Presentation | 2007-03-15 Motor Planning and Sparse Motor Representation : Application to Reaching Movement of a Double-Joint Nonlinear Arm Yutaka SAKAGUCHI, Shiro IKEDA, |
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Abstract(in Japanese) | (See Japanese page) |
Abstract(in English) | The authors previously proposed that "sparseness preference" could work as a criteron of motor planning problem within a parametric framework where each motor command was represented with a linear sum of basis patterns, and showed its validity in the planning of a single-joint reaching movement. The present report addresses how to extend this method applicable to double-joint reaching movements. Specifically, the authors divide the motor command into two components: One gives active forces to drive the ballistic portion of the movement and the other holds the hand correctly around the target. The former component is generated by the sparseness-based planning method where the nonlinear double-joint motor system is approximated as a linear system, and the latter component compensates the endpoint error produced by the approximation error in the planning process. A computer-simulated experiment was ran for demonstrating the behavior of the proposed method. |
Keyword(in Japanese) | (See Japanese page) |
Keyword(in English) | motor planning / motor representation / sparse representation / reaching movement / linearization |
Paper # | NC2006-161 |
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Committee | NC |
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Conference Date | 2007/3/8(1days) |
Place (in Japanese) | (See Japanese page) |
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Registration To | Neurocomputing (NC) |
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Language | JPN |
Title (in Japanese) | (See Japanese page) |
Sub Title (in Japanese) | (See Japanese page) |
Title (in English) | Motor Planning and Sparse Motor Representation : Application to Reaching Movement of a Double-Joint Nonlinear Arm |
Sub Title (in English) | |
Keyword(1) | motor planning |
Keyword(2) | motor representation |
Keyword(3) | sparse representation |
Keyword(4) | reaching movement |
Keyword(5) | linearization |
1st Author's Name | Yutaka SAKAGUCHI |
1st Author's Affiliation | University of Electro-Communications, Graduate School of Information Systems() |
2nd Author's Name | Shiro IKEDA |
2nd Author's Affiliation | The Institute of Statistical Mathematics |
Date | 2007-03-15 |
Paper # | NC2006-161 |
Volume (vol) | vol.106 |
Number (no) | 589 |
Page | pp.pp.- |
#Pages | 6 |
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