Inverse biomimetics: how robots can help to verify concepts concerning sensorimotor control of human arm and leg movements.
Simulation test, hardware test and behavioral comparison test are proposed to experimentally verify whether a technical control concept for limb movements is logically precise, physically sound, and biologically relevant. Thereby, robot test-beds may play an integral part by mimicking functional limb movements. The procedure is exemplarily demonstrated for human aiming movements with the forearm: when comparing competitive control concepts, these movements are described best by a spring-like operating muscular-skeletal device which is assisted by feedforward control through an inverse internal model of the limb--without regress to a forward model of the limb. In a perspective on hopping, the concept of exploitive control is addressed, and its comparison to concepts derived from classical control theory advised.
Kalveram
Karl Theodor
KT
Institute of Experimental Psychology, University of Duesseldorf, Universitaetsstrasse 1, Duesseldorf, Germany. kalveram@uni-duesseldorf.de
Seyfarth
André
A
D001132:Arm / Q000502:physiology*; D001696:Biomechanical Phenomena; D032701:Biomimetics / Q000379:methods*; D003198:Computer Simulation; D005246:Feedback; D006040:Goals; D006801:Humans; D007866:Leg / Q000502:physiology*; D008954:Models, Biological; D009068:Movement / Q000502:physiology*; D016571:Neural Networks, Computer; D011597:Psychomotor Performance / Q000502:physiology*; D012371:Robotics / Q000295:instrumentation