The NEURARM: towards a platform for joint neuroscience experiments on human motion control theories

This paper presents the development of new transmission components and position controller of the NEURARM hydraulic actuation unit as critical components of a novel robotic arm specifically designed to perform joint experiments between neuroscience and robotics. NEURARM replicates the main functions and characteristics of the human arm during the execution of planar movements like reaching and catching, and it was used to investigate human motion control theories, to develop and evaluate models of control, of learning and of sensory-motor interaction.