Compensating for sensorimotor noise and for temporal delays has been identified as major functions of the nervous system. However, the aspects have often been described separately in the frameworks of optimal cue combination or motor prediction during movement planning. But control theoretic models suggest that these two operations are performed simultaneously, and mounting evidence supports that motor commands are based on sensory predictions rather than sensory states. In this paper we study the benefit of state estimation for predictive sensorimotor control. More precisely, we combine explicit compensation for sensorimotor delays and optimal estimation derived in the context of Kalman filtering. We show, based on simulations of human-­‐inspired eye and arm movements, that filtering sensory predictions improve the stability margin of the system against prediction errors due to low-­‐dimensional predictions, or to errors in the delay estimate. These simulations also highlight that prediction errors qualitatively account for a broad variety of movement disorders typically associated with cerebellar dysfunctions. We suggest that adaptive filtering in cerebellum, instead of often-­‐assumed feed-­‐forward predictions, may achieve simple compensation for sensorimotor delays and support stable closed-­‐loop control of movements.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Filtering compensation for delays and prediction errors during sensorimotor control



    Erscheinungsdatum :

    2019-01-01


    Anmerkungen:

    doi:10.1162/neco_a_01170
    Neural Computation, Vol. 31, p. 1-27 (2019)



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    The influence of sensorimotor loop delays in maintaining upright stance

    McKendry, Geoffrey James | BASE | 2018

    Freier Zugriff

    Rover sensorimotor control systems

    Ellery, Alex | Springer Verlag | 2015


    Active sensorimotor control for tactile exploration

    Martinez Hernandez, Uriel / Dodd, Tony J. / Evans, Matthew H. et al. | BASE | 2017

    Freier Zugriff

    Learning Sensorimotor Abstractions

    Cordero Marcos, María Isabel | BASE | 2011

    Freier Zugriff

    Robotic sensorimotor interaction strategies

    Kettukangas, T. (Teemu) / Talukder, R. (Rafiqul) | BASE | 2023

    Freier Zugriff