RESEARCH THESIS
7.3. Final Remark
The main outputs of the brain are motor commands to the muscles.
The human brain is first of all a motor controller. Biological motor
control is a great challenge for scientists, engineers and physicians.
The classical engineering and mathematical modeling tools are appropriate
for linear time-invariant injective systems. The biological system
does not comply with these qualifiers and therefore there is a place and
a need for new modeling tools in order to describe and analyze the biological
system. In this thesis, some basic problems of motor control were
illustrated. The possible role of the mechanical nonlinear properties
of the muscles in simplifying the control strategy was demonstrated.
A new architecture, learning algorithms and mathematical tools were suggested
in order to exploit the virtue of redundancy. These results constitute
another step in the ongoing strive for a better understanding of the biological
motor control. An understanding of the biological motor control system
will undoubtedly contribute significantly to the welfare of paralyzed and
crippled patients, to a new generation of dexterous robots, and to a better
understanding of the mysteries of the human mind and how it operates.