Dynamic primitives of motor behavior
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422_2012_Article_527.pdf
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Author(s)
Hogan, Neville
Sternad, Dagmar
Date Issued
November 2012
Journal
Biological Cybernetics
Publisher
Springer-Verlag
Citation
Hogan, Neville and Sternad, Dagmar. “Dynamic Primitives of Motor Behavior.” Biological Cybernetics 106, no. 11–12 (November 2012): 727–739 © 2012 The Author(s)
Version
Final published version
Abstract
We present in outline a theory of sensorimotor control based on dynamic primitives, which we define as attractors. To account for the broad class of human interactive behaviors—especially tool use—we propose three distinct primitives: submovements, oscillations, and mechanical impedances, the latter necessary for interaction with objects. Owing to the fundamental features of the neuromuscular system—most notably, its slow response—we argue that encoding in terms of parameterized primitives may be an essential simplification required for learning, performance, and retention of complex skills. Primitives may simultaneously and sequentially be combined to produce observable forces and
motions. This may be achieved by defining a virtual trajectory composed of submovements and/or oscillations interacting with impedances. Identifying primitives requires care: in principle, overlapping submovements would be sufficient to compose all observed movements but biological evidence
shows that oscillations are a distinct primitive. Conversely, we suggest that kinematic synergies, frequently discussed as primitives of complex actions, may be an emergent consequence
of neuromuscular impedance. To illustrate how these dynamic primitives may account for complex actions, we brieflyreviewthree typesof interactivebehaviors: constrained motion, impact tasks, and manipulation of dynamic objects.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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DOI of Published Version
https://doi.org/10.1007/s00422-012-0527-1
