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[0] Kawato M, Internal models for motor control and trajectory planning.Curr Opin Neurobiol 9:6, 718-27 (1999 Dec)

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ref: Kawato-1999.12 tags: kawato inverse dynamics cerebellum motor control learning date: 04-09-2007 22:45 gmt revision:1 [0] [head]

PMID-10607637[0] Internal models for motor control and trajectory planning

  • in this review, I will discuss evidence supporting the existence of internal models.
  • fast coordinated arm movement canot be executed under feedback control, as biological feedback loops are slow and have low gains. hence, the brain mostly needs to control things in a pure feedforward manner.
    • visual feedback delay is about 150-200ms.
    • fast spinal reflexes still require 30-50ms; large compared to fast movements (150ms).
    • muscle intrinsic mechanical properties produce proportional (stiffness) and derivative (viscosity) gains without delay.
    • inverse models are required for fast robotics, too. http://www.erato.atr.co.jp/DB/
  • talk about switching external force field to gauge the nature of the internal model - these types of experiments verily prove that feedforward / model-based control is happening. has anyone shown what happens neuronally during the course of this learning? I guess it might be in my datar.

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