CUED Publications database

Impedance control is tuned to multiple directions of movement

Kadiallah, A and Liaw, G and Burdet, E and Kawato, M and Franklin, DW (2008) Impedance control is tuned to multiple directions of movement. In: UNSPECIFIED pp. 5358-5361..

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Humans are able to learn tool-handling tasks, such as carving, demonstrating their competency to make and vary the direction of movements in unstable environments. It has been shown that when a single reaching movement is repeated in unstable dynamics, the central nervous system (CNS) learns an impedance internal model to compensate for the environment instability. However, there is still no explanation for how humans can learn to move in various directions in such environments. In this study, we investigated whether and how humans compensate for instability while learning two different reaching movements simultaneously. Results show that when performing movements in two different directions, separated by a 35° angle, the CNS was able to compensate for the unstable dynamics. After adaptation, the force was found to be similar to the free movement condition, but stiffness increased in the direction of instability, specifically for each direction of movement. Our findings suggest that the CNS either learned an internal model generalizing over different movements, or alternatively that it was able to switch between specific models acquired simultaneously. © 2008 IEEE.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Divisions: Div F > Computational and Biological Learning
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:46
Last Modified: 03 Aug 2017 03:15