Current mode CMOS synthesis of a motor-control neural system

Abstract

This paper presents an analog CMOS implementation of a neural network based on a spinal cord model. The network is comprised by three pairs of cells, Alpha motoneurons, Interneurons and Renshaw cells, which form the basic control motor system for a single limb movement in a human being. Neurons behaviour is described by a differential equation, which provides it with a dynamic performance. This network is useful to control limb movements based in an agonist pair of actuators, i.e. muscles for a human limb or electric motors or SMA fibers for machine applications. This structure has the advantage that allows independent control of limb position and stiffness, which makes it suitable for applications where inertial load compensation is a critical factor. © Springer-Verlag Berlin Heidelberg 2003.