The SURE-REACH model for motor learning and control of a redundant arm: From modeling human behavior to applications in robotics

Studies in Computational Intelligence

Volumn 264, Issue , 2010, Pages 85-106

  Herbort, Oliver ^a   Butz, Martin V ^a   Pedersen, Gerulf ^a  

^a UNIVERSITY OF WÜRZBURG   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 74049150714     PISSN: 1860949X     EISSN: None     Source Type: Book Series    
DOI: 10.1007/978-3-642-05181-4_5     Document Type: Conference Paper

References (79)

1. Adams, J.A.: A closed-loop theory of motor learning. J. Mot. Behav. 3(2), 111-149 (1971)
2. Aflalo, T.N., Graziano, M.S.A.: Partial tuning of motor cortex neurons to final posture in a free-moving paradigm. Proc. Natl. Acad. of Sci. 8, 2909-2914 (2006)
3. Baraduc, P., Guigon, E., Burnod, Y.: Where does the population vector of motor cortical cells point during reaching movements? In: Kearns, M., Solla, S., Cohn, D. (eds.) Advances in Neural Information Processing Systems, vol.11, pp. 83-89. MIT Press, Cambridge (1999)
4. Barto, A.G., Fagg, A.H., Sitkoff, N., Houk, J.C.: A cerebellar model of timing and prediction in the control of reaching. Neural Comp. 11, 565-594 (1999)
5. Bastian, A., Schöner, G., Riehle, A.: Preshaping and continuous evolution of motor cortical representations during movement preparation. Eur. J. Neurosci. 18, 2047-2058 (2003)
6. Bernstein, N.A.: The co-ordination and regulation of movements. Pergamon Press, Oxford (1967)
7. Berthier, N.E., Rosenstein, M.T., Barto, A.G.: Approximate optimal control as a model for motor learning. Psychol. Rev. 112(2), 329-346 (2005)
8. Bowers, J.S.: On the biological plausibility of grandmother cells: Implications for neural network theories in psychology and neuroscience. Psychol. Rev. 116(1), 220-251 (2009)
9. Bullock, D., Grossberg, S., Guenther, F.H.: A self-organizing neural model of motor equivalent reaching and tool use by a multijoint arm. J. Cogn. Neurosci. 5(4), 408-435 (1993)
10. Butz, M.V., Herbort, O., Hoffmann, J.: Exploiting redundancy for flexible behavior: Unsupervised learning in a modular sensorimotor control architecture. Psychol. Rev. 114(4), 1015-1046 (2007)
11. Butz, M.V., Herbort, O., Pezzulo, G.: Anticipatory, goal-directed behavior. In: Pezzulo, G., Butz, M.V., Castelfranchi, C., Falcone, R. (eds.) The Challenge of Anticipation. LNCS (LNAI), vol.5225, pp. 85-113. Springer, Heidelberg (2008)
12. Cisek, P.: Integrated neural processes for defining potential actions and deciding between them: A computational model. J. Neurosci. 26(38), 9761-9770 (2006)
13. Cisek, P., Kalaska, J.F.: Neural correlates of reaching decisions in dorsal premotor cortex: Specification of multiple direction choices and final selection of action. Neuron 45(5), 801-814 (2005)
14. Cruse, H., Steinkühler, U.: Solution of the direct and inverse kinematic problems by a common algorithm based on the mean of multiple computations. Biol. Cybern. 69, 341-351 (1993)
15. Cruse, H., Steinkühler, U., Burkamp, C.:MMC-a recurrent neural network which can be used as manipulable body model. In: Pfeifer, R., Blumberg, B., Meyer, J.A., Wilson, S. (eds.) From Animals to Animats 5: The Fifth International Conference on the Simulation of Adaptive Behavior, pp. 381-389. MIT Press, Cambridge (1998)
16. de Freitas, S.M.S.F., Scholz, J.P., Stehman, A.J.: Effect of motor planning on use of motor abundance. Neurosci. Lett. 417(1), 66-71 (2007)
17. Dean, J., Brüwer, M.: Control of human arm movements in two dimensions: Paths and joint control in avoiding simple linear obstacles. Exp. Brain Res. 97, 497-514 (1994)
18. Desmurget, M., Grafton, S.: Forward modeling allows feedback control for fast reaching movements. Trends Cogn. Sci. 4(11), 423-431 (2000)
19. Doya, K.: Complementary roles of basal ganglia and cerebellum in learning and motor control. Curr. Opin. Neurobiol. 10(6), 732-739 (2000)
20. Elliott, D., Helsen, W.F., Chua, R.: A century later: Woodworth's two-component model of goal-directed aiming. Psychol. Bull. 127(3), 342-357 (1899)
21. Elsner, B., Hommel, B.: Effect anticipations and action control. J. Exp. Psychol. 27(1), 229-240 (2001)
22. Fischer, M.H., Rosenbaum, D.A., Vaughan, J.: Speed and sequential effects in reaching. J. Exp. Psychol.: Hum. Percept. Perform. 23(2), 404-428 (1997)
23. Flash, T., Hogan, N.: The coordination of arm movements: An experimentally confirmed mathematical model. J. Neurosci. 5(7), 1688-1703 (1985)
24. Georgopoulos, A.P.: Current issues in directional motor control. Trends Neurosci. 18(11), 506-510 (1995)
25. Hallett, M.A., Pascual-Leone, A., Topka, H.: The acquisition of motor behavior in vertebrates. In: Bloedel, J.R., Ebner, T.J., Wise, S.P. (eds.) Adaptation and skill learning: Evidence for different neural substrates, pp. 289-301. MIT Press, Cambridge (1996)
26. Haruno, M., Wolpert, D.M., Kawato, M.: Hierarchical mosaic for movement generation. In: Ono, T., Matsumoto, G., Llinas, R., Berthoz, A., Norgren, R., Nishijo, H., Tamura, R. (eds.) Excepta Medica International Congress Series, vol.1250 (2003)
27. Herbart, J.F.: Psychologie als Wissenschaft neu gegründet auf Erfahrung, Metaphysik und Mathematik. In: Zweiter analytischer Teil [Psychology as a Science newly founded on Experience, Metaphysics and Mathematics: Second, Analytical Part]. August Wilhelm Unzer., Königsberg (1825)
28. Herbort, O., Butz, M.V.: Encoding complete body models enables task dependent optimal control. Proc. Int. Jt. Conf. Neural Netw. 20, 1639-1644 (2007)
29. Herbort, O., Butz, M.V.: Anticipatory planning of sequential hand and finger movements. J. Mot. Behav. (in press)
30. Herbort, O., Butz, M.V., Hoffmann, J.: Multimodal goal representations and feedback in hierarchical motor control. In: Proc. Int. Conf. Cogn. Syst. (2008)
31. Herbort, O., Ognibene, D., Butz, M.V., Baldassarre, G.: Learning to select targets within targets in reaching tasks. In: Proc. 6th Int. IEEE Conf. Dev. Learn., vol.6, pp. 7-12 (2007)
32. Hikosaka, O., Nakamura, K., Sakai, K., Nakahara, H.: Central mechanisms of motor skill learning. Curr. Opin. Neurobiol. 12, 217-222 (2002)
33. Hoffmann, J.: Vorhersage und Erkenntnis: Die Funktion von Antizipationen in der menschlichen Verhaltenssteuerung und Wahrnehmung [Anticipation and cognition: The function of anticipations in human behavioral control and perception]. Hogrefe, Göttingen (1993)
34. Hoffmann, J.: Anticipatory behavior control. In: Butz, M.V., Sigaud, O., Ǵerard, P. (eds.) Anticipatory Behavior in Adaptive Learning Systems. LNCS (LNAI), vol.2684, pp. 44-65, Springer Heidelberg (2003).
35. Hoffmann, J., Butz, M.V., Herbort, O., Kiesel, A., Lenhard, A.: Spekulationen zur Struktur ideo-motorischer Beziehungen [Speculations about the structure of ideomotor relations]. Z. Sportpsychol. 14(3), 95-103 (2007)
36. Jackson, A., Mavoori, J., Fetz, E.E.: Long-term motor cortex plasticity induced by an electronic neural implant. Nat. 444, 56-60 (2006)
37. James, W.: The principles of psychology, vol.1. Holt, New York (1890)
38. Johnson-Frey, S.H., McCarty, M.E., Keen, R.: Reaching beyond spatial perception: Effects of intended future actions on visually guided prehension. Vis. Cogn. 11(2-3), 371-399 (2004)
39. Jordan,M.I.,Wolpert, D.M.: Computational motor control. In: Gazzaniga (ed.) The Cognitive Neuroscience, pp. 601-620. MIT Press, Cambridge (1999)
40. Karniel, A., Inbar, G.F.: A model for learning human reaching movements. Biol. Cybern. 77, 173-183 (1997)
41. Kawato, M.: Feedback-error-learning neural network for supervised learning. In: Eckmiller, R. (ed.) Advanced neural computers, pp. 365-372. North-Holland, Amsterdam (1990)
42. Kawato, M.: Internal models for motor control and trajectory planning. Curr. Opin. Neurobiol. 9, 718-727 (1999)
43. Kawato, M., Furukawa, K., Suzuki, R.: A hierarchical neural-network model for control and learning of voluntary movement. Biol. Cybern. 57, 169-185 (1987)
44. Khan, M.A., Franks, I.M., Goodman, D.: The effect of practice on the control of rapid aiming movements: Evidence for an interdependency between programming and feedback processing. Q. J. Exp. Psychol. Section A 51(2), 425-443 (1998)
45. Klapp, S.T., Erwin, C.I.: Relation between programming time and duration of the response being programmed. J. Exp. Psychol.: Hum. Percept. Perform. 2(4), 591-598 (1976)
46. Klein Breteler, M.D., Hondzinski, J.M., Flanders, M.: Drawing sequences of segments in 3d: Kinetic influences on arm configuration. J. Neurophysiol. 89, 3253-3263 (2003)
47. Körding, K.P., Wolpert, D.M.: Bayesian integration in sensorimotor learning. Nat. 427, 244-247 (2004)
48. Kunde, W., Koch, I., Hoffmann, J.: Anticipated action effects affect the selection, initiation, and execution of actions. Q. J. Exp. Psychol. Section A: Human Exp. Psychol. 57, 87-106 (2004)
49. Kuperstein, M.: Neural model of adaptive hand-eye coordination for single postures. Sci. 239, 1308-1311 (1988) (Pubitemid 18577163)
50. Latash, M.L., Scholz, J.P., Schöner, G.:Motor control strategies revealed in the structure of motor variability. Exerc. & Sport Sci. Rev. 30(1), 26-31 (2002)
51. Lavrysen, A., Helsen, W.F., Tremblay, L., Elliott, D., Adam, J.J., Feys, P., Buekers, M.J.: The control of sequential aiming movements: The influence of practice and manual asymmetries on the one-target advantage. Cortex 39, 307-325 (2003)
52. Lotze, H.R.:Medicinische Psychologie oder Physiologie der Seele [Medical Psychology or Physiology of the Soul]. Weidmannsche Buchhandlung, Leipzig (1852)
53. Ludwig, D.A.: Emg changes during the acquisition of a motor skill. Am. J. Phys. Medicine 61(5), 229-243 (1982)
54. Ma-Wyatt, A., McKee, S.P.: Visual information throughout a reach determines endpoint precision. Exp. Brain Res. 179(1), 55-64 (2007)
55. Morasso, P., Sanguineti, V., Spada, G.: A computational theory of targeting movements based on force fields and topology representing networks. Neurocomputing 15(3-4), 411-434 (1997)
56. Munro, H., Plumb, M.S.,Wilson, A.D.,Williams, J.H.G., Mon-Williams, M.: The effect of distance on reaction time in aiming movements. Exp. Brain Res. 183(2), 249-257 (2007)
57. Mutsaarts, M., Steenbergen, B., Bekkering, H.: Anticipatory planning deficits and task context effects in hemiparetic cerebral palsy. Exp. Brain Res. 172(2), 151-162 (2006)
58. Ognibene, D., Mannella, F., Pezzulo, G., Baldassarre, G.: Integrating reinforcementlearning, accumulator models, and motor-primitives to study action selection and reaching inmonkeys. In: Fum, D., DelMissier, F., Stocco, A. (eds.) Proc. Seventh International Conference on Cognitive Modeling (ICCM 2006), pp. 214-219. Edizioni Goliardiche, Trieste (2006)
59. Pedersen, G., Butz, M.V., Herbort, O.: Integrating dynamics into a human behavior model for highly flexible autonomous manipulator control. IEEE Systems, Man & Cybernetics B (submitted)
60. Peters, J., Schaal, S.: Learning to control in operational space. Int. J. Robot. Res. 27, 197-212 (2008)
61. Robertson, E.M., Miall, R.C.: Multi-joint limbs permit a flexible response to unpredictable events. Exp. Brain Res. 117, 148-152 (1997)
62. Rosenbaum, D.A.: Human movement initiation: Specification of arm, direction and extent. J. Exp. Psychol.: Gen. 109, 444-474 (1980)
63. Rosenbaum, D.A., Engelbrecht, S.E., Bushe, M.M., Loukopoulos, L.D.: A model for reaching control. Acta Psychol. 82(1-3), 237-250 (1993)
64. Rosenbaum, D.A., Loukopoulos, L.D., Meulenbroek, R.G.J., Vaughan, J., Engelbrecht, S.E.: Planning reaches by evaluating stored postures. Psychol. Rev. 102(1), 28-67 (1995)
65. Rosenbaum, D.A., Meulenbroek, R.G.J., Vaughan, J., Jansen, C.: Posture-based motion planning: Applications to grasping. Psychol. Rev. 108(4), 709-734 (2001)
66. Salaun, C., Padois, V., Sigaud, O.: Learning forward models for the operational space control of redundant robots. In: Sigaud, O., Peters, J. (eds.) From Motor Learning to Interaction Learning in Robots. SCI, vol.264, pp. 169-192. Springer, Heidelberg (2010)
67. Schmidt, R.A.: A schema theory of discrete motor skill-learning. Psychol. Rev. 82(4), 229-261 (1975)
68. Schwartz, A.B., Moran, D.W., Reina, G.A.: Differential representation of perception and action in the frontal cortex. Sci. 303, 380-383 (2004)
69. Shadmehr, R., Wise, S.P.: The Computational Neurobiology of Reaching and Pointing: A foundation for motor learning. MIT Press, Cambridge (2005)
70. Short, M.W., Cauraugh, J.H.: Precision hypothesis and the end-state comfort effect. Acta Psychol. 100(3), 243-252 (1999)
71. Soechting, J.F., Buneo, C.A., Herrmann, U., Flanders, M.: Moving effortlessly in three dimensions: Does Donders' law apply to arm movement? J. Neurosci. 15, 6271-6280 (1995)
72. Todorov, E., Jordan, M.I.: Optimal feedback control as a theory of motor coordination. Nat. Neurosci. 5(11), 1226-1235 (2002)
73. Toussaint, M., Goerick, C.: A bayesian view on motor control and planning. In: Sigaud, O., Peters, J. (eds.) From Motor Learning to Interaction Learning in Robots. SCI, vol.264, pp. 227-252. Springer, Heidelberg (2010)
74. Uno, Y., Kawato, M., Suzuki, R.: Formation and control of optimal trajectory in human multijoint arm movement: Minimum torque-change model. Biol. Cybern. 61(2), 89-101 (1989)
75. van Sonderen, J.F., Dernier van der Gon, J.J.: Reaction-time-dependent differences in the initial movement direction of fast goal-directed arm movements. Hum. Mov. Sci. 10(6), 713-726 (1991)
76. von Hofsten, C.: An action perspective on motor development. Trends Cogn. Sci. 8(6), 266-272 (2004)
77. Webots, C.L.: Commercial mobile robot simulation software, http://www.cyberbotics.com
78. Weigelt, M., Kunde, W., Prinz, W.: End-state comfort in bimanual object manipulation. Exp. Psychol. 53(2), 143-148 (2006)
79. Woodworth, R.S.: The Accuracy of Voluntary Movement. New Era, Lancaster (1899)