bayesian integration and non-linear feedback control in a full-body motor task贝叶斯集成和非线性反馈控制在全身运动的任务.pdfVIP

Bayesian Integration and Non-Linear Feedback Control in a Full-Body Motor Task 1 1 1 1 ¨ 1,2,3 Ian H. Stevenson *, Hugo L. Fernandes , Iris Vilares , Kunlin Wei , Konrad P. Kording 1 Department of Physical Medicine and Rehabilitation, Northwestern University and Rehabilitation Institute of Chicago, Chicago, Illinois, United States of America, 2 Department of Physiology, Northwestern University, Chicago, Illinois, United States of America, 3 Department of Applied Mathematics, Northwestern University, Chicago, Illinois, United States of America Abstract A large number of experiments have asked to what degree human reaching movements can be understood as being close to optimal in a statistical sense. However, little is known about whether these principles are relevant for other classes of movements. Here we analyzed movement in a task that is similar to surfing or snowboarding. Human subjects stand on a force plate that measures their center of pressure. This center of pressure affects the acceleration of a cursor that is displayed in a noisy fashion (as a cloud of dots) on a projection screen while the subject is incentivized to keep the cursor close to a fixed position. We find that salient aspects of observed behavior are well-described by optimal control models where a Bayesian estimation model (Kalman filter) is combined with an optimal controller (either a Linear-Quadratic- Regulator or Bang-bang controller). We find evidence that subjects integrate information over time taking into account uncertainty. However, behavior in this continuous steering task appears to be a highly non-linear function of the visual feedback. While the nervous system