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Switching in Feedforward Control of Grip Force During Tool-Mediated Interaction With Elastic Force Fields
Olivier White1,2, Amir Karniel3,4, Charalambos Papaxanthis1
1INSERM UMR1093-CAPS, Université Bourgogne Franche-Comté, UFR des Sciences du Sport, Dijon, France.
Frontiers in Neurorobotics
|June 23, 2018
Summary
The brain uses a switched feedforward control system for grip force during object manipulation. A sudden transition between control strategies was observed when object stiffness crossed a specific threshold.
Area of Science:
- Neuroscience
- Control Systems Engineering
- Robotics
Background:
- Switched systems are prevalent in artificial control.
- Understanding biological control mechanisms is crucial for advanced robotics and prosthetics.
Purpose of the Study:
- To investigate if the brain employs a switched feedforward control strategy for grip force modulation.
- To identify the conditions under which control strategy transitions occur during object manipulation.
Main Methods:
- Participants modulated grip force with virtual objects of varying stiffness.
- Continuous stiffness variation between trials allowed for observation of control transitions.
- Analysis focused on the synchronization between anticipated load force and applied grip force.
Main Results:
- A distinct phase transition in grip force control was identified.
- The transition occurred between 100-200 N/m stiffness thresholds.
- Two distinct feedforward control modes were observed, differing in force synchronization timing.
Conclusions:
- The brain operates as a switching control system for grip force.
- This finding suggests discrete state variables drive control strategy changes.
- Opens avenues for research into the neural basis of these switching mechanisms.
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