A novel neural network structure for motion control in joints

This paper proposes a new type of artificial neural network useful for motion control of end-point of a joint typically seen in biological systems. The network is based on a hybrid concept combining Adaptive Resonance Theory (ART) and Self Organizing Maps (SOMs). Basic concepts related to the new architecture and necessary algorithm to implement the network are presented in the paper. General applicability of the proposed method using two different kinds of joints for two different types of gradient functions has been presented. The algorithms have been implemented using R simulation language. Results of the implementation are also presented in the paper.