Human Robotics: Neuromechanics and Motor Control

Передня обкладинка

A synthesis of biomechanics and neural control that draws on recent advances in robotics to address control problems solved by the human sensorimotor system.

This book proposes a transdisciplinary approach to investigating human motor control that synthesizes musculoskeletal biomechanics and neural control. The authors argue that this integrated approach—which uses the framework of robotics to understand sensorimotor control problems—offers a more complete and accurate description than either a purely neural computational approach or a purely biomechanical one.

The authors offer an account of motor control in which explanatory models are based on experimental evidence using mathematical approaches reminiscent of physics. These computational models yield algorithms for motor control that may be used as tools to investigate or treat diseases of the sensorimotor system and to guide the development of algorithms and hardware that can be incorporated into products designed to assist with the tasks of daily living.

The authors focus on the insights their approach offers in understanding how movement of the arm is controlled and how the control adapts to changing environments. The book begins with muscle mechanics and control, progresses in a logical manner to planning and behavior, and describes applications in neurorehabilitation and robotics. The material is self-contained, and accessible to researchers and professionals in a range of fields, including psychology, kinesiology, neurology, computer science, and robotics.

 

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Зміст

1 Introduction and Main Concepts
1
2 Neural Control of Movement
15
3 Muscle Mechanics and Control
35
4 SingleJoint Neuromechanics
57
5 Multijoint Multimuscle Kinematics and Impedance
83
6 Multijoint Dynamics and Motion Control
111
7 Motor Learning and Memory
131
8 Motor Learning under Unstable and Unpredictable Conditions
155
9 Motion Planning and Online Control
185
10 Integration and Control of Sensory Feedback
211
11 Applications in Neurorehabilitation and Robotics
235
Variable Definitions
253
References
257
Index
275
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Про автора (2013)

Etienne Burdet is Professor of Human Robotics in the Department of Bioengineering at the Imperial College of Science, Technology, and Medicine, London.

David W. Franklin is Wellcome Trust Career Development Fellow in the Department of Engineering at the University of Cambridge.

Theodore E. Milner is Professor in the Department of Kinesiology and Physical Education at McGill University.

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