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J Neurophysiol 88: 942-953, 2002;
0022-3077/02 $5.00
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The Journal of Neurophysiology Vol. 88 No. 2 August 2002, pp. 942-953
Copyright ©2002 by the American Physiological Society

Forward Models in Visuomotor Control

Biren Mehta1,3 and Stefan Schaal2,3

 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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