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Motor Control LEcture 8_Student Version(1).pptx

Motor Control LEcture 8_Student Version(1).pptx - Motor...

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Motor Control and Leaning Lecture # 8: Feedback and Control Theory Jessica Rodriguez, MS
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Types of Control Feed-forward Evidence from “ catch ” trials (error when force field first turned on/off) Feedback Evidence from fact that subjects eventually get to destination of reach Impedance control Stiffen arm to resist any type of perturbation
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Feed-forward Control prediction of desired movement and muscle force requirements In the experiment, the subjects formed an internal model of the force field, and predict muscle forces needed to cancel The System Input Output The system might include bones, joints, muscles, gravity, wind resistance, weight of an object, etc.
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Internal Models Form of feed-forward control Primary component of learning ? Can be modified and adapted Also known as “Open-Loop” Control
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Internal Models Can be transferred (different workspace) Are remembered Have a limit to their complexity Can be interfered with Are not dependent on visual information( catching a ball and make a estimation where to catch it)
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Feedback Control Knowledge of movement used to make corrections to ensure accurate performance _During the movenment Known as “Closed-Loop” Control CNS Muscle Limbs, Joints, Environment Feedback: vision, proprioception, touch, etc. Output
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Feed-Forward vs. Feedback Internal Model Adaptation requires information from previous trials to refine the internal model (occurs after the performance of the motion) Feedback control occurs during the actual motion Consider: pin the tail on the donkey (not blindfolded) vs. throwing a dart
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Feed-forward vs. Feedback Feed-forward: Faster Movement (no delay, bang-bang controller) Requires an accurate model of environment Cannot compensate for unexpected disturbances Feedback: Requires an error before control signal given (causes a delay) Ultimately more accurate Can compensate for unanticipated changes in the system
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Examples Cruise control( ex. Feedback) to be accureata that speed Prehension(ex. Feed-forward) Baseball Swing(ex. Feed-forward)
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