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Mini-max feedback control as a computational theory of sensorimotor control in the presence of structural uncertainty
We propose a mini-max feedback control (MMFC) model as a robust approach to human motor control under conditions of uncertain dynamics, such as structural uncertainty. The MMFC model is an expansion of the optimal feedback control (OFC) model. According to this scheme, motor commands are generated t...
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Formato: | Online Artículo Texto |
Lenguaje: | English |
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Frontiers Media S.A.
2014
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Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4173646/ https://www.ncbi.nlm.nih.gov/pubmed/25309415 http://dx.doi.org/10.3389/fncom.2014.00119 |
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author | Ueyama, Yuki |
author_facet | Ueyama, Yuki |
author_sort | Ueyama, Yuki |
collection | PubMed |
description | We propose a mini-max feedback control (MMFC) model as a robust approach to human motor control under conditions of uncertain dynamics, such as structural uncertainty. The MMFC model is an expansion of the optimal feedback control (OFC) model. According to this scheme, motor commands are generated to minimize the maximal cost, based on an assumption of worst-case uncertainty, characterized by familiarity with novel dynamics. We simulated linear dynamic systems with different types of force fields–stable and unstable dynamics–and compared the performance of MMFC to that of OFC. MMFC delivered better performance than OFC in terms of stability and the achievement of tasks. Moreover, the gain in positional feedback with the MMFC model in the unstable dynamics was tuned to the direction of instability. It is assumed that the shape modulations of the gain in positional feedback in unstable dynamics played the same role as that played by end-point stiffness observed in human studies. Accordingly, we suggest that MMFC is a plausible model that predicts motor behavior under conditions of uncertain dynamics. |
format | Online Article Text |
id | pubmed-4173646 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2014 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-41736462014-10-10 Mini-max feedback control as a computational theory of sensorimotor control in the presence of structural uncertainty Ueyama, Yuki Front Comput Neurosci Neuroscience We propose a mini-max feedback control (MMFC) model as a robust approach to human motor control under conditions of uncertain dynamics, such as structural uncertainty. The MMFC model is an expansion of the optimal feedback control (OFC) model. According to this scheme, motor commands are generated to minimize the maximal cost, based on an assumption of worst-case uncertainty, characterized by familiarity with novel dynamics. We simulated linear dynamic systems with different types of force fields–stable and unstable dynamics–and compared the performance of MMFC to that of OFC. MMFC delivered better performance than OFC in terms of stability and the achievement of tasks. Moreover, the gain in positional feedback with the MMFC model in the unstable dynamics was tuned to the direction of instability. It is assumed that the shape modulations of the gain in positional feedback in unstable dynamics played the same role as that played by end-point stiffness observed in human studies. Accordingly, we suggest that MMFC is a plausible model that predicts motor behavior under conditions of uncertain dynamics. Frontiers Media S.A. 2014-09-24 /pmc/articles/PMC4173646/ /pubmed/25309415 http://dx.doi.org/10.3389/fncom.2014.00119 Text en Copyright © 2014 Ueyama. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Neuroscience Ueyama, Yuki Mini-max feedback control as a computational theory of sensorimotor control in the presence of structural uncertainty |
title | Mini-max feedback control as a computational theory of sensorimotor control in the presence of structural uncertainty |
title_full | Mini-max feedback control as a computational theory of sensorimotor control in the presence of structural uncertainty |
title_fullStr | Mini-max feedback control as a computational theory of sensorimotor control in the presence of structural uncertainty |
title_full_unstemmed | Mini-max feedback control as a computational theory of sensorimotor control in the presence of structural uncertainty |
title_short | Mini-max feedback control as a computational theory of sensorimotor control in the presence of structural uncertainty |
title_sort | mini-max feedback control as a computational theory of sensorimotor control in the presence of structural uncertainty |
topic | Neuroscience |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4173646/ https://www.ncbi.nlm.nih.gov/pubmed/25309415 http://dx.doi.org/10.3389/fncom.2014.00119 |
work_keys_str_mv | AT ueyamayuki minimaxfeedbackcontrolasacomputationaltheoryofsensorimotorcontrolinthepresenceofstructuraluncertainty |