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Current mode CMOS synthesis of a motor-control neural system

: Domenech-Asensi, G.; Ruiz-Merino, R.; Hauer, H.; Diaz-Madrid, J.-A.


Mira, J.:
7th International Work-Conference on Artificial and Natural Neural Networks, IWANN 2003. Proceedings. Vol.2: Artificial neural nets problem solving methods : Maó, Menorca, Spain, June 3 - 6, 2003
Berlin: Springer, 2003 (Lecture Notes in Computer Science 2687)
ISBN: 3-540-40211-X
ISSN: 0302-9743
International Work Conference on Artificial and Natural Neural Networks (IWANN) <7, 2003, Maó, Menorca>
Conference Paper
Fraunhofer IIS ()

This paper presents an analog CMOS implementation of a neural network based on a spinal cord model. The network is comprised by three pairs of cells, Alpha motoneurons, Interneurons and Renshaw cells, which form the basic control motor system for a single limb movement in a human being. Neurons behaviour is described by a differential equation, which provides it with a dynamic performance. This network is useful to control limb movements based in an agonist pair of actuators, i.e. muscles for a human limb or electric motors or SMA fibers for machine applications. This structure has the advantage that allows independent control of limb position and stiffness, which makes it suitable for applications where inertial load compensation is a critical factor.