Learning and Control of Objects with Internal Dynamics

描述（由申请人提供）：日常任务，如处理和操纵物体，可能对中风幸存者构成困难的挑战。我们的大脑控制手臂运动的方式很可能是由我们与物体互动的经验以及它们的机械和动态特性所塑造的。我们处理的物体可以分为两大类：刚性物体，如锤子，和具有内部动力学的物体，如一杯水。自由到达和与刚性物体的相互作用已经得到了广泛的研究，而与具有内部动力学的物体的相互作用尚未得到充分的探讨。在这个建议中提出的实验将集中在理解如何运动的手臂被控制和协调时，操纵的对象与内部动力学。从现代控制理论的方面将被用于设计和分类与主体相互作用的动态系统。所提出的实验集中在一个假设上，即健康的受试者通过发展其动态的内部表征来学习控制具有内部动态的物体。此外，假设形成这些系统的内部表征的能力取决于其内在的对象属性，例如其可控性和可观察性。

DESCRIPTION (provided by applicant): Everyday tasks, such as handling and manipulating objects, may pose difficult challenges for survivors of stroke. The way in which our brain controls arm movements is likely to be shaped by our experience of interactions with objects and their mechanical and dynamic properties. Objects that we handle can be divided into two broad classes: rigid objects, such as a hammer, and objects with internal dynamics, such as a cup of water. Free reaching and interactions with rigid objects have been studied extensively, while interactions with objects with internal dynamics have not been adequately explored. Experiments presented in this proposal will focus on understanding how movements of the arm are controlled and coordinated when manipulating objects with internal dynamics. Aspects from modern control theory will be used to design and classify dynamic systems with which subjects interact. The experiments presented are centered on the hypothesis that healthy subjects learn to control objects with internal dynamics by developing an internal representation of their dynamics. Further, it is hypothesized that the ability to form an internal representation of these systems is contingent upon intrinsic object properties such as its controllability and observability.