Adaptation to stable and unstable dynamics achieved by combined impedance control and inverse dynamics model.

PubWeight™: 2.14‹?› | Rank: Top 2%

🔗 View Article (PMID 14615432)

Published in J Neurophysiol on November 01, 2003

Authors

David W Franklin1, Rieko Osu, Etienne Burdet, Mitsuo Kawato, Theodore E Milner

Author Affiliations

1: ATR Computational Neuroscience Laboratories, Kyoto 619-0288, Japan. dfrank@atr.co.jp

Articles citing this

Spine stability: the six blind men and the elephant. Clin Biomech (Bristol, Avon) (2007) 1.90

The value of the follow-through derives from motor learning depending on future actions. Curr Biol (2015) 1.47

Impedance control and internal model use during the initial stage of adaptation to novel dynamics in humans. J Physiol (2005) 1.31

Impedance control reduces instability that arises from motor noise. J Neurosci (2009) 1.31

Optimal feedback control and the long-latency stretch response. Exp Brain Res (2012) 1.27

Modulation of internal model formation during force field-induced motor learning by anodal transcranial direct current stimulation of primary motor cortex. J Physiol (2009) 1.18

Impedance is modulated to meet accuracy demands during goal-directed arm movements. Exp Brain Res (2005) 1.15

Internal models in sensorimotor integration: perspectives from adaptive control theory. J Neural Eng (2005) 1.14

Reduction of metabolic cost during motor learning of arm reaching dynamics. J Neurosci (2012) 1.12

Interactions between limb and environmental mechanics influence stretch reflex sensitivity in the human arm. J Neurophysiol (2009) 1.12

Gone in 0.6 seconds: the encoding of motor memories depends on recent sensorimotor states. J Neurosci (2012) 1.08

Visual feedback is not necessary for the learning of novel dynamics. PLoS One (2007) 1.08

Greater reliance on impedance control in the nondominant arm compared with the dominant arm when adapting to a novel dynamic environment. Exp Brain Res (2007) 1.06

Muscle cocontraction following dynamics learning. Exp Brain Res (2008) 1.05

Visuomotor feedback gains upregulate during the learning of novel dynamics. J Neurophysiol (2012) 1.05

Stability in a frontal plane model of balance requires coupled changes to postural configuration and neural feedback control. J Neurophysiol (2011) 1.04

Compensation for changing motor uncertainty. PLoS Comput Biol (2010) 1.02

Composition and decomposition in bimanual dynamic learning. J Neurosci (2008) 1.01

The effect of contextual cues on the encoding of motor memories. J Neurophysiol (2013) 0.98

Flexible Control of Safety Margins for Action Based on Environmental Variability. J Neurosci (2015) 0.96

Effects of human arm impedance on dynamics learning and generalization. J Neurophysiol (2009) 0.95

Measuring multi-joint stiffness during single movements: numerical validation of a novel time-frequency approach. PLoS One (2012) 0.93

Accuracy of internal dynamics models in limb movements depends on stability. Exp Brain Res (2004) 0.90

Unconstrained three-dimensional reaching in rhesus monkeys. Exp Brain Res (2010) 0.89

Influence of interaction force levels on degree of motor adaptation in a stable dynamic force field. Exp Brain Res (2003) 0.88

Effects of early and intensive neuro-rehabilitative treatment on muscle synergies in acute post-stroke patients: a pilot study. J Neuroeng Rehabil (2013) 0.88

An electromyographic analysis of shoulder muscle activation during push-up variations on stable and labile surfaces. Int J Shoulder Surg (2008) 0.87

Patterns of hypermetria and terminal cocontraction during point-to-point movements demonstrate independent action of trajectory and postural controllers. J Neurophysiol (2011) 0.85

Older adults learn less, but still reduce metabolic cost, during motor adaptation. J Neurophysiol (2013) 0.85

Trans-radial upper extremity amputees are capable of adapting to a novel dynamic environment. Exp Brain Res (2008) 0.85

Learning from the value of your mistakes: evidence for a risk-sensitive process in movement adaptation. Front Comput Neurosci (2013) 0.85

Visual, motor and attentional influences on proprioceptive contributions to perception of hand path rectilinearity during reaching. Exp Brain Res (2010) 0.84

Vestibular benefits to task savings in motor adaptation. J Neurophysiol (2013) 0.83

Stabilization strategies for unstable dynamics. PLoS One (2012) 0.82

Transfer and durability of acquired patterns of human arm stiffness. Exp Brain Res (2005) 0.82

Computational neurorehabilitation: modeling plasticity and learning to predict recovery. J Neuroeng Rehabil (2016) 0.82

The New Robotics-towards human-centered machines. HFSP J (2007) 0.82

Beyond muscles stiffness: importance of state-estimation to account for very fast motor corrections. PLoS Comput Biol (2014) 0.82

Impedance control is selectively tuned to multiple directions of movement. J Neurophysiol (2011) 0.82

Error generalization as a function of velocity and duration: human reaching movements. Exp Brain Res (2007) 0.81

Functional modulation of corticospinal excitability with adaptation of wrist movements to novel dynamical environments. J Neurosci (2014) 0.80

Robustness of muscle synergies during visuomotor adaptation. Front Comput Neurosci (2013) 0.80

Modifications in ankle dorsiflexor activation by applying a torque perturbation during walking in persons post-stroke: a case series. J Neuroeng Rehabil (2014) 0.80

Generalization and transfer of contextual cues in motor learning. J Neurophysiol (2015) 0.79

Generalization in adaptation to stable and unstable dynamics. PLoS One (2012) 0.79

The Neural Feedback Response to Error As a Teaching Signal for the Motor Learning System. J Neurosci (2016) 0.79

Optimizing effort: increased efficiency of motor memory with time away from practice. J Neurophysiol (2014) 0.79

Neural Tuning Functions Underlie Both Generalization and Interference. PLoS One (2015) 0.78

Arm dominance affects feedforward strategy more than feedback sensitivity during a postural task. Exp Brain Res (2015) 0.78

Influence of environmental stability on the regulation of end-point impedance during the maintenance of arm posture. J Neurophysiol (2012) 0.78

Changes in muscle directional tuning parallel feedforward adaptation to a visuomotor rotation. Exp Brain Res (2010) 0.78

Learning with slight forgetting optimizes sensorimotor transformation in redundant motor systems. PLoS Comput Biol (2012) 0.78

Coordinate Representations for Interference Reduction in Motor Learning. PLoS One (2015) 0.78

I Meant to Do That: Determining the Intentions of Action in the Face of Disturbances. PLoS One (2015) 0.78

High-Frequency Intermuscular Coherence between Arm Muscles during Robot-Mediated Motor Adaptation. Front Physiol (2017) 0.77

Proprioceptive feedback during point-to-point arm movements is tuned to the expected dynamics of the task. Exp Brain Res (2009) 0.77

Effect of dual tasks on balance ability in stroke patients. J Phys Ther Sci (2015) 0.77

Cerebellar ataxia impairs modulation of arm stiffness during postural maintenance. J Neurophysiol (2013) 0.77

Learning to push and learning to move: the adaptive control of contact forces. Front Comput Neurosci (2015) 0.76

Effect of Tendon Vibration on Hemiparetic Arm Stability in Unstable Workspaces. PLoS One (2015) 0.76

Novel strategies in feedforward adaptation to a position-dependent perturbation. Exp Brain Res (2005) 0.75

Gradual mechanics-dependent adaptation of medial gastrocnemius activity during human walking. J Neurophysiol (2013) 0.75

Learning to balance on one leg: motor strategy and sensory weighting. J Neurophysiol (2015) 0.75

The Sensorimotor System Can Sculpt Behaviorally Relevant Representations for Motor Learning. eNeuro (2016) 0.75

Holding a Handle for Balance during Continuous Postural Perturbations-Immediate and Transitionary Effects on Whole Body Posture. Front Hum Neurosci (2016) 0.75

Supplemental vibrotactile feedback control of stabilization and reaching actions of the arm using limb state and position error encodings. J Neuroeng Rehabil (2017) 0.75

Adaptation of multijoint coordination during standing balance in healthy young and healthy old individuals. J Neurophysiol (2015) 0.75

Mini-max feedback control as a computational theory of sensorimotor control in the presence of structural uncertainty. Front Comput Neurosci (2014) 0.75

Adaptive tuning functions arise from visual observation of past movement. Sci Rep (2016) 0.75

Learning to Predict and Control the Physics of Our Movements. J Neurosci (2017) 0.75

Trial-to-trial adaptation in control of arm reaching and standing posture. J Neurophysiol (2016) 0.75

Shift of the Muscular Inhibition Latency during On-Line Acquisition of Anticipatory Postural Adjustments. PLoS One (2016) 0.75

Reward Based Motor Adaptation Mediated by Basal Ganglia. Front Comput Neurosci (2017) 0.75

Novel hybrid adaptive controller for manipulation in complex perturbation environments. PLoS One (2015) 0.75

Changes in muscle coordination patterns induced by exposure to a viscous force field. J Neuroeng Rehabil (2016) 0.75

Reaching is Better When You Get What You Want: Realtime Feedback of Intended Reaching Trajectory Despite an Unstable Environment. Front Behav Neurosci (2016) 0.75

Effect of the kinetic variables and postural stability between bilateral in lower limbs by the Oreum trekking exercise: asymmetric index. J Exerc Rehabil (2016) 0.75

Effects of the Alternate Combination of "Error-Enhancing" and "Active Assistive" Robot-Mediated Treatments on Stroke Patients. IEEE J Transl Eng Health Med (2013) 0.75

Illusory force perception following a voluntary limb movement. Neuroreport (2010) 0.75

Predictability and Robustness in the Manipulation of Dynamically Complex Objects. Adv Exp Med Biol (2016) 0.75

Motor adaptation to a small force field superimposed on a large background force. Exp Brain Res (2006) 0.75

Active lead-in variability affects motor memory formation and slows motor learning. Sci Rep (2017) 0.75

Articles by these authors

A unifying computational framework for motor control and social interaction. Philos Trans R Soc Lond B Biol Sci (2003) 3.67

Different neural correlates of reward expectation and reward expectation error in the putamen and caudate nucleus during stimulus-action-reward association learning. J Neurophysiol (2005) 2.83

Multiple model-based reinforcement learning. Neural Comput (2002) 2.74

Failure to consolidate the consolidation theory of learning for sensorimotor adaptation tasks. J Neurosci (2004) 2.47

Rhythmic arm movement is not discrete. Nat Neurosci (2004) 2.41

Perceptual learning incepted by decoded fMRI neurofeedback without stimulus presentation. Science (2011) 2.15

Random presentation enables subjects to adapt to two opposing forces on the hand. Nat Neurosci (2004) 2.04

Endpoint stiffness of the arm is directionally tuned to instability in the environment. J Neurosci (2007) 2.04

Hierarchical Bayesian estimation for MEG inverse problem. Neuroimage (2004) 2.00

CNS learns stable, accurate, and efficient movements using a simple algorithm. J Neurosci (2008) 2.00

A neural correlate of reward-based behavioral learning in caudate nucleus: a functional magnetic resonance imaging study of a stochastic decision task. J Neurosci (2004) 1.88

Functionally specific changes in resting-state sensorimotor networks after motor learning. J Neurosci (2011) 1.60

Modular organization of internal models of tools in the human cerebellum. Proc Natl Acad Sci U S A (2003) 1.54

Short- and long-term changes in joint co-contraction associated with motor learning as revealed from surface EMG. J Neurophysiol (2002) 1.53

A brain controlled wheelchair to navigate in familiar environments. IEEE Trans Neural Syst Rehabil Eng (2010) 1.51

Dissociating variability and effort as determinants of coordination. PLoS Comput Biol (2009) 1.51

Inositol 1,4,5-trisphosphate-dependent Ca2+ threshold dynamics detect spike timing in cerebellar Purkinje cells. J Neurosci (2005) 1.37

Task-specific disruption of perceptual learning. Proc Natl Acad Sci U S A (2005) 1.37

Robot-assisted rehabilitation of hand function. Curr Opin Neurol (2010) 1.35

Optimal impedance control for task achievement in the presence of signal-dependent noise. J Neurophysiol (2004) 1.33

Functional significance of stiffness in adaptation of multijoint arm movements to stable and unstable dynamics. Exp Brain Res (2003) 1.32

Heterarchical reinforcement-learning model for integration of multiple cortico-striatal loops: fMRI examination in stimulus-action-reward association learning. Neural Netw (2006) 1.27

Single session of transcranial direct current stimulation transiently increases knee extensor force in patients with hemiparetic stroke. Neurorehabil Neural Repair (2011) 1.26

Explicit contextual information selectively contributes to predictive switching of internal models. Exp Brain Res (2007) 1.25

Acquisition and contextual switching of multiple internal models for different viscous force fields. Neurosci Res (2003) 1.24

Ca2+ requirements for cerebellar long-term synaptic depression: role for a postsynaptic leaky integrator. Neuron (2007) 1.24

Impedance control balances stability with metabolically costly muscle activation. J Neurophysiol (2004) 1.21

Development of BOLD signal hemodynamic responses in the human brain. Neuroimage (2012) 1.20

Effect of spatial distance to the task stimulus on task-irrelevant perceptual learning of static Gabors. J Vis (2007) 1.17

Adaptive control of stiffness to stabilize hand position with large loads. Exp Brain Res (2003) 1.16

Chaos may enhance information transmission in the inferior olive. Proc Natl Acad Sci U S A (2004) 1.16

Functional magnetic resonance imaging examination of two modular architectures for switching multiple internal models. J Neurosci (2004) 1.16

Mirror neurons and imitation: a computationally guided review. Neural Netw (2006) 1.14

Reconstruction of two-dimensional movement trajectories from selected magnetoencephalography cortical currents by combined sparse Bayesian methods. Neuroimage (2010) 1.12

Different mechanisms involved in adaptation to stable and unstable dynamics. J Neurophysiol (2003) 1.12

Attentional modulation of oscillatory activity in human visual cortex. Neuroimage (2003) 1.11

Mental state inference using visual control parameters. Brain Res Cogn Brain Res (2005) 1.09

Activation of the human superior temporal gyrus during observation of goal attribution by intentional objects. J Cogn Neurosci (2004) 1.08

Visual feedback is not necessary for the learning of novel dynamics. PLoS One (2007) 1.08

The case for an internal dynamics model versus equilibrium point control in human movement. J Physiol (2003) 1.08

Attentional shifts towards an expected visual target alter the level of alpha-band oscillatory activity in the human calcarine cortex. Brain Res Cogn Brain Res (2005) 1.08

Boosting perceptual learning by fake feedback. Vision Res (2009) 1.08

Neural correlates of internal-model loading. Curr Biol (2006) 1.08

Event related desynchronization-modulated functional electrical stimulation system for stroke rehabilitation: a feasibility study. J Neuroeng Rehabil (2012) 1.07

Encoding of movement dynamics by Purkinje cell simple spike activity during fast arm movements under resistive and assistive force fields. J Neurophysiol (2006) 1.07

A haptic knob for rehabilitation of hand function. IEEE Trans Neural Syst Rehabil Eng (2007) 1.07

The neural substrates of biological motion perception: an fMRI study. Cereb Cortex (2002) 1.07

Evaluation of hierarchical Bayesian method through retinotopic brain activities reconstruction from fMRI and MEG signals. Neuroimage (2008) 1.05

Motor improvement and corticospinal modulation induced by hybrid assistive neuromuscular dynamic stimulation (HANDS) therapy in patients with chronic stroke. Neurorehabil Neural Repair (2008) 1.05

Anthropomorphism influences perception of computer-animated characters' actions. Soc Cogn Affect Neurosci (2007) 1.04

A Kendama Learning Robot Based on Bi-directional Theory. Neural Netw (1996) 1.03

Concurrent adaptation of force and impedance in the redundant muscle system. Biol Cybern (2009) 1.02

Effects of a robot-assisted training of grasp and pronation/supination in chronic stroke: a pilot study. J Neuroeng Rehabil (2011) 1.02

A model of smooth pursuit in primates based on learning the target dynamics. Neural Netw (2005) 1.02

The role of posture, magnification, and grip force on microscopic accuracy. Ann Biomed Eng (2009) 1.01

Neural correlates of predictive and postdictive switching mechanisms for internal models. J Neurosci (2008) 0.98

Premotor cortex mediates perceptual performance. Neuroimage (2010) 0.98

Attentional changes in pre-stimulus oscillatory activity within early visual cortex are predictive of human visual performance. Brain Res (2008) 0.97

Micromanipulation accuracy in pointing and tracing investigated with a contact-free measurement system. Conf Proc IEEE Eng Med Biol Soc (2009) 0.97

Central representation of dynamics when manipulating handheld objects. J Neurophysiol (2005) 0.95

Shared neural correlates for language and tool use in Broca's area. Neuroreport (2009) 0.94

Reorganization of brain activity for multiple internal models after short but intensive training. Cortex (2007) 0.94

A computational model of limb impedance control based on principles of internal model uncertainty. PLoS One (2010) 0.94

Robotic assessment of upper limb motor function after stroke. Am J Phys Med Rehabil (2012) 0.92

Brain mechanisms for predictive control by switching internal models: implications for higher-order cognitive functions. Psychol Res (2009) 0.91

Computational studies on acquisition and adaptation of ocular following responses based on cerebellar synaptic plasticity. J Neurophysiol (2002) 0.91

Variational Bayesian least squares: an application to brain-machine interface data. Neural Netw (2008) 0.91

Cerebellar activity evoked by common tool-use execution and imagery tasks: an fMRI study. Cortex (2007) 0.91

Mirror neurons: functions, mechanisms and models. Neurosci Lett (2012) 0.90

HandCARE: a cable-actuated rehabilitation system to train hand function after stroke. IEEE Trans Neural Syst Rehabil Eng (2008) 0.90

Optimal control of reaching includes kinematic constraints. J Neurophysiol (2013) 0.89

The effects of feature attention on prestimulus cortical activity in the human visual system. Cereb Cortex (2007) 0.89

Anterior and superior lateral occipito-temporal cortex responsible for target motion prediction during overt and covert visual pursuit. Neurosci Res (2005) 0.88

Feedforward impedance control efficiently reduce motor variability. Neurosci Res (2009) 0.88

Cerebellar internal models: implications for the dexterous use of tools. Cerebellum (2012) 0.88

Intermittent visual feedback can boost motor learning of rhythmic movements: evidence for error feedback beyond cycles. J Neurosci (2012) 0.87

A framework to describe, analyze and generate interactive motor behaviors. PLoS One (2012) 0.87

A tennis serve and upswing learning robot based on bi-directional theory. Neural Netw (1998) 0.86

Cortical current source estimation from electroencephalography in combination with near-infrared spectroscopy as a hierarchical prior. Neuroimage (2011) 0.86