Adaptive feed-forward loop connection based on error signal

Koichi Hidaka

doi:10.1117/12.651199

6 December 2005 Adaptive feed-forward loop connection based on error signal

Koichi Hidaka

Proceedings Volume 6052, Optomechatronic Systems Control; 60520E (2005) https://doi.org/10.1117/12.651199
Event: Optomechatronic Technologies 2005, 2005, Sapporo, Japan

Abstract

In this paper, we investigate effect of changing the connection of feed-forward loop based on error signal. Our motivation of this work is solution to progress of human skill. For the skill model, we study a human simple action such as arm motion. Many models that describe the human arm dynamics have been proposed in recent year. While one type does not need an inverse model of human dynamics, the system based on the model does not include feed-forward loop. On the other hand, another type model has a feed-forward loop and feedback loop systems. This type assumes feed-forward element includes an internal model by repeating action or training and this loop progress our skill. Then we usually have to exercise to get a good performance. This says that we design the internal motion model by training and we move on prediction for motion. Under the assumption, Kawato model is well known. The model proposed that learning of feed-forward element is promoted in brain so that the error of feedback loop decreases. Furthermore, we assume the connections in feedback loop and feed-forward loop are changed. We show numerical simulations and consider that the position error given by our vision changes the skill element and we confirm that the position error is the one of the estimate function for the improvement in our skill.

Citation Download Citation

Koichi Hidaka "Adaptive feed-forward loop connection based on error signal", Proc. SPIE 6052, Optomechatronic Systems Control, 60520E (6 December 2005); https://doi.org/10.1117/12.651199

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