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Optimal feedback control of goal-directed arm movements

目标导向手臂运动的最佳反馈控制

基本信息

批准号：
7466718
负责人：
Emanuel Todorov
金额：
$ 20.28万
依托单位：
UNIVERSITY OF CALIFORNIA, SAN DIEGO
依托单位国家：
美国
项目类别：
财政年份：
2008
资助国家：
美国
起止时间：
2008-04-01 至 2012-03-31
项目状态：
已结题

来源：
https://reporter.nih.gov/project-details/7466718
关键词：
Achievement Address Affect Agreement Algorithms Anisotropy Applications Grants Arts Attention Award Basic Science Behavior Behavioral Biological Models Biological Neural Networks Biomechanics Brain Cations Collaborations Compatible Complex Complication Computer Simulation Computer information processing Computer software Condition Consumption Data Dependence Development Development, Other Disabled Persons Electric Stimulation Electromyography End Point Engineering Environment Equilibrium Exhibits Eye Facilities and Administrative Costs Fatigue Feedback Funding Future Goals Grant Hand Health Human Intervention Intuition Joints Laws Learning Left Letters Light Limb structure Link Literature MD1 Maps Mechanics Methods Modeling Motor Motor Cortex Movement Movement Disorders Muscle Muscle Spindles Musculoskeletal Musculoskeletal System Names Nature Noise Non-linear Models Nonlinear Dynamics Numbers Operating System Outcome Paralysed Patients Pattern Performance Personal Communication Personal Satisfaction Plant Model Plants Process Property Prosthesis Psychophysiology Public Health Published Comment Quality of life Range Relative (related person)Research Research Project Grants Robotics Rome Sensorimotor functions Sensory Shapes Signal Transduction Simulate Skeletal system Speed Structure System Testing Theoretical model Thinking Time Today Upper arm Vision Visual Work abstracting analog base behavior measurement computerized tools cost data modeling design desire direct application electric impedance eye hand coordination human subject improved functioning information gathering interest kinematics limb movement mathematical theory mind control motor control neglect neurophysiology neuroregulation novel prevent programs relating to nervous system research study response sensor simulation size software development symposium theories tool virtual visual feedback

项目摘要

DESCRIPTION (provided by applicant): We propose to further develop our optimal feedback control theory of motor coordination, and utilize its potential to explain known phenomena and as well as novel experimental results on goal-directed arm movements in 2D and 3D. We will use the theory to shed new light on several important issues in sensorimotor control: regularities in kinematics and muscle activations, task-specific impedance and responses to perturbations, origins and structure of motor variability, and eye-hand coordination patterns. In addition to basic research, the project involves a substantial bio-engineering component with direct applications to health. We will construct detailed musculoskeletal models of the human arm and develop hierarchical control algorithms capable of making the model arm accomplish behavioral goals in real time. Such algorithms can then be used to control functional electric stimulators and robotic prostheses, and thereby restore motor function and improve the quality of life of disabled patients. PUBLIC HEALTH RELEVANCE: We will develop a general mathematical theory of how the brain controls arm movements. Better theoretical understanding of motor function can facilitate the design of new treatments for movement disorders. We will also develop automatic control algorithms that can use signals extracted from the brain to make a prosthetic arm accomplish desired movement goals.

描述（由申请人提供）：我们建议进一步发展我们的运动协调的最佳反馈控制理论，并利用其潜力来解释已知的现象，以及在2D和3D中目标导向手臂运动的新实验结果。我们将使用该理论来阐明感觉运动控制中的几个重要问题：运动学和肌肉激活，任务特定阻抗和对扰动的反应，运动变异的起源和结构，以及眼手协调模式。除基础研究外，该项目还涉及直接应用于健康的大量生物工程部分。我们将构建人体手臂的详细肌肉骨骼模型，并开发能够使模型手臂真实的实现行为目标的分层控制算法。然后，这种算法可以用于控制功能性电刺激器和机器人假肢，从而恢复运动功能并改善残疾患者的生活质量。公共卫生相关性：我们将开发一个关于大脑如何控制手臂运动的通用数学理论。对运动功能的更好的理论理解可以促进运动障碍的新治疗方法的设计。我们还将开发自动控制算法，可以使用从大脑中提取的信号来使假肢完成预期的运动目标。