Dynamic primitives of motor behavior
We present in outline a theory of sensorimotor control based on dynamic primitives, which we define as attractors. To account for the broad class of human interactive behaviors—especially tool use—we propose three distinct primitives: submovements, oscillations, and mechanical impedances, the latter...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Springer-Verlag
2017
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| Online Access: | http://hdl.handle.net/1721.1/109866 https://orcid.org/0000-0001-5366-2145 |
| _version_ | 1826203049924755456 |
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| author | Hogan, Neville Sternad, Dagmar |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Hogan, Neville Sternad, Dagmar |
| author_sort | Hogan, Neville |
| collection | MIT |
| description | We present in outline a theory of sensorimotor control based on dynamic primitives, which we define as attractors. To account for the broad class of human interactive behaviors—especially tool use—we propose three distinct primitives: submovements, oscillations, and mechanical impedances, the latter necessary for interaction with objects. Owing to the fundamental features of the neuromuscular system—most notably, its slow response—we argue that encoding in terms of parameterized primitives may be an essential simplification required for learning, performance, and retention of complex skills. Primitives may simultaneously and sequentially be combined to produce observable forces and
motions. This may be achieved by defining a virtual trajectory composed of submovements and/or oscillations interacting with impedances. Identifying primitives requires care: in principle, overlapping submovements would be sufficient to compose all observed movements but biological evidence
shows that oscillations are a distinct primitive. Conversely, we suggest that kinematic synergies, frequently discussed as primitives of complex actions, may be an emergent consequence
of neuromuscular impedance. To illustrate how these dynamic primitives may account for complex actions, we brieflyreviewthree typesof interactivebehaviors: constrained motion, impact tasks, and manipulation of dynamic objects. |
| first_indexed | 2024-09-23T12:30:35Z |
| format | Article |
| id | mit-1721.1/109866 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T12:30:35Z |
| publishDate | 2017 |
| publisher | Springer-Verlag |
| record_format | dspace |
| spelling | mit-1721.1/1098662022-09-28T08:13:44Z Dynamic primitives of motor behavior Hogan, Neville Sternad, Dagmar Massachusetts Institute of Technology. Department of Mechanical Engineering Hogan, Neville Sternad, Dagmar We present in outline a theory of sensorimotor control based on dynamic primitives, which we define as attractors. To account for the broad class of human interactive behaviors—especially tool use—we propose three distinct primitives: submovements, oscillations, and mechanical impedances, the latter necessary for interaction with objects. Owing to the fundamental features of the neuromuscular system—most notably, its slow response—we argue that encoding in terms of parameterized primitives may be an essential simplification required for learning, performance, and retention of complex skills. Primitives may simultaneously and sequentially be combined to produce observable forces and motions. This may be achieved by defining a virtual trajectory composed of submovements and/or oscillations interacting with impedances. Identifying primitives requires care: in principle, overlapping submovements would be sufficient to compose all observed movements but biological evidence shows that oscillations are a distinct primitive. Conversely, we suggest that kinematic synergies, frequently discussed as primitives of complex actions, may be an emergent consequence of neuromuscular impedance. To illustrate how these dynamic primitives may account for complex actions, we brieflyreviewthree typesof interactivebehaviors: constrained motion, impact tasks, and manipulation of dynamic objects. United States. National Institutes of Health (T32GM008334) American Heart Association (11SDG7270001) National Science Foundation (U.S.) (NSF DMS-0928587) 2017-06-14T19:25:22Z 2017-06-14T19:25:22Z 2012-11 2012-04 2017-06-13T03:44:10Z Article http://purl.org/eprint/type/JournalArticle 0340-1200 1432-0770 http://hdl.handle.net/1721.1/109866 Hogan, Neville and Sternad, Dagmar. “Dynamic Primitives of Motor Behavior.” Biological Cybernetics 106, no. 11–12 (November 2012): 727–739 © 2012 The Author(s) https://orcid.org/0000-0001-5366-2145 en http://dx.doi.org/10.1007/s00422-012-0527-1 Biological Cybernetics Creative Commons Attribution http://creativecommons.org/licenses/by/4.0/ The Author(s) application/pdf Springer-Verlag Springer-Verlag |
| spellingShingle | Hogan, Neville Sternad, Dagmar Dynamic primitives of motor behavior |
| title | Dynamic primitives of motor behavior |
| title_full | Dynamic primitives of motor behavior |
| title_fullStr | Dynamic primitives of motor behavior |
| title_full_unstemmed | Dynamic primitives of motor behavior |
| title_short | Dynamic primitives of motor behavior |
| title_sort | dynamic primitives of motor behavior |
| url | http://hdl.handle.net/1721.1/109866 https://orcid.org/0000-0001-5366-2145 |
| work_keys_str_mv | AT hoganneville dynamicprimitivesofmotorbehavior AT sternaddagmar dynamicprimitivesofmotorbehavior |