Models with biological relevance to control anthropomorphic limbs: A survey

Abstract

This paper is a review of different approaches and models tmderlying 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. © Springer-Verlag Berlin Heidelberg 2002.