Dr. Hymie Moross Professor
The main focus of my research is on motor control in humans and robotic systems. This research combines experimental work in human subjects with the development of mathematical models that formulate alternative hypotheses concerning motion planning and control strategies by the brain. This combined research helps in gaining insight into human motor control and subserves the development of motion planning and control algorithms for artificial robotic systems. In particular, together with colleagues I study the principles that underlie the selection and planning of human 2D and 3D arm movements during reaching, drawing and grasping tasks. The comparison of motor performance in neurologically healthy human subjects with that of patients suffering from various movement disorders contributes to the understanding of the pathophysiological processes underlying such disorders. One of my current interests is in the topic of motor learning in humans and in the development of learning capabilities for robotic systems. Another current interest is in developing mathematical formalisms based on differential geometry and Lie Algebra to investigate motion planning strategies and motion decompositionality into elementary motor primitives and the resolution of task and kinematic redundancy problems associated with multi-degrees of freedom movements in biological and robotic systems. Other current efforts are on Telerpbotic systems for robot grasping and object manipulation based on Virtual Reality technology and a major focus, in collaboration with neurobiologists, on the control of movement and grasping behaviors in the octopus in an effort to develop a biologically inspired hyper-redundant flexible robotic arm.
- [with R. Sosnik, B. Hauptmann and A. Karni] When practice leads to co-articulation: the evolution of geometrically defined movement primitives. Exp. Brain Res. 156(4) (2004) 422-438.
- [with T.J. Sejnowski] Computational approaches to motor control. Curr. Opin. Neurobiol. 11(6) (2001) 655-662.
- [with G. Sumbre, Y. Gutfreund, G. Fiorito and B. Hochner] Control of octopus arm extension by a peripheral motor program. Science 293(5536) (2001) 1845-1848.