A model of the cerebellar pathways applied to the control of a single-joint robot arm actuated by McKibben artificial muscles

Biological Cybernetics

Volumn 86, Issue 5, 2002, Pages 379-394

  Eskiizmirliler, S ^a   Forestier, N ^a   Tondu, B ^b   Darlot, C ^a  

^a TELECOM PARISTECH   (France)

^b INSA   (France)

Author keywords

[No Author keywords available]

Indexed keywords

ARM; ARTICLE; BIOLOGICAL MODEL; CEREBELLUM; CYTOLOGY; HUMAN; INSTRUMENTATION; JOINT; METHODOLOGY; NERVE CELL; NERVE TRACT; PHYSIOLOGY; ROBOTICS; SKELETAL MUSCLE;

ARM; CEREBELLUM; HUMANS; JOINTS; MODELS, NEUROLOGICAL; MUSCLE, SKELETAL; NEURAL PATHWAYS; NEURONS; ROBOTICS;

EID: 0036579911     PISSN: 03401200     EISSN: None     Source Type: Journal    
DOI: 10.1007/s00422-001-0302-1     Document Type: Article

References (58)

1. Albus JS (1971) A theory of cerebellar function. Math Biosci 10: 25-61
2. Batini C, Billard JM (1985) Release of cerebellar inhibition by climbing fiber deafferentation. Exp Brain Res 57: 370-380
3. Bridgestone (1987) Soft-Arm ACFAS robot system. Bridgestone Corporation and Taicubo Engineering, Tokyo, Japan
4. Bridgestone (1993) Soft Boy: advanced painting system unit. Bridgestone Corporation, Tokyo, Japan
5. Caldwell DG, Medrano-Cerda GA, Goodwin M (1995) Control of pneumatic muscles actuators. IEEE Control Syst Mag 15-1: 40-48
6. Chapeau-Blondeau F, Chauvet G (1991) A neural network model of the cerebellar cortex. Biol Cybern 65: 267-279
7. Chauvet GA (1986) Habituation rules for a theory of the cerebellar cortex. Biol Cybern 55: 1-9
8. Chauvet GA (1995) On associative motor learning by the cerebellar cortex: from Purkinje unit to network with variational learning rules. Math Biosci 126: 41-79
9. Chauvet GA, Chauvet P (1995) Mathematical conditions for adaptive control. Neural Netw 8: 693-706
10. Chou CP, Hannaford B (1997) Study of human forearm posture Maintenance with a physiologically based robotic arm and spinal level neural controller. Biol Cybern 76: 285-298
11. Connes J, Bouchareine P (1989) Applications de la transformation de Fourier. Technique de l'ingénieur Paris. 210
12. Darlot C (1993) The cerebellum as a predictor of neural messages. I. The stable estimator hypothesis. Neuroscience 56: 617-646
13. Darlot C, Zupan L, Etard O, Denise P, Maruani A (1996) Computation of inverse dynamics for the control of movements. Biol Cybern 75: 173-186
14. Dean P (1995) Modelling the role of the cerebellar fastigial nuclei in producing accurate saccades: the importance of burst timing. Neuroscience 68: 1059-1077
15. Dean P, Mayhew JE, Langdon P (1994) Learning and maintaining saccadic accuracy: a model of brainstem-cerebellar interactions. J Cogn Neurosci 6: 117-138
16. Denise P, Darlot C (1993) The cerebellum as a predictor of neural messages. II. Role in motor control and motion sickness. Neuroscience 56: 647-655
17. Droulez J, Darlot C (1989) The geometric and dynamic implications of the coherence constraints in three-dimensional sensorimotor interactions. In: Jeannerod M (ed) Attention and performance XIII. Erlbaum, Hillsdale, N.J., pp 495-526
18. Eccles JC, Ito M, Szentagothai J (1967) The cerebellum as a neuronal machine. Springer, Berlin Heidelberg New York
19. Eskiizmirliler TS (2000) Modélisation de la fusion des informations sensori-motrices dans les voies cérébelleuses. Application à la prédiction des cinétoses dans les trains pendulaires, et à la commande du mouvement d'un segment mobile mû par des muscles pneumatiques. Thèse de Doctorat. Ecole Nationale Supérieure des Télécommunications, Paris
20. Fujita M (1982) Adaptive filter model of the cerebellum. Biol Cybern 45: 195-206
21. Gomi H, Kawato M (1992) Adaptive feedback control models of the vestibulocerebellum and spinocerebellum. Biol Cybern 68: 105-114
22. Greenhill S (1993) The digit muscle. Ind Robot 20: 29-30
23. Hannaford B, Winters JM, Chou CP, Marbot P (1995) The anthroform biorobotic arm: a system for the study of spinal circuits. Ann Biomed Eng 23: 399-408
24. Hogan N (1984) Adaptive control of mechanical impedance by coactivation of antagonistic muscles. IEEE Trans Auto Control 29: 681-690
25. Houk J, Buckingham JT, Barto AG (1996) Models of the cerebellum and motor learning. Behav Brain Sci 19: 368-383
26. Inoue K (1988) Rubbertuators and applications for robots. In: Proceedings of the fourth International Symposium on Robotics Research, Cambridge, Mass., pp 57-63
27. Ito M (1984) The cerebellum and neural control. Raven, New York
28. Ivry R, Keele S (1989) Timing functions of the cerebellum. J Cogn Neurosci 1: 136-152
29. Kawato M, Gomi H (1992a) A computational model of four regions of the cerebellum based on feedback-error learning. Biol Cybern 68: 95-103
30. Kawato M, Gomi H (1992b) The cerebellum and VOR/OKR learning models. Trends Neurosci 15: 445-453
31. Kawato M, Furukawa K, Suzuki R (1987) A hierarchical neural network model for the control and learning of voluntary movements. Biol Cybern 56: 1-17
32. Keeler JD (1990) A dynamical system view of cerebellar function. Physica D 42: 396-410
33. Kornhuber H (1971) Motor function of the cerebellum and basal ganglia. Kybernetik 8: 157-162
34. Lisberger S, Pavelko T (1988) Brain stem neurons in modified pathways for motor learning in the primate vestibulo-ocular reflexes. Science 242: 771-773
35. Lisberger S, Sejnowski (1992) Motor learning in a recurrent network model based on the vestibulo-ocular reflexes. Nature 360: 159-161
36. Marr D (1969) A theory of cerebellar cortex. J Physiol (Lond) 202: 437-470
37. Melkonian DS, Mkrtchian HH, Fanardjian W (1982) Simulation of learning processes in neuronal networks of the cerebellum. Biol Cybern 45: 79-88
38. Miall RC, Wolpert DM (1996) Forward models for physiological motor control. Neural Netw 9: 1265-1279
39. Miall RC, Stein JF, Weir DJ (1989) The cerebellum as an adaptive Smith predictor in visuomotor control. Soc Neurosci Abstr 15: 17.11
40. Miall RC, Weir DJ, Wolpert DM, Stein JF (1993) Is the cerebellum a Smith predictor? J Mot Behav 25: 203-216
41. Moore JW, Desmond JE, Berthier NE (1989) Adaptively timed conditioned responses and the cerebellum: a neural network approach. Biol Cybern 62: 17-28
42. Paulin M (1989) A Kalman filter theory of the cerebellum. In: Arbib MA, Amari S (eds) Dynamic interactions in neural networks, models and data. Springer, Berlin Heidelberg New York, pp 239-259
43. Pellionisz A, Llinas R (1979) Brain modeling by tensor network theory and computer simulation. The cerebellum: parallel processor for predictive coordination. Neuroscience 4: 323-348
44. Pellionisz A, Llinas R (1980) Tensorial approach to the geometry of brain function: cerebellar coordination via metric tensors. Neuroscience 5: 1125-1136
45. Quaia C, Lefèvre P, Optican L (1999) Model of the control of saccades by superior colliculus and cerebellum. J Neurophysiol 82: 999-1018
46. Schulte HF (1961) The characteristics of the McKibben artificial muscle. In: The application of external power in prosthetics and orthotics, Appendix H, publication 874. National Academy of Sciences, Washington D.C., pp 94-115
47. Schweighofer N (1998) A model of activity-dependent formation of cerebellar microzones. Biol Cybern 79: 97-107
48. Schweighofer N, Arbib MA, Dominey PF (1996a) A model of the cerebellum in adaptive control of saccadic gain. 1. The model and its biological substrate. Biol Cybern 75: 19-28
49. Schweighofer N, Arbib MA, Dominey PF (1996b) A model of the cerebellum in adaptive control of saccadic gain. 2. Simulation results. Biol Cybern 75: 29-36
50. Schweighofer N, Arbib MA, Kawato M (1998a) Role of the cerebellum in reaching movements in humans. I Distributed inverse dynamics control. Eur J Neurosci 10: 86-94
51. Schweighofer N, Arbib MA, Kawato M (1998b) Role of the cerebellum in reaching movements in humans. II A neural model of the intermediate cerebellum. Eur J Neurosci 10: 95-105
52. Spoelstra J, Schweighofer N, Arbib M (2000) Cerebellar learning of accurate predictive control for fast-reaching movements. Biol Cybern 82: 321-333
53. Tikhonov A, Arsenine V (1974) Methods of resolution of ill-posed problems. MIR, Moscow
54. Tondu B, Lopez P (1997) The McKibben muscle and its use in actuating robot arms showing similarities with human arm behavior. Ind Robot 24: 432-439
55. Tondu B, Lopez P (2000) Modeling and control of McKibben artificial muscle robot actuators. IEEE Control Syst 20: 15-38
56. Tyrell T, Willshaw D (1992) Cerebellar cortex: its simulation and the relevance of Marr's theory. Philos Trans R Soc Lond 336: 239-257
57. Wolpert DM, Miall C, Kawato M (1998) Internal models in the cerebellum. Trends Cogn Sci 2: 338-347
58. Zupan (1995) Modélisation du Réflexe Vestibulo-Oculaire (RVO) et Prédiction des cinétoses. Thèse de Doctorat, Ecole Nationale Supérieure des Télécommunications, Paris