期刊名称：Proceedings of the National Academy of Sciences
印刷版ISSN：0027-8424
电子版ISSN：1091-6490
出版年度：2009
卷号：106
期号：18
页码：7601-7606
DOI：10.1073/pnas.0901512106
语种：English
出版社：The National Academy of Sciences of the United States of America
摘要：The basic hypothesis of producing a range of behaviors using a small set of motor commands has been proposed in various forms to explain motor behaviors ranging from basic reflexes to complex voluntary movements. Yet many fundamental questions regarding this long-standing hypothesis remain unanswered. Indeed, given the prominent nonlinearities and high dimensionality inherent in the control of biological limbs, the basic feasibility of a low-dimensional controller and an underlying principle for its creation has remained elusive. We propose a principle for the design of such a controller, that it endeavors to control the natural dynamics of the limb, taking into account the nature of the task being performed. Using this principle, we obtained a low-dimensional model of the hindlimb and a set of muscle synergies to command it. We demonstrate that this set of synergies was capable of producing effective control, establishing the viability of this muscle synergy hypothesis. Finally, by combining the low-dimensional model and the muscle synergies we were able to build a relatively simple controller whose overall performance was close to that of the system's full-dimensional nonlinear controller. Taken together, the results of this study establish that a low-dimensional controller is capable of simplifying control without degrading performance.
关键词：low-dimensional ; optimal control ; muscle pattern ; frog ; computational model
