Publications related to Internal model (motor control)

Contrasting action and posture coding with hierarchical deep neural network models of proprioception

Alexander Mathis, Mackenzie Mathis, Kai Jappe Sandbrink, Matthias Bethge, Pranav Mamidanna

Biological motor control is versatile, efficient, and depends on proprioceptive feedback. Muscles are flexible and undergo continuous changes, requiring distributed adaptive control mechanisms that continuously account for the body's state. The canonical r ...

eLIFE SCIENCES PUBL LTD2023

Combining Reflexes and External Sensory Information in a Neuromusculoskeletal Model to Control a Quadruped Robot

Auke Ijspeert, Azhar Aulia Saputra

This article examines the importance of integrating locomotion and cognitive information for achieving dynamic locomotion from a viewpoint combining biology and ecological psychology. We present a mammalian neuromusculoskeletal model from external sensory ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

Sylvain Calinon, Teguh Santoso Lembono, Rohan Budhiraja

This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balanc ...

IEEE2021

Uncontrolled manifold analysis of the effects of a perturbation-based training on the organization of leg joint variance in cerebellar ataxia

Silvestro Micera

Walking patterns of persons affected by cerebellar ataxia (CA) are characterized by wide stride-to-stride variability ascribable to: the background pathology-related sensory-motor noise; the motor redundancy, i.e., an excess of elemental degrees of freedom ...

SPRINGER2021

Designing Configurable Arm Rehabilitation Games: How Do Different Game Elements Affect User Motion Trajectories?

Pierre Dillenbourg, Friedhelm Christoph Hummel, Thibault Lucien Christian Asselborn, Wafa Monia Benkaouar Johal, Maximilian Jonas Wessel, Ayberk Özgür, Jennifer Kaitlyn Olsen, Arzu Güneysu Özgür

For successful rehabilitation of a patient after a stroke or traumatic brain injury, it is crucial that rehabilitation activities are motivating, provide feedback and have a high rate of repetitions. Advancements in recent technologies provide solutions to ...

IEEE2019

Reverse engineering the motor control system

Berat Denizdurduran

Mammalian motor control is implemented by a combination of different networks and system, working coherently to plan the movement of the body or a limb and to execute this movement a dynamical environment. While it is believed that complex, voluntary movem ...

EPFL2019

Two-phase calibration of a neuroprosthetic system

Grégoire Courtine, Eduardo Martin Moraud, Tomislav Milekovic, Marco Capogrosso, Fabien Bertrand Paul Wagner, Jérôme Gandar

Methods and systems are provided for triggering electrical stimulation of a spinal cord during execution of a motor event. In one example, a method comprises monitoring motor cortex activity while execution of a desired motor movement is attempted during a ...

2018

Input-Constrained Path Following for Autonomous Marine Vehicles with a Global Region of Attraction

Francisco Fernandes Castro Rego

This paper presents a solution to the problem of path following control for autonomous marine vehicles (AMVs) subject to input constraints and constant ocean current disturbances. We propose two nonlinear control strategies: the first is obtained by using ...

ELSEVIER SCIENCE BV2018

Feed-Forward based Control in a DC-DC Converter of Asymmetric Multistage Stacked Boost Architecture

Alfred Rufer, Gina Kristin Steinke, Georgios Mademlis

A new feed-forward control technique for a DC-DC step-up converter based on the asymmetric Multistage Stacked Boost Architecture (MSBA) is proposed. The devel-oped feed-forward controller directly handles the load current and the perturbations that may be ...

Ieee-Inst Electrical Electronics Engineers Inc2017

Direction-Dependent Adaptation of Dynamic Gait Stability Following Waist-Pull Perturbations

Silvestro Micera

Balance recovery during an unexpected disturbance is a complex motor task, where part of the variability depends on the type of the perturbation itself. Despite of this, little is known to what extent adaptation mechanisms to repeated perturbations are dep ...

Ieee-Inst Electrical Electronics Engineers Inc2016

Bio-inspired balance controller for a humanoid robot

Auke Ijspeert, Renaud Ronsse, Nicolas Benoît Dominique Van der Noot, François André Heremans

Humanoid robots are gaining much interest nowadays. This is partly motivated by the ability of such robots to replace humans in dangerous environments being specifically designed for humans, such as man-made or natural disaster scenarios. However, existing ...

Ieee2016

Inferior frontal oscillations reveal visuo-motor matching for actions and speech: evidence from human intracranial recordings

Olaf Blanke, Silvio Ionta, Pär Halje

The neural correspondence between the systems responsible for the execution and recognition of actions has been suggested both in humans and non-human primates. Apart from being a key region of this visuo-motor observation-execution matching (OEM) system, ...

Pergamon-Elsevier Science Ltd2015

Activating the motor system through action observation: is this an efficient approach in adults and children?

Michela Bassolino

Observing an action performed by another person to learn a new movement is a frequent experience in adult daily life, such as in sports. However, it is an especially common circumstance during the development of motor skills in childhood. Studies on health ...

Wiley-Blackwell2015

Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs

Auke Ijspeert, Alexander Spröwitz, Mostafa Ajallooeian, Alexandre Tuleu

In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were impl ...

Frontiers Research Foundation2014

Visuo-tactile integration and body ownership during self-generated action

Olaf Blanke, Hannes Bleuler, Roy Salomon, Giulio Rognini, Jane Aspell, Ali Sengül

Although there is increasing knowledge about how visual and tactile cues from the hands are integrated, little is known about how self-generated hand movements affect such multisensory integration. Visuo-tactile integration often occurs under highly dynami ...

Wiley-Blackwell2013

Reinforcement Learning Using a Continuous Time Actor-Critic Framework with Spiking Neurons

Wulfram Gerstner, Nicolas Frémaux

Animals repeat rewarded behaviors, but the physiological basis of reward-based learning has only been partially elucidated. On one hand, experimental evidence shows that the neuromodulator dopamine carries information about rewards and affects synaptic pla ...

Public Library of Science2013

Trajectory-tracking and Path-following Controllers for Constrained Underactuated Vehicles using Model Predictive Control

Colin Neil Jones, Andrea Alessandretti

This paper addresses the design of Model Predictive Control (MPC) laws to solve the trajectory-tracking problem and the path-following problem for constrained underactuated vehicles. By allowing an arbitrarily small asymptotic tracking error, we derive MPC ...

2013

Trajectory-tracking and Path-following Controllers for Constrained Underactuated Vehicles using Model Predictive Control

Colin Neil Jones, Andrea Alessandretti

This paper addresses the design of Model Predictive Control (MPC) laws to solve the trajectory-tracking problem and the path-following problem for constrained under-actuated vehicles. By allowing an arbitrarily small asymptotic tracking error, we derive MP ...

IEEE2013

How are non-retinotopic motion signals integrated? -A high-density EEG study

Michael Herzog, Gijs Plomp, Yvonne Evelina Thunell

Objects moving in the visual scene cause retinal displacements that are not the result of motor commands and thus cannot be accounted for by efference copies. Yet, we easily keep track of moving objects even without following them with our gaze. Here, we i ...

2013

Stochastic Model Predictive Control: Controlling the Average Number of Constraint Violations

Colin Neil Jones, Milan Korda

This paper considers linear discrete-time systems with additive bounded disturbances subject to hard control input bounds and constraints on the expected number of state-constraint violations averaged over time, or, equivalently, constraints on the probabi ...

2012