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及其机械和动态特性塑造的。我们处理的对象可以分为两大类：刚性对象（如锤子）和具有内部动力学的对象（如一杯水）。自由到达和与刚性物体的相互作用已经被广泛研究，而与具有内部动力学的物体的相互作用还没有被充分探索。本提案中提出的实验将侧重于了解如何控制和协调手臂的运动时，操纵物体的内部动力学。从现代控制理论方面将被用来设计和分类与主题互动的动态系统。提出的实验是集中在假设，健康的受试者学习控制对象的内部动态发展的内部表示其动态。此外，它是假设，形成这些系统的内部表示的能力是视情况而定的内在对象属性，如其可控性和可观测性。

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.