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Neural Machine Interaction (NMI) Lab U. Illinois at Chicago

MOTOR CONTROL Jim Patton 9/28/2009. Neural Machine Interaction (NMI) Lab U. Illinois at Chicago. Important Articles. Lecture to MLB, Sept 29,2009. Must read. 2. Motivations. New students do not know where to start Perhaps the beginning of a course. Recently proposed

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Neural Machine Interaction (NMI) Lab U. Illinois at Chicago

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  1. MOTOR CONTROLJim Patton 9/28/2009 Neural Machine Interaction (NMI) Lab U. Illinois at Chicago Important Articles Lecture to MLB, Sept 29,2009

  2. Must read 2 Motivations • New students do not know where to start • Perhaps the beginning of a course. Recently proposed • Haptic programming for human robotic training experiments • Modeling and simulation of healthy and pathological motor control

  3. Must read 3 Where to get many (not all) of these papers http://165.124.30.8/savedLiterature

  4. Must read 4 Woodworth, R. S. The accuracy of voluntary movement. Psychological Review 3 (1899) • Launch & correct

  5. Must read 5 Sherrington, C. S. The integrative action of the nervous system (Constable, London, 1906) • postural reflexes • dependence on the anti-gravity stretch reflex • traced the afferent stimulus to proprioceptive end organs

  6. Must read 6 Bernstein, N. The coordination and regulation of movement (Pegammon Press, Oxford, 1967) • This book is not his first work • that was in the 1930’s in Russian • Motor variability • Synergies • Learning by Freezing of degrees of freedom

  7. Must read 7 fitts

  8. Must read 8 Keele SW (1968) Movement control in skilled motor performance. Psychological Bulletin 70: 387-403 • credited with the early propoosal of "motor program" theory. • see also henry&rogers(60) and adams(71)

  9. Must read 9 Feldman, A. G. Functional tuning of the nervous system during control of movement or maintenance of steady posture -- III. mechanographic analysis of the execution by man of the simplest motor tasks. Biofizika 11, 667-675 (1966)

  10. McGruer • Block diagram and transfer function models for motor control • Feedback delay

  11. Must read 11 Belin'kii VY, Gurfinkel VS, Pal'tsev YI (1967) Elements of control of voluntary movements. Biofizika 12: 137-141 • Anticipatory Postural Adjustments

  12. Morton Merton Marsden • Predictions that gamma motor neurons proactively instill a contraction that cause the motion • Falsified by data

  13. The magnitude of response can depend on attention and descending modulatory signals from the brain, except for a component of the spinal stretch reflex (the fastest, monosynaptic component), which appears to be invariant Must read 13 Evarts EV (1973) Motor cortex reflexes associated with learned movement. Science 179: 501-503

  14. Nichols TR, Houk JC (1975) Improvement in linearity and regulation of stiffness that results from actions of stretch reflex. Journal of Neurophysiology 39: 119-142 • Suggests a control framework for Spindle afferents • Spindle afferents reduce yielding

  15. Must read 15 Morasso, P. Spatial control of arm movements. Experimental Brain Research 42, 223-227 (1981) • ALSO John Soecting came out about the same time • Multijoint movements • Straight line movements • Bell-shaped velocity profile • Hand held manipulandum (pantagraph)

  16. Hollerbach & flash 1982 • Equations of motion can tell you Torques are not negligiable during motions • Speed scales with torques • Speeding up is a possible strategy for learning multijoint motions

  17. Atkeson and Hollerbach 1985 • Scaling of unrestrained motions • Movements in 3D, presence of gravity causes movement not to be as straight-lined • Straightness of movements is overrated

  18. Must read 18 Houk JC, Rymer WZ, Crago, P (1981) Dependence of Dynamic Response of Spindle Receptors on Muscle Length and Tension. Journal of Neurophysiology 46: 143-166

  19. Must read 19 Flash, T. & Hogan, N. The coordination of arm movements: An experimentally confirmed mathematical model. Journal of Neuroscience 5, 1688-1703 (1985)

  20. Must read 20 Bizzi, E., Accornero, N., Chapple, W. & Hogan, N. Posture Control and trajectory formation during arm movement. Journal of Neuroscience 4, 2738-2744 (1984) • Deaffrented rhesus monkey forearm • test theory: descending switch for end pos vs. virtual trajectory • Hold & release, measure torque & accel transients • Perturb arm, returns to point between init and end position=>virtual trajectory control

  21. Must read 21 Miles, F. A. & Eighmy, B. B. Long-term adaptive changes in primate vestibuloocular reflex I: Behavioral observations. Journal of Neurophysiology 43, 1406-1425 (1980).

  22. Must read 22 Georgeopolis, A. P., Kalaska, J. F., Camintini, R. & Massey, J. T. On the relations between the direction of two dimensional arm Movements and cell discharge in primate motor cortex. Journal of Neuroscience 2, 1527-1537 (1982) • Some Cosine tuned cells in cortex • spatially distributed preferences for motion • Kalaska went on to show this is good in terms of force • Many others came later and showed this is true for many features – you have neurons cosine tuned for just about everythng, and that the same cells may have same job in different tasks

  23. Stark & clark (thanks to Shapiro)

  24. Must read 24 Nashner LM (1976) Adapting reflexes controlling the human posture. Experimental Brain Research 26: 59-72 • INITIAL platform perturb study. • Tilting, translating, or both. • Distinguishing between plain old stretch reflex stabilization & higher involvement. • Tuning of reflexes was observed in adaptation to new condition in 3-5 trials. • Cerebellar patients did not

  25. Must read 25 Hogan, N. Adaptive control of mechanical impedance by coactivation of antagonist muscles. IEEE Transactions on Automatic Control AC-29, 681-690 (1984) • Cocontraction modeling

  26. Must read 26 Flash, T. & Hogan, N. The coordination of arm movements: An experimentally confirmed mathematical model. Journal of Neuroscience 5, 1688-1703 (1985)

  27. Must read 27 Uno Y, Kawato M, Suzuki R (1989) Formation and control of optimal trajectory in human multijoint arm movement. Minimum torque change model. Biol Cybern 61:89-102.

  28. Must read 28 Shadmehr, R. & Mussa-Ivaldi, F. A. Adaptive representation of dynamics during learning of a motor task. Journal of Neuroscience 14, 3208-3224 (1994)

  29. Flanagan and Rao, 1995

  30. Must read 30 Kawato, M. Internal models for motor control and trajectory planning. Current Opinion in Neurobiology 9, 718-727 (1999)

  31. Initial signal dependent noise that leads optimal predictions of movement Must read 31 Harris CM, Wolpert DM (1998) Signal-dependent noise determines motor planning. Nature 394: 780-784

  32. Must read 32 Ernst, M. & Banks, M. Humans integrate visual and haptic information in a statistically optimal fashion. Nature 415, 429-433 (2002).

  33. Must read 33 Koerding & wolpert 2005

  34. fin Must read 34 blah

  35. Must read 35 another?

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