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BP: Fachverband Biologische Physik
BP 27: Modelling of non-linear dynamics in biological movement (focus session, joint BP/DY)
BP 27.4: Talk
Wednesday, April 2, 2014, 15:00–15:15, ZEU 250
Quantifying control effort of biological and technical movements: an information entropy based approach — •Daniel Häufle1,2, Michael Günther1, Günter Wunner2, and Syn Schmitt1,3 — 1Institut für Sport- und Bewegungswissenschaft, Universität Stuttgart, Germany — 2Institut für Theoretische Physik 1, Universität Stuttgart, Germany — 3Stuttgart Research Centre for Simulation Technology, Universität Stuttgart, Germany
In biomechanics and biorobotics muscles are often associated with reduced movement control effort compared to technical actuators. This is based on the notion that the muscle properties positively influence movement control and allow for simpler controllers. Other physical measures, such as energy consumption, stability, or jerk, have already be applied to compare such systems. However, previous definitions of control effort were based on system specific measures, such as voltages, forces, muscle activity, etc., which made it impossible to quantitatively compare the control effort of different actuation systems. Here, a system independent measure of control effort based on information entropy is presented. By calculating the Shannon information entropy of all sensor signals required for control, models of biological and technical control systems can be compared. Exemplarily applied to (biomechanical) models of hopping it reveals that the required information for controlling hopping is only I=32bit with a muscle vs. I=660bit with a DC-motor. This approach to control effort is thus applicable to and comparable across completely different actuators and control approaches.