Robot control by reflex actions

Abstract

This paper describes the principles of a new method of robot control which mimics the reflex control of human motion. The concept of an artificial or synthetic reflex arc is defined, using the biological reflex as reference. The view of reflex control as an "experiential expert system" is explained. Hardware and software elements necessary for the implementation of external reflex control are described, The set of artificial reflex arcs which can reproduce the desired functional motion is identified on the basis of singular events occurring during the execution of the the motion. Applications of the theory to control of knee and leg motion in rehabilitative robotics are discussed in detail.