By Topic

Use of an artificial neuroadaptive robot model to describe adaptive and learning motor mechanisms in the central nervous system

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
S. Khemaissia ; Dept. of Stat. & Oper. Res., Coll. of Sci., Riyadh, Saudi Arabia ; A. Morris

Based on previous physiological information, this paper proposes a model of cerebellum motor learning based on a neuroadaptive robot manipulator controller. Compliance (or impedance) control is chosen as the basis of the model in preference to alternative robot control strategies because muscles do not act like pure force generators such as torque motors nor as pure displacement devices such as stepper motors but instead act more like tunable springs or compliance devices. Compliance control has the further advantage that it is applicable for a variety of motor tasks, and is both more robust and simple than alternative control strategies. Simulation results are presented to verify the performance of the proposed model. Specific results are presented for the applications of impedance control to the case where the end-effector is interacting with surfaces. By setting the equilibrium position of the end-effector beyond the obstacle (wall), it can be assured that the end-effector will touch the surface rather than crush it. The power of the phase spare to analyze the behavior of the system during movement is demonstrated

Published in:

IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)  (Volume:28 ,  Issue: 3 )