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. 2014 Jun 23;8:63. doi: 10.3389/fncom.2014.00063

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Copyright © 2014 Kuppuswamy and Harris.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Conceptual schematic of the proposed methods and control model. First a simple feedforward control and learning scheme using temporal muscle synergies Ψ(t) and full-dimensional system dynamics is used to convert Cartesian task requirements C obtained from behavior goals into the necessary synergy weight matrix Ŵ. A trajectory (and synergy basis) specific constrained reformulation is then obtained and the procedure of system balancing is used to reduce the dimensionality: the proposed Trajectory Specific Dimensionality Analysis (TSDA). The Hankel Singular Value measure computed through system balancing is developed into a performance index for minimization in the Minimum Dimensional Control (MDC) model. The resulting reduced dimensional model can instead be used within the synergy control learning in the control and learning scheme (on top) to speed up learning and adaptation in a task-specific manner.

Inline graphic — Conceptual schematic of the proposed methods and control model. First a simple feedforward control and learning scheme using temporal muscle synergies Ψ(t) and full-dimensional system dynamics is used to convert Cartesian task requirements C obtained from behavior goals into the necessary synergy weight matrix Ŵ. A trajectory (and synergy basis) specific constrained reformulation is then obtained and the procedure of system balancing is used to reduce the dimensionality: the proposed Trajectory Specific Dimensionality Analysis (TSDA). The Hankel Singular Value measure computed through system balancing is developed into a performance index for minimization in the Minimum Dimensional Control (MDC) model. The resulting reduced dimensional model can instead be used within the synergy control learning in the control and learning scheme (on top) to speed up learning and adaptation in a task-specific manner.