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英文:Computational reproductions of external force field adaption without assuming desired trajectories 
和文: 神原 裕行, 髙木 敦士, 清水 遥, 川瀬 利弘, 吉村 奈津江, SCHWEIGHOFER NICOLAS, 小池 康晴.  
英文: Hiroyuki Kambara, Atsushi Takagi, Haruka Shimizu, Toshihiro Kawase, Natsue Yoshimura, Nicolas Schweighofer, Yasuharu Koike.  
言語 English 
英文:Neural Networks 
巻, 号, ページ Vol. 139        Page 179-198
出版年月 2021年7月 
DOI https://doi.org/10.1016/j.neunet.2021.01.030
アブストラクト Optimal feedback control is an established framework that is used to characterize human movement. However, it is not fully understood how the brain computes optimal gains through interactions with the environment. In the past study, we proposed a model of motor learning that identifies a set of feedback and feedforward controllers and a state predictor of the arm musculoskeletal system to control free reaching movements. In this study, we applied the model to force field adaptation tasks where normal reaching movements are disturbed by an external force imposed on the hand. Without a priori knowledge about the arm and environment, the model was able to adapt to the force field by generating counteracting forces to overcome it in a manner similar to what is reported in the behavioral literature. The kinematics of the movements generated by our model share characteristic features of human movements observed before and after force field adaptation. In addition, we demonstrate that the structure and learning algorithm introduced in our model induced a shift in the end-point’s equilibrium position and a static force modulation, accompanied by a fast and a slow learning process. Importantly, our model does not require desired trajectories, yields movements without specifying movement duration, and predicts force generation patterns by exploring the environment. Our model demonstrates a possible mechanism through which the central nervous system may control and adapt a point-to-point reaching movement without specifying a desired trajectory by continuously updating the body’s musculoskeletal model.

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