BME120/220

Motor Systems
Control Schemes
Examples of Feedback, Feedforward, and Impedance Control

Stretch reflex = example of feedback control

Muscle Activation during Bimanual Load Lifting

Recall: Electromyogram (EMG) shows net activation of muscle

Example of Feedback Control

Example of Feedforward Control

Anticipatory Deactivation

Example of Feedback Impedance Activation Control Cocontraction

Adapting to a Novel Dynamic Environment

Can use a robot to simulate use of a tool or immersion in water etc.
(Shadmehr and Mussa-Ivalidi 1994)

Subjects use feedback control to get to target when force field is first turned on

Subjects slowly reduce error by building an internal model of the force field, and using it for feedforward control

However, impedance control is used to improve motor performance in an unstable force field (Burdet et al. Nature. 2001 414:446-9)