Extracting motor synergies from random movements for low-dimensional task-space control of musculoskeletal robots

• Published in: Bioinspiration & biomimetics Vol. 10; no. 5; p. 056016
• Main Authors: Fu, Kin Chung Denny, Libera, Fabio Dalla, Ishiguro, Hiroshi
• Format: Journal Article
• Language: English
• Published: England IOP Publishing 08.10.2015
• Subjects: Arm - physiology; Biomimetics - methods; Computer Simulation; dimensionality reduction; Feedback, Physiological - physiology; Human; Humans; Inverse dynamics; Kernel-based learning; Mathematical models; Models, Biological; Models, Statistical; motor synergies; Motors; Movement - physiology; Movements; Muscle Contraction - physiology; Muscle, Skeletal - physiology; Muscles; musculoskeletal robots; Postural Balance - physiology; Robot control; Robotics - methods; Robots; task-space control

In the field of human motor control, the motor synergy hypothesis explains how humans simplify body control dimensionality by coordinating groups of muscles, called motor synergies, instead of controlling muscles independently. In most applications of motor synergies to low-dimensional control in ro...