Here the colored squares represent the states of the individual motor cells which constitute this map. The top right hand frame illustrates the organization that has evolved in this map, following a period of learning corresponding to 1000 time steps. As can be seen, the basic structure of the map has already become evident. The lower left and right frames illustrate the subsequent development of this map after another 1000 and 2000 time steps, respectively. Only after this learning phase is the system capable of performing coordinated movement.
Colors represent the states of individual motor cells which constitute the map.
In addition, it is important to separate the distinct issues of positioning the limb and manipulation of the hand. In primates these functions, although related, reflect the action of distinct areas of not only the motor cortex, but also the basal ganglia and the cerebellum. To pursue this work we have recently turned our attention to the question of how we can model the next stage of the learning process, that is the acquisition of more skilled movements. In this respect we are currently investigating how context sensitivity may be introduced into the present simulations. One particularly interesting aspect of the work employs the mechanical characteristics of the SoftArm.