Institut de Neurosciences Cognitives et Intégratives d'Aquitaine (UMR5287)

Aquitaine Institute for Cognitive and Integrative Neuroscience



INCIA - UMR 5287- CNRS
Université de Bordeaux

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146, rue Léo Saignat
33076 Bordeaux cedex
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CNRS Ecole Pratique des Hautes Etudes Université de Bordeaux

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Home > Teams > HYBRID (A. De RUGY) > Themes

Theme 2: Biomechanics and Spinal Regulation

by Daniel Cattaert, Hybrid, Loïc Grattier - published on


Myoelectric prosthesis, where artificial movements are controlled by muscle recordings, are all lacking important contributions from limb’s biomechanics and spinal regulations. To reinstall these contributions, we simulate a realistic biomechanical arm model where sensory information from the simulated muscles are processed by a network with known spinal circuitry (Fig 4A). While the parameter space of such network is too big for exhaustive exploration, stochastic optimization combined with goal explorations in task space recently proposed by a collaborative team in the field of developmental robotics (Flowers, P-Y Oudeyer), are used to establish the set of higher commands necessary to generate a repertoire of basic movements. Selective manipulation of the different elements of the spinal circuitry and of the musculo-skeletal system are being conducted to identify those that are necessary to efficient coordination, such as the capacity to automatically absorb perturbation.

Human in the loop experiments are also conducted to couple these biomechanical simulations with spinal regulation to myoelectric controls with sensory feedback developed in Theme1. This combined experimental and computational effort should provide information that is critical to reinstall important contributions from limbs biomechanics and from low level sensorimotor loops to the control of artificial device such as prostheses.