamic primitives, which we define as attractors. To account for the broad class of human interactive behaviors-especially tool use-we propose three distinct primitives: submovements, oscillations, and mechanical impedances, the latter necessary for interaction with objects. Owing to the fundamental features of the neuromuscular system-most notably, its slow response-we argue that encoding in terms of parameterized primitives may be an essential simplification required for learning, performance, and retention of complex skills. Primitives may simultaneously and sequentially be combined to produce observable forces and motions. This may be achieved by defining a virtual trajectory composed of submovements and/or oscillations interacting with impedances. Identifying primitives requires care: in principle, overlapping submovements would be sufficient to compose all observed movements but biological evidence shows that oscillations are a distinct primitive. Conversely, we suggest that kinematic synergies, frequently discussed as primitives of complex actions, may be an emergent consequence of neuromuscular impedance. To illustrate how these dynamic primitives may account for complex actions, we brieflyreviewthree typesof interactivebehaviors: constrained motion, impact tasks, and manipulation of dynamic objects.