Multiple Paired Forward and Inverse Models for Motor Control：（为电机控制多个配对,逆模型）.pdfVIP

Neural Networks PERGAMON Neural Networks 11 (1998) 1317–1329 1998 Special Issue Multiple paired forward and inverse models for motor control D.M. Wolperta ,*, M. Kawatob aSobell Department of Neurophysiology, Institute of Neurology, Queen Square, London WC1N 3BG, UK bATR Human Information Processing Research Laboratories and Dynamic Brain Project, ERATO, JST, Kyoto, Japan Received and accepted 30 April 1998 Abstract Humans demonstrate a remarkable ability to generate accurate and appropriate motor behavior under many different and often uncertain environmental conditions. In this paper, we propose a modular approach to such motor learning and control. We review the behavioral evidence and benefits of modularity, and propose a new architecture based on multiple pairs of inverse (controller) and forward (predictor) models. Within each pair, the inverse and forward models are tightly coupled both during their acquisition, through motor learning, and use, during which the forward models determine the contribution of each inverse model’s output to the final motor command. This architecture can simultaneously learn the multiple inverse models necessary for control as well as how to select the inverse models appropriate for a given environment. Finally, we describe specific predictions of the model, which can be tested experimentally. 1998 Elsevier Science Ltd. All rights reserved. Keywords: Motor control; Modularity; Internal models; Motor learnin