Modeling discrete and rhythmic movements through motor primitives: a review

Dégallier Rochat, Sarah; Ijspeert, Auke (2010). Modeling discrete and rhythmic movements through motor primitives: a review Biological Cybernetics, 103(4), pp. 319-338. Springer 10.1007/s00422-010-0403-9

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Rhythmic and discrete movements are frequently considered separately in motor control, probably because different techniques are commonly used to study and model them. Yet the increasing interest in finding a comprehensive model for movement generation requires bridging the different perspectives arising from the study of those two types of movements. In this article, we consider discrete and rhythmic movements within the framework of motor primitives, i.e., of modular generation of movements. In this way we hope to gain an insight into the functional relationships between discrete and rhythmic movements and thus into a suitable representation for both of them. Within this framework we can define four possible categories of modeling for discrete and rhythmic movements depending on the required command signals and on the spinal processes involved in the generation of the movements. These categories are first discussed in terms of biological concepts such as force fields and central pattern generators and then illustrated by several mathematical models based on dynamical system theory. A discussion on the plausibility of theses models concludes the work.

Item Type:	Journal Article (Original Article)
Division/Institute:	School of Engineering and Computer Science > Institute for Human Centered Engineering (HUCE) School of Engineering and Computer Science
Name:	Dégallier Rochat, Sarah0000-0002-2267-5768 and Ijspeert, Auke
Subjects:	T Technology > TA Engineering (General). Civil engineering (General)
ISSN:	0340-1200
Publisher:	Springer
Language:	English
Submitter:	Sarah Dégallier Rochat
Date Deposited:	24 Mar 2020 12:54
Last Modified:	07 Jul 2021 21:45
Publisher DOI:	10.1007/s00422-010-0403-9
ARBOR DOI:	10.24451/arbor.8661
URI:	https://arbor.bfh.ch/id/eprint/8661