Encoding redundancy for task dependent optimal control [Elektronische Ressource] : a neural network model of human reaching / vorgelegt von Oliver Herbort

Encoding Redundancy for Task-Dependent Optimal Control:A Neural Network Model of Human ReachingInaugural-Dissertationzur Erlangung der Doktorwürde derPhilosophischen Fakultät IIderJulius-Maximilians-Universität WürzburgVorgelegt von Oliver Herbortaus WürzburgWürzburg 2008Erstgutachter: Prof. Dr. Joachim Ho mann (Universit at Wurzburg)Zweitgutachter: Prof. Dr. Ralf Moller (Universitat Bielefeld) Tag des Kolloquiums: 25.1.20083AcknowledgmentThis thesis would never have been possible without the outstanding support I enjoyedto receive from many. First, of course, I thank Julia for, well, everything. I also thankMartin Butz and Joachim Ho mann for the many discussions, support, funding, and themany liberties I had. Final thanks goes to all the other people at the department fordiscussions, all the help, and rocking parties.4ContentsAbstract 6Zusammenfassung 7Introduction 8The Inverse Problem 9Control of the Human Motor System 11The Musculoskeletal System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Spinal Neurons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12The Brain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Short Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Motor Redundancy 14Motor Synergies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Optimal Contol . . . . . . . . . . . . . . . . . . . . . . .