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Revisiting the Body-Schema Concept in the Context of Whole-Body Postural-Focal Dynamics

Morasso, Pietro and Casadio, Maura and Mohan, Vishwanathan and Rea, Francesco and Zenzeri, Jacopo (2015) 'Revisiting the Body-Schema Concept in the Context of Whole-Body Postural-Focal Dynamics.' Frontiers in Human Neuroscience, 9. ISSN 1662-5161

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Abstract

The body-schema concept is revisited in the context of embodied cognition, further developing the theory formulated by Marc Jeannerod that the motor system is part of a simulation network related to action, whose function is not only to shape the motor system for preparing an action (either overt or covert) but also to provide the self with information on the feasibility and the meaning of potential actions. The proposed computational formulation is based on a dynamical system approach, which is linked to an extension of the equilibrium-point hypothesis, called Passive Motor Paradigm: this dynamical system generates goal-oriented, spatio-temporal, sensorimotor patterns, integrating a direct and inverse internal model in a multi-referential framework. The purpose of such computational model is to operate at the same time as a general synergy formation machinery for planning whole-body actions in humanoid robots and/or for predicting coordinated sensory–motor patterns in human movements. In order to illustrate the computational approach, the integration of simultaneous, even partially conflicting tasks will be analyzed in some detail with regard to postural-focal dynamics, which can be defined as the fusion of a focal task, namely reaching a target with the whole-body, and a postural task, namely maintaining overall stability.

Item Type: Article
Uncontrolled Keywords: body schema, whole-body movements, passive motion paradigm, internal models, embodied cognition, synergy formation, equilibrium-point hypothesis
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Elements
Date Deposited: 06 Oct 2020 09:00
Last Modified: 06 Oct 2020 09:15
URI: http://repository.essex.ac.uk/id/eprint/24751

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