Adaptation Rate in Joint Dynamics Depends on the Time-Varying Properties of the Environment

Mark Van De Ruit, John Lataire, Frans C.T. Van Der Helm, Winfred Mugge, Alfred C. Schouten

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

1 Citation (Scopus)

Abstract

During movement, our central nervous system (CNS) takes into account the dynamics of our environment to optimally adapt our joint dynamics. In this study we explored the adaptation of shoulder joint dynamics when a participant interacted with a time-varying virtual environment created by a haptic manipulator. Participants performed a position task, i.e., minimizing position deviations, in face of continuous mechanical force perturbations. During a trial the environmental damping, mimicked by the manipulator, was either increased (0 to 200 N s/m) or decreased (200 to 0 N s/m) in 1 s or 8 s. A system identification technique, kernel-based regression, was used to reveal time-varying shoulder joint dynamics using the frequency response function (FRF). The FRFs revealed that the rate at which shoulder joint dynamics is adapted depends on the rate and direction of change in environmental damping. Adaptation is slow, but starts immediately, after the environmental damping increases, whereas adaptation is fast but delayed when environmental damping decreases. The results obtained in our participants comply with the framework of optimal feedback control, i.e., adaptation of joint dynamics only takes place when motor performance is at risk or when this is energetically advantageous.

Original languageEnglish
Title of host publication2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)
PublisherIEEE Computer Society
Pages273-278
Number of pages6
Volume2018-August
ISBN (Electronic)978-1-5386-8183-1
ISBN (Print)978-1-5386-8184-8
DOIs
Publication statusPublished - 9 Oct 2018
Externally publishedYes
Event7th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018
: High Tech Human Touch
- University Campus, Enschede, Netherlands
Duration: 26 Aug 201829 Aug 2018
Conference number: 7
https://www.biorob2018.org/

Publication series

NameProceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)2155-1774
ISSN (Electronic)2155-1782

Conference

Conference7th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018
Abbreviated titleBioRob
CountryNetherlands
CityEnschede
Period26/08/1829/08/18
Internet address

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  • Cite this

    Van De Ruit, M., Lataire, J., Van Der Helm, F. C. T., Mugge, W., & Schouten, A. C. (2018). Adaptation Rate in Joint Dynamics Depends on the Time-Varying Properties of the Environment. In 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) (Vol. 2018-August, pp. 273-278). [8487793] (Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics). IEEE Computer Society. https://doi.org/10.1109/BIOROB.2018.8487793