Abstract
The next generation of neuroprostheses, which are aimed at the restoration of natural movement of paralysed body parts or at the natural interaction with external devices, will be quite similar to biomimetic robot systems which attempt to duplicate the organization of the biological motor control system. In the paper, we review some of the organizing principles that have emerged in the last few years and might provide useful guidelines for a biomimetic design.
Similar content being viewed by others
References
Bizzi E, Hogan N, Mussa Ivaldi FA, Giszter SF (1992) Does the nervous system use equilibrium-point control to guide single and multiple movements? Behav Brain 15:603–613
Brashers-Krug T, Shadmehr R, Bizzi E (1996) Consolidation in human motor memory. Nature 382:252–255
Brown IE, Loeb GE (1997) A reductionist approach to creating and using neuromusculoskeletal models. In: Winters JM, Crago PE (eds) Biomechanics and neural control of movement. Springer, Berlin Heidelberg New York, pp 148–163
Burdet E, Osu R, Franklin DW, Milner TE, Kawato M (2001) The central nervous system stabilizes unstable dynamics by learning optimal impedance. Nature 414:446–449
Casadio M, Morasso P, Sanguineti V (2004) Braccio di ferro: a new robotized haptic interface. Gait Posture (in press)
Davidson PR, Wolpert DM (2004) Scaling down motor memories: de-adaptation after motor learning. Neurosci Lett 370:102–107
Della Maggiore V, Malfait N, Ostry DJ, Paus T (2004) Stimulation of the posterior parietal cortex interferes with arm trajectory adjustments during the learning of new dynamics. J Neurosci 24:9971–9976
Ellaway P, Taylor A, Durbaba R, Rawlinson S (2002) Role of the fusimotor system in locomotion. Adv Exp Med Biol 508:335–342
Flanagan JR, Lolley S (2001) The inertial anisotropy of the arm is accurately predicted during movement planning. J Neurosci 21:1361–1369
Gagey PM, Bizzo G, Ouaknine M, Weber B (2002) Two mechanical models for postural stabilization: the tactics of the center of gravity and the tactics of the center of pressure. http://perso.club-internet.fr/pmgagey/TactiqueDuPied-a.htm
Gatev P, Thomas S, Thomas K, Hallet M (1999) Feedforward ankle strategy of balance during quiet stance in adults. J Physiol 514:915–928
Gerritsen KG, van den Bogert AJ, Hulliger M, Zernicke RF (1998) Intrinsic muscle properties facilitate locomotor control—a computer simulation study. Motor Contr 2:206–220
Ghez C, Gordon J, Ghilardi MF, Sainburg RL (1994) Contributions of vision and proprioception to accuracy in limb movements. In: Gazzaniga MS (ed) The cognitive neurosciences. MIT, Cambridge, pp 549–564
Gomi H, Kawato M (1996) Equilibrium-point control hypothesis examined by measured arm stiffness during multijoint movement. Science 272:117–120
Goodbody SJ, Wolpert DM (1998) Temporal and amplitude generalization in motor learning. J Neurophysiol 79:1825–1838
von Holst E, Mittelstaedt H (1950) Das Reafferenzprinzip. Wechselwirkungen zwischen Zentralnervensystem und Peripherie. Naturwissenschaften 37:464–476
Hunter IW, Kearney RE (1982) Dynamics of human ankle stiffness: variation with mean torque. J Biomech 15:747–752
Jaax KN, Hannaford B (2002) A biorobotic structural model of the mammalian muscle spindle primary afferent response. Ann Biomed Eng 30:84–96
Jacono M, Casadio M, Morasso P, Sanguineti V (2004) The sway density curve and the underlying postural stabilization process. Motor Contr 8:292–311
Karniel A, Mussa-Ivaldi FA (2003) Sequence, time, or state representation: how does the motor control system adapt to variable environments? Biol Cybern 89:10–21
Lacquaniti F, Maioli C (1989) The role of preparation in tuning anticipatory and reflex responses during catching. J Neurosci 9:134–148
Loram ID, Lakie M (2002a) Human balancing of an inverted pendulum: position control by small, ballistic-like, throw and catch movements. J Physiol 540:1111–1124
Loram ID, Lakie M (2002b) Direct measurement of human ankle stiffness during quiet standing: the intrinsic mechanical stiffness is insufficient for stability. J Physiol 545:1041–1053
Morasso P (1981) Spatial control of arm movement. Exp Brain Res 42:223–227
Morasso P, Sanguineti V (2002) Ankle stiffness alone cannot stabilize upright standing. J Neurophysiol 88:2157–2162
Morasso P, Schieppati M (1999) Can muscle stiffness alone stabilize upright standing? J Neurophysiol 82:1622–1626
Peterka RJ (2000) Postural control model interpretation of stabilogram diffusion analysis. Biol Cybern 83:335–343
Proske U, Gregory JE (2002) Signalling properties of muscle spindles and tendon organs. Adv Exp Med Biol 508:5–12
Sanguineti V, Morasso P, Baratto L, Brichetto G, Mancardi GL, Solaro, C (2003) Cerebellar ataxia: quantitative assessment and cybernetic interpretation. Human Move 22:189–205
Shadmehr R, Mussa-Ivaldi FA (1994) Adaptive representation of dynamics during learning of a motor task. J Neurosci 14:3208–3224
Tsuji T, Morasso P, Goto K, Ito K (1995) Human hand impedance characteristics during maintained posture in multi joint arm movements. Biol Cybern 72:475–485
Wagner H, Blickhan R (2003) Stabilizing function of antagonistic neuromusculoskeletal systems: an analytical investigation. Biol Cybern 89:71–79
Wagner H, Blickhan RR (1999) Stabilizing function of skeletal muscles: an analytical investigation. J Theor Biol 199:163–179
Weiss PL, Hunter IW, Kearney RE (1988) Human ankle joint stiffness over the full range of muscle activation levels. J Biomech 21:539–544
Winter DA, Patla AE, Prince F, Ishac M (1998) Stiffness control of balance in quiet standing. J Neurophysiol 80:1211–1221
Wolpert DM, Ghahramani Z, Jordan MI (1995) An internal model for sensorimotor integration. Science 269:1880–1882
Zatsiorsky VM, Duarte M (2000) Rambling and trembling in quiet standing. Motor Contr 4:185–200
Author information
Authors and Affiliations
Corresponding author
Additional information
Communicated by Irene Ruspantini and Niels Birbaumer
Rights and permissions
About this article
Cite this article
Morasso, P., Bottaro, A., Casadio, M. et al. Preflexes and internal models in biomimetic robot systems. Cogn Process 6, 25–36 (2005). https://doi.org/10.1007/s10339-004-0039-6
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10339-004-0039-6