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The Journal of Neurophysiology Vol. 88 No. 2 August 2002, pp. 942-953
Copyright ©2002 by the American Physiological Society
1Department of Biomedical Engineering, HNB-001 and 2Computer Science and Neuroscience, HNB-103, University of Southern California, Los Angeles, California 90089-2520; and 3Kawato Dynamic Brain Project (Exploratory Research for Advanced Technology/Japan Science and Technology Corporation), Soraku-gun, 619-02 Kyoto, Japan
Mehta, Biren and
Stefan Schaal.
Forward Models in Visuomotor Control. J. Neurophysiol. 88: 942-953, 2002. In recent years, an
increasing number of research projects investigated whether the central
nervous system employs internal models in motor control. While inverse
models in the control loop can be identified more readily in both motor
behavior and the firing of single neurons, providing direct evidence
for the existence of forward models is more complicated. In this paper,
we will discuss such an identification of forward models in the context of the visuomotor control of an unstable dynamic system, the balancing of a pole on a finger. Pole balancing imposes stringent constraints on
the biological controller, as it needs to cope with the large delays of
visual information processing while keeping the pole at an unstable
equilibrium. We hypothesize various model-based and non-model-based
control schemes of how visuomotor control can be accomplished in this
task, including Smith Predictors, predictors with Kalman filters,
tapped-delay line control, and delay-uncompensated control. Behavioral
experiments with human participants allow exclusion of most of the
hypothesized control schemes. In the end, our data support the
existence of a forward model in the sensory preprocessing loop of
control. As an important part of our research, we will provide a
discussion of when and how forward models can be identified and also
the possible pitfalls in the search for forward models in control.
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