Mitsuo Kawato

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Internal models for motor control and trajectory planning

Mitsuo Kawato
Current Opinion in Neurobiology
1999

A number of internal model concepts are now widespread in neuroscience and cognitive science. These concepts are supported by behavioral, neurophysiological, and imaging data; furthermore, these… (More)

Formation and control of optimal trajectory in human multijoint arm movement

Yoji Uno, Mitsuo Kawato, Ryoji Suzuki
Biological Cybernetics
1989

In this paper, we study trajectory planning and control in voluntary, human arm movements. When a hand is moved to a target, the central nervous system must select one specific trajectory among an… (More)

The central nervous system stabilizes unstable dynamics by learning optimal impedance

Etienne Burdet, Rieko Osu, David W. Franklin, Theodore E. Milner, Mitsuo Kawato
Nature
2001

To manipulate objects or to use tools we must compensate for any forces arising from interaction with the physical environment. Recent studies indicate that this compensation is achieved by learning… (More)

A hierarchical neural-network model for control and learning of voluntary movement

Mitsuo Kawato, Kazunori Furukawa, Ryoji Suzuki
Biological Cybernetics
1987

In order to control voluntary movements, the central nervous system (CNS) must solve the following three computational problems at different levels: the determination of a desired trajectory in the… (More)

A unifying computational framework for motor control and social interaction.

Daniel M. Wolpert, Kenji Doya, Mitsuo Kawato
Philosophical transactions of the Royal Society…
2003

Recent empirical studies have implicated the use of the motor system during action observation, imitation and social interaction. In this paper, we explore the computational parallels between the… (More)

Internal models in the cerebellum

Daniel M. Wolpert, R. Chris Miall, Mitsuo Kawato
Trends in Cognitive Sciences
1998

This review will focus on the possibility that the cerebellum contains an internal model or models of the motor apparatus. Inverse internal models can provide the neural command necessary to achieve… (More)

MOSAIC Model for Sensorimotor Learning and Control

Masahiko Haruno, Daniel M. Wolpert, Mitsuo Kawato
Neural Computation
2001

Humans demonstrate a remarkable ability to generate accurate and appropriate motor behavior under many different and often uncertain environmental conditions. We previously proposed a new modular… (More)

Human arm stiffness and equilibrium-point trajectory during multi-joint movement

Hiroaki Gomi, Mitsuo Kawato
Biological Cybernetics
1997

By using a newly designed high-performance manipulandum and a new estimation algorithm, we measured human multi-joint arm stiffness parameters during multi-joint point-to-point movements on a… (More)

Human cerebellar activity reflecting an acquired internal model of a new tool

Hiroshi Imamizu, Satoru Miyauchi, +5 authors Mitsuo Kawato
Nature
2000

Theories of motor control postulate that the brain uses internal models of the body to control movements accurately. Internal models are neural representations of how, for instance, the arm would… (More)

Adaptation to stable and unstable dynamics achieved by combined impedance control and inverse dynamics model.

David W. Franklin, Rieko Osu, Etienne Burdet, Mitsuo Kawato, Theodore E. Milner
Journal of neurophysiology
2003

This study compared adaptation in novel force fields where trajectories were initially either stable or unstable to elucidate the processes of learning novel skills and adapting to new environments.… (More)

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