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Muscleless motor synergies and actions without movements: From motor neuroscience to cognitive robotics.
Physics of Life Reviews ( IF 11.7 ) Pub Date : 2018-04-27 , DOI: 10.1016/j.plrev.2018.04.005
Vishwanathan Mohan 1 , Ajaz Bhat 2 , Pietro Morasso 3
Affiliation  

Emerging trends in neurosciences are providing converging evidence that cortical networks in predominantly motor areas are activated in several contexts related to 'action' that do not cause any overt movement. Indeed for any complex body, human or embodied robot inhabiting unstructured environments, the dual processes of shaping motor output during action execution and providing the self with information related to feasibility, consequence and understanding of potential actions (of oneself/others) must seamlessly alternate during goal-oriented behaviors, social interactions. While prominent approaches like Optimal Control, Active Inference converge on the role of forward models, they diverge on the underlying computational basis. In this context, revisiting older ideas from motor control like the Equilibrium Point Hypothesis and synergy formation, this article offers an alternative perspective emphasizing the functional role of a 'plastic, configurable' internal representation of the body (body-schema) as a critical link enabling the seamless continuum between motor control and imagery. With the central proposition that both "real and imagined" actions are consequences of an internal simulation process achieved though passive goal-oriented animation of the body schema, the computational/neural basis of muscleless motor synergies (and ensuing simulated actions without movements) is explored. The rationale behind this perspective is articulated in the context of several interdisciplinary studies in motor neurosciences (for example, intracranial depth recordings from the parietal cortex, FMRI studies highlighting a shared cortical basis for action 'execution, imagination and understanding'), animal cognition (in particular, tool-use and neuro-rehabilitation experiments, revealing how coordinated tools are incorporated as an extension to the body schema) and pertinent challenges towards building cognitive robots that can seamlessly "act, interact, anticipate and understand" in unstructured natural living spaces.

中文翻译:

无肌肉的运动协同作用和无动作的动作:从运动神经科学到认知机器人。

神经科学的新兴趋势提供了越来越多的证据,证明在与“动作”相关的几种情况下,主要是运动区域的皮质网络被激活,不会引起任何明显的运动。实际上,对于居住在非结构化环境中的任何复杂的身体,人类或具体化的机器人,在执行动作期间塑造电机输出并向自身提供与可行性,结果和对(自己/他人)潜在动作的了解有关的信息的双重过程必须在过程中无缝地交替进行。目标导向的行为,社交互动。尽管诸如最优控制,主动推理之类的突出方法在前向模型的作用上有所融合,但它们在基础计算基础上却有所不同。在这种情况下,本文从运动控制(如平衡点假说和协同作用形成)中重新审视了较早的想法,本文提供了另一种观点,强调了“可塑性,可配置”的身体内部表示形式(身体模式)的功能性作用,这是实现无缝连续体的关键环节。在马达控制和图像之间。以“真实和想象中的”动作都是通过内部被动目标的身体模式动画实现的内部模拟过程的结果为中心的命题,探索了无肌肉运动协同作用的计算/神经基础(以及随后的模拟动作,没有运动)。 。在运动神经科学的一些跨学科研究的背景下阐明了这种观点的基本原理(例如,
更新日期:2019-12-06
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