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To execute a movement, the CNS must appropriately select and activate the set of muscles that will produce the desired movement. This problem is particularly difficult because a variety of muscle subsets can usually be used to produce the same joint motion. The motor system is therefore faced with a motor redundancy problem that must be resolved to produce(More)
ACKNOWLEDGMENTS I would like to thank the co-chairs of my thesis committee, Rod Grupen and Andy Fagg, for their help during my graduate school career. Although many of the ideas in this thesis derive from Rod's vision, I was fortunate to hear perspectives from two professors who love the field and their work. Rod's gift is a profound intuition about how(More)
Exploit excess DOFs to best solve multiple subtasks in sequence or concurrently For a given subtask, the coarticulated strategy may q q Coarticulation Often, a complex motor task can be decomposed into a set sequence of subtasks. When there is redundancy in how each subtask is performed, we choose a way that tends to be best for the overall task. This(More)
In executing a voluntary movement, one is faced with the problem of translating a specification of the movement in task space (e.g., a visual goal) into a muscle-recruitment pattern. Among many brain regions, the primary motor cortex (MI) plays a prominent role in the specification of movements. In what coordinate frame MI represents movement has been a(More)
Change in behavior and neural activity in skill acquisition suggests that control is transferred from cortical planning areas (e.g., the prefrontal cortex, PFC) to the basal ganglia (BG). Planning has large computational and representational requirements but requires little experience with a task. The BG are thought to employ a simpler control scheme and(More)
We introduce a biologically motivated, formal framework or " ontology " for dealing with many aspects of action discovery which we argue is an example of intrinsically motivated behaviour (as such, this chapter is a companion to that by Redgrave et al. in this volume). We argue that action discovery requires an interplay between separate internal forward(More)
Often, when animals encounter an unexpected sensory event, they transition from executing a variety of movements to repeating the movement(s) that may have caused the event. According to a recent theory of action discovery (Redgrave and Gurney, 2006), repetition allows the animal to represent those movements, and the outcome, as an action for later(More)
To my family. ACKNOWLEDGEMENTS In December 2002 I travelled to Vancouver, Canada, with my sister. When our grandmother was a child, she and her family emigrated from Sweden to Canada and settled near a small town called Hope in the vicinity of Vancouver. After the depression struck in 1929, the financial prospects were poor, so the family decided to return(More)