Short course in Computational Motor Control

This is a short course that provides a tutorial for the mathematics that has been used to formulate problems in motor control. The course meets twice a week, Wednesday and Fridays, 8-9AM, Traylor 416, Johns Hopkins School of Medicine.

The course started on Wednesday May 18, 2011. All are welcome.

Instructor: Reza Shadmehr

**Lecture 1:** Introduction

**Lecture 2:**
Kinematic cost functions, minimum jerk, and Jacobians. Text Slides

**Lecture 3:** Muscle
forces, joint torques, and lengths.

A model of primary and secondary muscle spindles. Model of gamma-motor neurons. Text Slides

**Lecture 4:**
Stiffness of the arm, as measured in endpoint and joint coordinates. Slides

**Lectures 5-8:**
Introduction to dynamics: motion of rigid bodies as minimization of an energy
based cost, linear and angular momentum, and inertia. These lectures conclude with derivation of
dynamics for an arm-like system, and description of a controller that uses an “inverse
model” to move the system from one position to another along a desired
trajectory. Slides

**Lecture 9:** Introduction
to optimal control: Costs and rewards of
movements. This lecture covers the material from Chapter 10 of the Biological
Learning and Control book. Text Slides