Amir Karniel, Ron Meir, and Gideon F. Inbar
World Congress on Medical Physics and Biomedical Engineering (WC2000) Chicago, IL, July 23-28, 2000
Abstract - The
biological motor control system is an adaptive system exhibiting vast
redundancy at all its hierarchical levels. Redundancy improves
reliability and flexibility and might be the salient reason for the superb
dexterity of human motor control. However, introducing redundancy in an
inversely controlled object results in an ill-posed problem.
We describe a general two-way model for redundancy control. This model
includes the selection of a single solution by the dynamics of the system at
the lower level, and a multiple controller that can use different solutions
under different circumstances at the higher level. We demonstrate the
role of the system dynamics in facilitating the stereotypical features of rapid
movements, and suggest an architecture as well as a theoretical framework for
many-to-one function approximation and inversion.
Key words – Inverse problem,
Redundancy, Multiple controller, Rapid movements, Motor control
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