A hierarchical neural-network model for control and learning of voluntary movement

By Mitsuo Kawato, Kazunori Furukawa, R. Suzuki. Biological cybernetics, 2004

1,025 citations recorded by the source corpus.

Subfields: Cognitive Neuroscience, Neurology, Social Psychology

View Paper: https://www.semanticscholar.org/paper/fb5d0a02096027737b844ff4b81851890e26d55a

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Cognitive Neuroscience

In Neurology

In Social Psychology

Citations in the corpus

Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions (2011, methodology): “Iterative learning control (ILC) [10], i.e., learning actuator force trial after trial along a repeated trajectory by minimizing feedback error, has produced efficient algorithms that have been demonstrated in various robotic implementations [11], and has provided an excellent model for human motor ”
Motion capture-driven simulations that hit and react (2002, methodology): “Trajectory learning as proposed by Kawato would also provide a reduction in the gains [Kawato et al. 1987; Kawato 1990].”
Pitch discrimination in cerebellar patients: evidence for a sensory deficit. (2009, neutral): “…and perception (Ackermann et al., 2007; Ackermann, 2008), context and response mapping (Thach, 1997; Bloedel and Bracha, 1997), state estimation (Paulin, 2005; Miall et al., 2007), and adaptive forward/inverse models (Kawato et al., 1987; Wolpert et al., 1998, 2003; Ito, 2008), among others.”
A computational model of four regions of the cerebellum based on feedback-error learning (2004, background): “1C), the summation z(t) of the feedback motor command zc(t) and the feedforward command zn(t) generated by the inverse model is fed to the controlled object, and the feedback controller transforms the trajectory error into the motor-command error (Kawato et al. 1987).”
Computational mechanisms of sensorimotor control. (2011, neutral): “errors experienced on one trial to the update of internal representation of the forces or joint torques that will be produced on the subsequent trial (Kawato et al., 1987; Scheidt et al., 2001; Thoroughman and Shadmehr, 2000).”
Schema design and implementation of the grasp-related mirror neuron system (2002, background): “The adaptive learning of motor control and trajetory planning is widely studied (for example Kawato et al., 1987; Kawato and Gomi, 1992; Jordan and Rumelhart 1992; Karniel and Inbar, 1997; Breteler et al., 2001).”
Speech Production as State Feedback Control (2011, background): “First, although both somatosensory (Kandel et al., 2000; Jürgens, 2002) and auditory (Burnett et al., 1998; Jürgens, 2002) pathways make subcortical connections with descending motor feedback error learning architecture (Kawato et al., 1987; Kawato and Gomi, 1992).”
Biological underpinnings for lifelong learning machines (2022, background): “By leveraging such hierarchical and distributed architectures, biological systems greatly reduce the input and output dimensionality at each layer to mitigate delays and accelerate learning 112,113,115–118 .”
SIMBICON: simple biped locomotion control (2007, background): “Feedback error learning is a form of adaptive control[Kawato et al. 1987; Nakanishi and Schaal 2004] and allows for the learning of the inverse dynamics of a system in order to reproduce given motion trajectories.”
The primate cortico-cerebellar system: anatomy and function (2006, background): “The idea that internal models are powerful theoretical tools for explaining motor control has acquired considerable suppor”