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Peer-Reviewed Publication
J Neurophysiol2024;131(1):1-15.January 1, 2024Journal Article

Dynamic primitives in constrained action: systematic changes in the zero-force trajectory.

James Hermus1, Joseph Doeringer2, Dagmar Sternad3, Neville Hogan1,4
1Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, United States.
2Vicarious Surgical, Waltham, Massachusetts, United States.
3Departments of Biology, Electrical and Computer Engineering, and Physics, Northeastern University, Boston, Massachusetts, United States.
4Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology, Cambridge, Massachusetts, United States.
PubMed PMC DOI PDF

Abstract

Humans substantially outperform robotic systems in tasks that require physical interaction, despite seemingly inferior muscle bandwidth and slow neural information transmission. The control strategies that enable this performance remain poorly understood. To bridge that gap, this study examined kinematically constrained motion as an intermediate step between the widely studied unconstrained motion…

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