{"id":"https://openalex.org/W2149407058","doi":"https://doi.org/10.1109/cira.1997.613842","title":"Nonlinear force fields: a distributed system of control primitives for representing and learning movements","display_name":"Nonlinear force fields: a distributed system of control primitives for representing and learning movements","publication_year":2002,"publication_date":"2002-11-22","ids":{"openalex":"https://openalex.org/W2149407058","doi":"https://doi.org/10.1109/cira.1997.613842","mag":"2149407058"},"language":"en","primary_location":{"id":"doi:10.1109/cira.1997.613842","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.1997.613842","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation'","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108190135","display_name":"F.A. Mussa-Ivaldi","orcid":null},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]},{"id":"https://openalex.org/I1324242722","display_name":"Shirley Ryan AbilityLab","ror":"https://ror.org/02ja0m249","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1324242722"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"F.A. Mussa-Ivaldi","raw_affiliation_strings":["Departments of Physiology and Sensory Motor Performance Program, Rehabilitation Institute of Chicago, Northwestern University Medical School, Chicago, IL, USA"],"affiliations":[{"raw_affiliation_string":"Departments of Physiology and Sensory Motor Performance Program, Rehabilitation Institute of Chicago, Northwestern University Medical School, Chicago, IL, USA","institution_ids":["https://openalex.org/I1324242722","https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5108190135"],"corresponding_institution_ids":["https://openalex.org/I111979921","https://openalex.org/I1324242722"],"apc_list":null,"apc_paid":null,"fwci":4.1685,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.94317471,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"84","last_page":"90"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/superposition-principle","display_name":"Superposition principle","score":0.7578995227813721},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.733805775642395},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6595310568809509},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6443402767181396},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6327895522117615},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5700700283050537},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5226066708564758},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5102279186248779},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.461350679397583},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.4472992718219757},{"id":"https://openalex.org/keywords/force-field","display_name":"Force field (fiction)","score":0.4375545382499695},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.43507885932922363},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2906233072280884},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2607964873313904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18795645236968994},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17829126119613647},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11783602833747864}],"concepts":[{"id":"https://openalex.org/C27753989","wikidata":"https://www.wikidata.org/wiki/Q284885","display_name":"Superposition principle","level":2,"score":0.7578995227813721},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.733805775642395},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6595310568809509},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6443402767181396},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6327895522117615},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5700700283050537},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5226066708564758},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5102279186248779},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.461350679397583},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.4472992718219757},{"id":"https://openalex.org/C10803110","wikidata":"https://www.wikidata.org/wiki/Q1341441","display_name":"Force field (fiction)","level":2,"score":0.4375545382499695},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.43507885932922363},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2906233072280884},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2607964873313904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18795645236968994},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17829126119613647},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11783602833747864},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cira.1997.613842","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.1997.613842","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation'","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320337359","display_name":"National Institute of Neurological Disorders and Stroke","ror":"https://ror.org/01s5ya894"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1856925845","https://openalex.org/W1892385946","https://openalex.org/W1967377907","https://openalex.org/W1972572518","https://openalex.org/W1978023077","https://openalex.org/W1991330244","https://openalex.org/W2049485314","https://openalex.org/W2067440245","https://openalex.org/W2083905880","https://openalex.org/W2101768168","https://openalex.org/W2126319939","https://openalex.org/W2127515439","https://openalex.org/W2139548710","https://openalex.org/W2142648872","https://openalex.org/W2224859784"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W1999333556"],"abstract_inverted_index":{"Electrophysiological":[0],"studies":[1],"have":[2],"suggested":[3],"the":[4,11,15,38,44,51,60,67,97,118,124,128,136,143,166],"presence":[5],"of":[6,14,28,34,47,53,62,70,81,92,99,111,120,123,138,152,161,168],"a":[7,82,90,109,149,159],"modular":[8],"structure":[9,49],"in":[10,50],"output":[12,72],"stages":[13],"motor":[16],"system.":[17],"In":[18,103],"this":[19,48],"structure,":[20],"independent":[21,63],"modules":[22,64,113],"are":[23,57],"connected":[24],"to":[25,116,141],"specific":[26],"groups":[27],"muscles":[29],"and":[30,65],"generate":[31],"nonlinear":[32],"fields":[33,163],"force":[35,162],"acting":[36],"upon":[37],"controlled":[39],"limbs.":[40],"This":[41],"paper":[42],"explores":[43],"computational":[45],"consequences":[46],"framework":[52],"multivariate":[54],"approximation.":[55],"Movements":[56],"generated":[58],"through":[59,66],"selection":[61],"vectorial":[68],"superposition":[69],"their":[71],"fields.":[73],"It":[74],"is":[75],"shown":[76],"that":[77,108,148],"complex":[78],"joint":[79],"motions":[80],"multisegmental":[83],"mechanism":[84],"may":[85,114,154],"be":[86,155],"obtained":[87,164],"by":[88,157],"determining":[89],"set":[91,137],"time-independent":[93],"parameters":[94],"which":[95],"scale":[96],"amplitude":[98],"each":[100],"module's":[101],"field.":[102],"addition,":[104],"optimization":[105],"results":[106],"suggest":[107],"system":[110,160],"such":[112],"evolve":[115],"improve":[117],"execution":[119],"smooth":[121],"movements":[122,139],"mechanism's":[125],"endpoint":[126],"across":[127],"whole":[129],"workspace.":[130],"The":[131],"observed":[132],"improvements":[133],"generalize":[134],"beyond":[135],"used":[140],"guide":[142],"optimization.":[144],"These":[145],"findings":[146],"indicate":[147],"rich":[150],"repertoire":[151],"behaviors":[153],"learned":[156],"adapting":[158],"from":[165],"combination":[167],"multiple":[169],"viscoelastic":[170],"actuators.":[171]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}