Skip to main content
Springer Nature Link
Log in

Models with Biological Relevance to Control Anthropomorphic Limbs: A Survey

  • Conference paper
  • First Online:
Gesture and Sign Language in Human-Computer Interaction (GW 2001)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 2298))

Included in the following conference series:

  • 1196 Accesses

Abstract

This paper is a review of different approaches and models underlying the voluntary control of human hand-arm movement. These models, dedicated to artificial movement simulation with application to motor control, robotics and computer animation, are categorized along at least three axis: Direct vs. Inverse models, Dynamics vs. Kinematics models, Global vs. Local models. We focus on sensory-motor models which have a biologically relevant control scheme for hand-arm reaching movements. Different methods are proposed with various points of view, related to kinematics, dynamics, theory of control, optimization or learning theory.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  1. Stelmach, G.E. and Digles V.A.: Control theories in motor behavior. Acta psychologica (1982)

    Google Scholar 

  2. Abbs, J.H. and Gracco, V.L.: Control of Complex motor gestures: Orofacial muscle responses to load perturbations on lip during speech. Journal of Neurophysiology, 51(4) (1984) 705–723

    Google Scholar 

  3. Kawato, M., Maeda Y., Uno, Y., Suzuki R.: Trajectory Formation of Arm Movement by Cascade Neural Network Model Based on Minimum Torque Criterion. Biological Cybernetics, vol. 62 (1990) 275–288

    Article  Google Scholar 

  4. Bullock, D., Grossberg, S., Guenther, F.H.: A Self-Organizing Neural Model of Motor Equivalent Reaching and Tool Use by a Multijoint Arm. Journal of Cognitive Neuroscience, vol. 54 (1993) 408–435

    Article  Google Scholar 

  5. Miall, R.C., Wolpert, D.M.: Forward Models for Physiological Motor Control. Neural Networks, vol. 9, n°8 (1996) 1265–1279

    Article  MATH  Google Scholar 

  6. Hill A.V.: The heat of shortening and the dynamic constants of muscle. In proc. Royal Society of London, 1938, vol. B126, pp. 136–195

    Google Scholar 

  7. Winters J.M., and Stark L.: Muscle models: What is gained and what is lost by varying model complexity. Biological Cybernetics, vol. 55 (1987) 403–420

    Article  MathSciNet  Google Scholar 

  8. Zajac, F.E. and Winters, J.M.: Modeling Musculoskeletal Movement Systems: Joint and Body Segmental Dynamics, Musculoskeletal actuation, and Neuromuscular control; in Multiple Muscle Systems, J.M. Winters and S.L-Y Woo Eds., New York, Springer Verlag (1990) 121–148

    Google Scholar 

  9. Tolani, D., Goswami, A., Badler, N.: Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs. Graphical Models, vol. 62 (2000) 353–388

    Article  MATH  Google Scholar 

  10. Baillieul, J. and Martin, D.P.: Resolution of kinematic redundancy, in Proceedings of Symposia in Applied Mathematics, American Mathematical Society2 (1990) 49–89

    Google Scholar 

  11. Whitney, D.E.: Resolved motion rate control of manipulators and human prostheses. IEEE Transactions on Man-Machine systems, vol. 7(12), (1969) 47–53

    Article  Google Scholar 

  12. Klein, C. and Huang, C.: Review of pseudoinverse control for use with kinematically redundant manipulators. IEEE Trans. Systems Man Cybernetics, vol. 7 (1997) 868–871

    Google Scholar 

  13. Nakamura, Y.: Advanced Robotics: Redundancy and Optimization, Addison-Wesley, Reading, MA (1991)

    Google Scholar 

  14. Badler, N., Phillips, C., Webber, B.: Simulating Hulmans-Oxford University Press, Inc, 200 Madison Avenue, New York, 10016 (1993)

    Google Scholar 

  15. Zhao, J. and Badler, N.: Inverse Kinematics Positioning Using Nonlinear Programming for Highly Articulated Figures. Transactions of Computer Graphics, 13(4), (1994) 313–336

    Article  Google Scholar 

  16. Koga, Y., Kondo, K., Kuffner, J., Latombe, J.C.: Planning motions with intentions. In ACM Computer Graphics, Annual conference series (1994) 395–408

    Google Scholar 

  17. Gibet S. & Marteau P.F.: NonLinear feedback Model of sensori-motor system. International Conference on Automation, Robotics and Computer Vision, Singapore (1992).

    Google Scholar 

  18. Kearney, J.K., Hansen, S., Cremer, J.F. Programming mechanical simulations. The Journal of Visualization and Computer Animation, vol. 4 (1993) 113–129

    Article  Google Scholar 

  19. Arnaldi, B., Dumont, G., Hégron, G.: Animation of physical systems from geometric, kinematic and dynamic models. Modeling in Computer Graphics, Springer Verlag. IFIP Working Conference 91 (1991) 37–53

    Google Scholar 

  20. Witkin, A., Kass, M.: Spacetime constraints. Computer Graphics, SIGGRAPH’88 Proceedings, vol. 22, n°4, (1988) 159–168

    Google Scholar 

  21. Cohen, M.: Interactive spacetime control for animation. Computer Graphics, SIGGRAPH’92 Proceedings, vol. 24, n°2, (1992) 293–302

    Google Scholar 

  22. Liu, Z., Gortler, S., Cohen, M.: Hierarchical spacetime control. Computer Graphics, Proceedings of ACM SIGGRAPG’94, (1994) 35–42

    Google Scholar 

  23. Brotman, L., Netravali, A.N.: Motion interpolation by optimal control. Computer Graphics, 22 (4) (1988) 309–315

    Article  Google Scholar 

  24. Van de Panne, M., Fiume, E., Vranesic, Z.: Reusable motion synthesis using state-space controllers, ACM Computer Graphics (1990) 225–234

    Google Scholar 

  25. Lamouret, A., Gascuel, M.P., Gascuel, J.D.. Combining physically-based simulation of colliding objects with trajectory control. The journal of Visualization and Computer Animation, vol. 5 (1995) 1–20

    Google Scholar 

  26. Gibet, S., Marteau, P.F.: A Self-Organized Model for the Control, Planning and Learning of Nonlinear Multi-Dimensional Systems Using a Sensory Feedback, Journal of Applied Intelligence, vol.4 (1994) 337–349

    Article  Google Scholar 

  27. Lebourque, T., Gibet, S.: A complete system for the specification and the generation of sign language gestures, in Gesture-Based Communication in Human-Computer Interaction. Proc. GW’99, Gif sur Yvette (France), A. Braffort, R. Gherbi, S. Gibet, J. Richardson, D. Teil Eds., Springer-Verlag Pub. (1999) 227–251

    Google Scholar 

  28. Duda, R. O., Hart, P. E.: Pattern classification and scene analysis. New York, NY: Wiley (1973)

    MATH  Google Scholar 

  29. Schaal, S.: Nonparametric regression for learning nonlinear transformations. In: Ritter, H., Holland, O., Möhl, B. (eds.). Prerational Intelligence in Strategies, High-Level Processes and Collective Behavior. Kluwer Academic (2000)

    Google Scholar 

  30. Walter, J., Ritter, H.: Rapid learning with Parametrized Self-Organizing Maps. Neurocomputing, vol. 12 (1996) 131–153

    Article  MATH  Google Scholar 

  31. Steinkühler, U., Cruse, H.: A holistic model for an internal representation to control the movement of a manipulator witrh redundant degrees of freedom. Biological Cybernetics, 79, 457–466 (1998)

    Article  Google Scholar 

  32. Marteau, P.F., Gibet, S., Julliard, F.: Non parametric learning of Sensory Motor Maps. Application to the control of multi joint systems. WSES/IEEE International Conference on Neural, Fuzzy and Evolutionary Computation, CSCC 2001, Rethymnon, Crete (2001)

    Google Scholar 

  33. Marteau, P.F., Gibet, S.: Non Parametric Learning of Sensory-Motor Mappings Using General Regression Neural Networks. 3rd WSES International Conference on Neural Networks and Application, Feb. 11–15, Interlaken, Switzerland (2002)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Campus de Tohannic, Valoria, Université de Bretagne Sud, Rue Yves Mainguy, F-56000, Vannes, France

    Sylvie Gibet, Marteau Pierre-François & Frédéric Julliard

Authors
  1. Sylvie Gibet
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Marteau Pierre-François
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Frédéric Julliard
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Technische Fakultät, Universität Bielefeld, 33594, Bielefeld, Germany

    Ipke Wachsmuth  & Timo Sowa  & 

Rights and permissions

Reprints and permissions

Copyright information

© 2002 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Gibet, S., Pierre-François, M., Julliard, F. (2002). Models with Biological Relevance to Control Anthropomorphic Limbs: A Survey. In: Wachsmuth, I., Sowa, T. (eds) Gesture and Sign Language in Human-Computer Interaction. GW 2001. Lecture Notes in Computer Science(), vol 2298. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-47873-6_12

Download citation

  • DOI: https://doi.org/10.1007/3-540-47873-6_12

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-43678-2

  • Online ISBN: 978-3-540-47873-7

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation