Computational Elements of the Adaptive Controller of the Human Arm

We consider the problem of how the CNS learns to control dynamics ofa mechanical system. By using a paradigm where a subject's hand interacts with a virtual mechanical environment, we show that learning control is via composition of a model of the imposed dynamics. Some properties of the computational elements with which the CNS composes this model are inferred through the generalization capabilitiesof the subject outside the training data. 1 Introduction At about the age of three months, children become interested in tactile exploration of objects around them. They attempt to reach for an object, but often fail to properly control their arm and end up missing their target. In the ensuing weeks, they rapidly improve and soon they can not only reach accurately, they can also pick up the object and place it.