The Course Includes Two Parts# 1. Planning and Control of Reaching Movements Especially in Humans. 2. Animal Locomotion. The Course Will Present The Computational Problems That The Motor System Has to Solve, The Challenges Facing The Biological System, Including Time Delays, Adaptation and Learning, The Structure of The Motor System and The Properties of Reaching Movements As Evident From Psychophysics Experiments With Humans and Neuro Physiological Experiments With Monkeys. Relevant Control Models That Meet These Challenges Will Be Detailed# Internal (adaptive) Models For Predicting The Kinematics and Dynamics of The Movements, Feedforward and Feedback Movement Control, Optimal Control, Intermittent Control, Feedback Error Correction, and Gait Control By Central Pattern Generators. Learning Outcomes# at The End of The Course The Student Will Be Able To# 1. Understand and Criticize Models For Control Reaching Movements. 2. Model The Dynamics of Muscle and Muscle Spindle and Compute Their Response Stimuli. 3. Compute Minimum Jerk Trajectories and Understand Why They Model Reaching Movements. 4. Relate The Stiffness in The Hand to The Stiffness in The Joints and Muscles. 5. Develop Minimum Likelihood Estimation and Understand How It Corresponds To Experimental Results. 6. Develop Kalman Filter For State Estimation And Understand Its Relation to Internal Models. 7. Model Networks Of Oscillators For Rhythmic Pattern Generation and Understand Their Relation to Central Pattern Generators For Rhythic Movements And Walking.

Faculty: Mechanical Engineering
|Graduate Studies
Pre-required courses

34040 - Introduction to Control