A Neuro-dynamical model of Synergistic Motor Control
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University of Cincinnati / OhioLINK
2013
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ndltd-OhioLink-oai-etd.ohiolink.edu-ucin13844265212021-08-03T06:20:21Z A Neuro-dynamical model of Synergistic Motor Control Byadarhaly, Kiran Electrical Engineering motor synergies action learning system goal directed movement sensorimotor learning system neural map motor repertoire neurodynamic hypersynergies synergistic motor control Animals such as reptiles, amphibians and mammals, including humans, have a very complex mechanicalbody structure. The number of degrees of freedom in humans is estimated to be between 500 to 1400. Even the simplest actions performed by humans involve processing at multiple levels of the nervous system to control numerous degrees of freedom at the musculoskeletal level. Yet, humans and other higher animals can perform a large number of complex, goal-directed movements under a variety of different environmental conditions. Understanding this phenomenon is a great interest to biologists, engineers and computer scientists.Some of the important issues that need to be addressed are: What is the control strategy employed to handle such large degrees of freedom? How is this control strategy instantiated in the neural and musuloskeletal substrate of the animals? How is this control strategy used to develop skill learning? Extensive studies addressing the first question have revealed that, rather than using standard control-based methodologies involving continuous tracking of trajectories, animal movements emerge from the controlled combinations of pre-configured movement primitives known as motor synergies. These synergies are stereotypical patterns of activity across muscle groups and can be triggered as a whole with a controlled gain and temporal offset. The co-activity of a small set of synergies can produce a large repertoire of movements, thus greatly simplifying the control problem.Although the presence of motor synergies has been confirmed by extensive experimental studies on animal and human movements and the concept of movement primitives has been used for the control of fairly complex robots, the neural basis of motor synergies is still not well understood and there are no comprehensive neural models for them. In this dissertation, a hierarchical, modular neural model for motor synergies is introduced based on the principle that these functional modules reflect the structural modularity of the underlying physical system. Multiple levels of synergies are configured and embedded into neural structures, and the ability of a small set of neural synergies to produce a rich motor repertoire corresponding to linear trajectories in all directions from a large set of initial configurations of a model two jointed arm is demonstrated. A sensorimotor learning system based on interacting neural maps is also built to exploit the motor repertoire and learn to produce desired movements in an autonomous fashion. The ability of the system to produce complex goal directed movements is also demonstrated through an action learning system. 2013 English text University of Cincinnati / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=ucin1384426521 http://rave.ohiolink.edu/etdc/view?acc_num=ucin1384426521 unrestricted This thesis or dissertation is protected by copyright: some rights reserved. It is licensed for use under a Creative Commons license. Specific terms and permissions are available from this document's record in the OhioLINK ETD Center. |
| collection |
NDLTD |
| language |
English |
| sources |
NDLTD |
| topic |
Electrical Engineering motor synergies action learning system goal directed movement sensorimotor learning system neural map motor repertoire neurodynamic hypersynergies synergistic motor control |
| spellingShingle |
Electrical Engineering motor synergies action learning system goal directed movement sensorimotor learning system neural map motor repertoire neurodynamic hypersynergies synergistic motor control Byadarhaly, Kiran A Neuro-dynamical model of Synergistic Motor Control |
| author |
Byadarhaly, Kiran |
| author_facet |
Byadarhaly, Kiran |
| author_sort |
Byadarhaly, Kiran |
| title |
A Neuro-dynamical model of Synergistic Motor Control |
| title_short |
A Neuro-dynamical model of Synergistic Motor Control |
| title_full |
A Neuro-dynamical model of Synergistic Motor Control |
| title_fullStr |
A Neuro-dynamical model of Synergistic Motor Control |
| title_full_unstemmed |
A Neuro-dynamical model of Synergistic Motor Control |
| title_sort |
neuro-dynamical model of synergistic motor control |
| publisher |
University of Cincinnati / OhioLINK |
| publishDate |
2013 |
| url |
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1384426521 |
| work_keys_str_mv |
AT byadarhalykiran aneurodynamicalmodelofsynergisticmotorcontrol AT byadarhalykiran neurodynamicalmodelofsynergisticmotorcontrol |
| _version_ |
1719435138942631936 |