TY - GEN
T1 - Selection and control of limb posture for stability
AU - Franklin, David W.
AU - Selen, Luc P.J.
AU - Franklin, Sae
AU - Wolpert, Daniel M.
PY - 2013
Y1 - 2013
N2 - Impedance control can be used to stabilize the limb against both instability and unpredictable perturbations. Limb posture influences motor noise, energy usage and limb impedance as well as their interaction. Here we examine whether subjects use limb posture as part of a mechanism to regulate limb stability. Subjects performed stabilization tasks while attached to a two dimensional robotic manipulandum which generated a virtual environment. Subjects were instructed that they could perform the stabilization task anywhere in the workspace, while the chosen postures were tracked as subjects repeated the task. In order to investigate the mechanisms behind the chosen limb postures, simulations of the neuro-mechanical system were performed. The results indicate that posture selection is performed to provide energy efficiency in the presence of force variability.
AB - Impedance control can be used to stabilize the limb against both instability and unpredictable perturbations. Limb posture influences motor noise, energy usage and limb impedance as well as their interaction. Here we examine whether subjects use limb posture as part of a mechanism to regulate limb stability. Subjects performed stabilization tasks while attached to a two dimensional robotic manipulandum which generated a virtual environment. Subjects were instructed that they could perform the stabilization task anywhere in the workspace, while the chosen postures were tracked as subjects repeated the task. In order to investigate the mechanisms behind the chosen limb postures, simulations of the neuro-mechanical system were performed. The results indicate that posture selection is performed to provide energy efficiency in the presence of force variability.
UR - http://www.scopus.com/inward/record.url?scp=84886545294&partnerID=8YFLogxK
U2 - 10.1109/EMBC.2013.6610826
DO - 10.1109/EMBC.2013.6610826
M3 - Conference contribution
C2 - 24111013
AN - SCOPUS:84886545294
SN - 9781457702167
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 5626
EP - 5629
BT - 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
T2 - 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
Y2 - 3 July 2013 through 7 July 2013
ER -
