CUED Publications database

Learning feedforward commands to muscles using time-shifted sensory feedback

Milner, TE and Ng, B and Franklin, DW (2006) Learning feedforward commands to muscles using time-shifted sensory feedback. In: UNSPECIFIED UNSPECIFIED, pp. 113-116.

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Abstract

In adapting to changing forces in the mechanical environment, humans change the force being applied by the limb by reciprocal changes in the activation of antagonistic muscles. However, they also cocontract these muscles when interaction with the environment is mechanically unstable to increase the mechanical impedance of the limb. We have postulated that appropriate patterns of muscle activation could be learned using a simple scheme in which the naturally occurring stretch reflex is used as a template to adjust feedforward commands to muscles. Feedforward commands are modified iteratively by shifting a scaled version of the reflex response forward in time and adding it to the previous feedforward command. We show that such an algorithm can account for the principal features of changes in muscle activation observed when human subjects adapt to instabilities in the mechanical environment. © 2006.

Item Type: Book Section
Uncontrolled Keywords: Adaptive control Cocontraction Stability Stretch reflex Wrist
Subjects: UNSPECIFIED
Divisions: Div F > Computational and Biological Learning
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 11:30
Last Modified: 27 Nov 2014 19:19
DOI: 10.1016/j.ics.2006.01.047