000129378 001__ 129378
000129378 005__ 20190316234425.0
000129378 0247_ $$2doi$$a10.1007/s00422-009-0300-2
000129378 02470 $$2ISI$$a000266160700001
000129378 037__ $$aARTICLE
000129378 245__ $$aMovement Curvature Planning through Force Field Internal Models
000129378 269__ $$a2009
000129378 260__ $$c2009
000129378 336__ $$aJournal Articles
000129378 520__ $$aHuman motion studies have focused primarily on modeling straight point-to-point reaching movements. However, many goal-directed reaching movements, such as movements directed towards oneself, are not straight but rather follow highly curved trajectories. These movements are particularly interesting to study since they are essential in our everyday life, appear early in development and are routinely used to assess movement deficits following brain lesions. We argue that curved and straight-line reaching movements are generated by a unique neural controller and that the observed curvature of the movement is the result of an active control strategy that follows the geometry of one’s body, for instance to avoid trajectories that would hit the body or yield postures close to the joint limits. We present a mathematical model that accounts for such an active control strategy and show that the model reproduces with high accuracy the kinematic features of human data during unconstrained reaching movements directed toward the head. The model consists of a nonlinear dynamical system with a single stable attractor at the target. Embodiment-related task constraints are expressed as a force field that acts on the dynamical system. Finally, we discuss the biological plausibility and neural correlates of the model’s parameters and suggest that embodiment should be considered as a main cause for movement trajectory curvature.
000129378 6531_ $$aMotor control - Neural control of movement - Dynamical
000129378 6531_ $$asystems - Computational model - Goal-directed reaching
000129378 6531_ $$amovements
000129378 700__ $$0240595$$g128701$$aPetreska, Biljana
000129378 700__ $$g115671$$0240594$$aBillard, Aude
000129378 773__ $$j100$$tBiological Cybernetics$$k5$$q331-350
000129378 8564_ $$uhttp://www.springerlink.com/content/hx74363218j51266/?p=f2fd4131fb194e959474ace1c1b39dfe&pi=0$$zURL
000129378 8564_ $$uhttps://infoscience.epfl.ch/record/129378/files/PetreskaBillard_MovementCurvature.pdf$$zn/a$$s1205365
000129378 909C0 $$xU10660$$0252119$$pLASA
000129378 909CO $$qGLOBAL_SET$$pSTI$$ooai:infoscience.tind.io:129378$$particle
000129378 937__ $$aLASA-ARTICLE-2008-013
000129378 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000129378 980__ $$aARTICLE