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Emergence of Motor Synergy in Vertical Reaching Task via Tacit Learning

Mitsuhiro Hayashibe 1, * Shingo Shimoda 2
* Corresponding author
1 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : The dynamics of multijoint limbs often causes complex dynamic interaction torques which are the inertial effect of other joints motion. It is known that Cerebellum takes important role in a motor learning by developing the internal model. In this paper, we propose a novel computational control paradigm in vertical reaching task which involves the management of interaction torques and gravitational effect. The obtained results demonstrate that the proposed method is valid for acquiring motor synergy in the system with actuation redundancy and resulted in the energy efficient solutions. It is highlighted that the tacit learning in vertical reaching task can bring computational adaptability and optimality with model-free and cost-function-free approach differently from previous studies.
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Mitsuhiro Hayashibe, Shingo Shimoda. Emergence of Motor Synergy in Vertical Reaching Task via Tacit Learning. EMBC: Engineering in Medicine and Biology Conference, Jul 2013, Osaka, Japan. pp.4985-4988. ⟨lirmm-00853083⟩

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