手臂延伸与抓取运动时间协调小脑控制模型设计

doi:10.3724/SP.J.1146.2014.00068

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摘要该文在Hoff-Arbib最小加加速度(minimum jerk)控制理论的基础上，提出一种具有生物学意义的小脑控制模型，用以解释延伸和抓取过程中，手臂运动与预抓取之间时间协调的问题。在对这种模型如何学习超前状态和剩余时间(TTG)预测两个关键功能进行讨论的基础上，重点对2维空间的延伸与抓取运动进行了仿真。结果表明，由Hoff-Arbib模型所获得的有关延伸与抓取运动的动力学的一些关键特征，小脑控制模型也能实现，有些性能甚至更好。总之，通过训练和学习，模型能获得精确平滑的运动轨迹。

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	张少白
	张政

关键词 ：人工智能, 小脑模型, 手臂运动, 时间协调, 2维空间

Abstract：Based on Hoff and Arbib’ s control theory of the minimum jerk, this paper presents a new control model with cerebellar-like structure which is able to account for the temporal coordination of arm transport and hand preshape during reach and grasp tasks. And it is suggested that how the structure can learn the two key functions required in the Hoff-Arbib theory, namely state look-ahead and Time-To-Go (TTG) estimation. By the simulation for two-dimensional motion of arm transport and hand preshape, the results demonstrate that some key features of human reach-grasp kinematics obtained by Hoff-Arbib model can be achieved by the cerebellum control model and some performances are even better. In a word, by learning and training, this model can create a more accurate and smooth motor trajectory.

Key words： Artifitial intelligence Cerebellar model Arm transport Temporal coordination Two-dimensional space

收稿日期: 2014-01-09

PACS:

TP18

基金资助:

国家自然科学基金(61073115, 61271334, 61373065)资助课题

通讯作者: 张少白：男，1953年生，教授，研究方向为模式识别与智能系统、语音识别技术. E-mail: adzsb@163.com

引用本文:

张少白, 张政. 手臂延伸与抓取运动时间协调小脑控制模型设计[J]. 电子与信息学报, 2014, 36(11): 2607-2613. Zhang Shao-Bai, Zhang Zheng. Cerebellar Control Model Design for the Temporal Coordination of Arm Transport and Hand Preshape. , 2014, 36(11): 2607-2613.

链接本文:

http://jeit.ie.ac.cn/CN/10.3724/SP.J.1146.2014.00068 或 http://jeit.ie.ac.cn/CN/Y2014/V36/I11/2607