{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,2,19]],"date-time":"2023-02-19T18:08:09Z","timestamp":1676830089790},"reference-count":55,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2012,10,23]],"date-time":"2012-10-23T00:00:00Z","timestamp":1350950400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biol Cybern"],"published-print":{"date-parts":[[2013,2]]},"DOI":"10.1007\/s00422-012-0526-2","type":"journal-article","created":{"date-parts":[[2012,10,22]],"date-time":"2012-10-22T04:14:17Z","timestamp":1350879257000},"page":"61-82","source":"Crossref","is-referenced-by-count":8,"title":["The modular modality frame model: continuous body state estimation and plausibility-weighted information fusion"],"prefix":"10.1007","volume":"107","author":[{"given":"Stephan","family":"Ehrenfeld","sequence":"first","affiliation":[]},{"given":"Martin V.","family":"Butz","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2012,10,23]]},"reference":[{"key":"526_CR1","doi-asserted-by":"crossref","first-page":"303","DOI":"10.1146\/annurev.neuro.20.1.303","volume":"20","author":"RA Andersen","year":"1997","unstructured":"Andersen RA, Snyder LH, Bradley DC, Xing J (1997) Multimodal representation of space in the posterior parietal cortex and its use in planning movements. Ann Rev Neurosci 20:303\u2013330","journal-title":"Ann Rev Neurosci"},{"key":"526_CR2","doi-asserted-by":"crossref","first-page":"145","DOI":"10.1016\/j.conb.2005.03.011","volume":"15","author":"MS Beauchamp","year":"2005","unstructured":"Beauchamp MS (2005) See me, hear me, touch me: multisensory integration in lateral occipital-temporal cortex. Curr Opin Neurobiol 15:145\u2013153","journal-title":"Curr Opin Neurobiol"},{"key":"526_CR3","doi-asserted-by":"crossref","first-page":"1815","DOI":"10.1152\/jn.00570.2007","volume":"98","author":"PM Bernier","year":"2007","unstructured":"Bernier PM, Gauthier GM, Blouin J (2007) Evidence for distinct, differentially adaptable sensorimotor transformations for reaches to visual and proprioceptive targets. J Neurophysiol 98:1815\u20131819","journal-title":"J Neurophysiol"},{"key":"526_CR4","doi-asserted-by":"crossref","first-page":"756","DOI":"10.1038\/35784","volume":"391","author":"M Botvinick","year":"1998","unstructured":"Botvinick M, Cohen J et\u00a0al (1998) Rubber hands \u2018feel\u2019 touch that eyes see. Nature 391:756","journal-title":"Nature"},{"key":"526_CR5","volume-title":"Vehicles: experiments in synthetic psychology","author":"V Braitenberg","year":"1986","unstructured":"Braitenberg V (1986) Vehicles: experiments in synthetic psychology. The MIT Press, Cambridge"},{"key":"526_CR6","volume-title":"Taschenbuch der Mathematik","year":"2001","unstructured":"Bronstein, IN, Semendjajew, KA, Musiol, G, M\u00fchlig, H (eds) (2001) Taschenbuch der Mathematik, 5th edn. Harri Deutsch, Frankfurt","edition":"5"},{"key":"526_CR7","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1016\/S0921-8890(05)80025-9","volume":"6","author":"RA Brooks","year":"1990","unstructured":"Brooks RA (1990) Elephants don\u2019t play chess. Robot Auton Syst 6:3\u201315","journal-title":"Robot Auton Syst"},{"key":"526_CR8","doi-asserted-by":"crossref","first-page":"1015","DOI":"10.1037\/0033-295X.114.4.1015","volume":"114","author":"MV Butz","year":"2007","unstructured":"Butz MV, Herbort O, Hoffmann J (2007) Exploiting redundancy for flexible behavior: unsupervised learning in a modular sensorimotor control architecture. Psychol Rev 114:1015\u20131046","journal-title":"Psychol Rev"},{"key":"526_CR9","doi-asserted-by":"crossref","first-page":"315","DOI":"10.1177\/1059712310376842","volume":"18","author":"MV Butz","year":"2010","unstructured":"Butz MV, Shirinov E, Reif KL (2010) Self-organizing sensorimotor maps plus internal motivations yield animal-like behavior. Adapt Behav 18:315\u2013337","journal-title":"Adapt Behav"},{"key":"526_CR10","volume-title":"The handbook of multisensory processes","year":"2004","unstructured":"Calvert, GA, Spence, C, Stein, BE (eds) (2004) The handbook of multisensory processes. The MIT Press, Cambridge"},{"key":"526_CR11","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/TAMD.2011.2106781","volume":"3","author":"E Chinellato","year":"2011","unstructured":"Chinellato E, Antonelli M, Grzyb BJ, del Pobil AP (2011) Implicit sensorimotor mapping of the peripersonal space by gazing and reaching. IEEE Trans Auton Mental Dev 3:43\u201353","journal-title":"IEEE Trans Auton Mental Dev"},{"key":"526_CR12","doi-asserted-by":"crossref","first-page":"530","DOI":"10.1109\/TSMCB.2011.2168952","volume":"42","author":"E Chinellato","year":"2012","unstructured":"Chinellato E, Grzyb BJ, del Pobil AP (2012) Pose estimation through cue integration: a neuroscience-inspired approach. IEEE Trans Syst Man Cybern Part B 42:530\u2013538","journal-title":"IEEE Trans Syst Man Cybern Part B"},{"key":"526_CR13","doi-asserted-by":"crossref","unstructured":"Christensen HI, Hager GD (2008) Sensing and estimation. In: Siciliano B, Khatib O (eds) Springer handbook of robotics. Springer, Berlin, chap 4, pp 87\u2013107","DOI":"10.1007\/978-3-540-30301-5_5"},{"key":"526_CR14","doi-asserted-by":"crossref","first-page":"341","DOI":"10.1007\/BF00203131","volume":"69","author":"H Cruse","year":"1993","unstructured":"Cruse H, Steink\u00fchler U (1993) Solution of the direct and inverse kinematic problems by a common algorithm based on the mean of multiple computations. Biol Cybern 69:341\u2013351","journal-title":"Biol Cybern"},{"key":"526_CR15","doi-asserted-by":"crossref","first-page":"500","DOI":"10.1080\/17470210802000802","volume":"62","author":"F Vignemont de","year":"2009","unstructured":"de Vignemont F, Majid A, Jola C, Haggard P (2009) Segmenting the body into parts: evidence from biases in tactile perception. Q J Exp Psychol 62:500\u2013512","journal-title":"Q J Exp Psychol"},{"key":"526_CR16","doi-asserted-by":"crossref","first-page":"5744","DOI":"10.1523\/JNEUROSCI.3985-06.2007","volume":"27","author":"S Den\u00e8ve","year":"2007","unstructured":"Den\u00e8ve S, Duhamel JR, Pouget A (2007) Optimal sensorimotor integration in recurrent cortical networks: a neural implementation of Kalman filters. J Neurosci 27:5744\u20135756","journal-title":"J Neurosci"},{"key":"526_CR17","volume-title":"Bayesian brain: probabilistic approaches to neural coding","author":"K Doya","year":"2007","unstructured":"Doya K, Ishii S, Pouget A, Rao RPN (2007) Bayesian brain: probabilistic approaches to neural coding. The MIT Press, Cambridge"},{"key":"526_CR18","doi-asserted-by":"crossref","unstructured":"Durrant-Whyte H, Henderson TC (2008) Multisensor data fusion. In: Siciliano B, Khatib O (eds) Springer handbook of robotics. Springer, Berlin, chap 25, pp 585\u2013610","DOI":"10.1007\/978-3-540-30301-5_26"},{"key":"526_CR19","doi-asserted-by":"crossref","unstructured":"Ehrenfeld S, Butz MV (2011) A modular, redundant, multi-frame of reference representation for kinematic chains. In: IEEE International Conference on Robotics and Automation, pp 141\u2013147","DOI":"10.1109\/ICRA.2011.5980118"},{"key":"526_CR20","doi-asserted-by":"crossref","first-page":"545","DOI":"10.1037\/0033-295X.109.3.545","volume":"109","author":"W Erlhagen","year":"2002","unstructured":"Erlhagen W, Sch\u00f6ner G (2002) Dynamic field theory of movement preparation. Psychol Rev 109:545\u2013572","journal-title":"Psychol Rev"},{"key":"526_CR21","doi-asserted-by":"crossref","first-page":"615","DOI":"10.1177\/0278364905056196","volume":"24","author":"K Gadeyne","year":"2005","unstructured":"Gadeyne K, Lefebvre T, Bruyninckx H (2005) Bayesian hybrid model-state estimation applied to simultaneous contact formation recognition and geometrical parameter estimation. Int J Robot Res 24:615\u2013630","journal-title":"Int J Robot Res"},{"key":"526_CR22","doi-asserted-by":"crossref","first-page":"731","DOI":"10.1016\/j.neuron.2006.09.038","volume":"52","author":"R Gentner","year":"2006","unstructured":"Gentner R, Classen J (2006) Modular organization of finger movements by the human central nervous system. Neuron 52:731\u2013742","journal-title":"Neuron"},{"key":"526_CR23","doi-asserted-by":"crossref","unstructured":"Gratal X, Romero J, Kragic D (2011) Virtual visual servoing for real-time robot pose estimation. In: Bittanti S, Cenedese A, Zampieri S (eds) World congress, vol 18, pp 9017\u20139022","DOI":"10.3182\/20110828-6-IT-1002.02970"},{"key":"526_CR24","doi-asserted-by":"crossref","unstructured":"Herbort O, Butz MV, Pedersen G (2010) The SURE_REACH model for motor learning and control of a redundant arm: from modeling human behavior to applications in robotics. In: Sigaud O, Peters J (eds) From motor learning to interaction learning in robots. Springer, Berlin, pp 85\u2013106","DOI":"10.1007\/978-3-642-05181-4_5"},{"key":"526_CR25","doi-asserted-by":"crossref","first-page":"304","DOI":"10.1109\/TAMD.2010.2086454","volume":"2","author":"M Hoffmann","year":"2010","unstructured":"Hoffmann M, Marques H, Arieta A, Sumioka H, Lungarella M, Pfeifer R (2010) Body schema in robotics: a review. IEEE Trans Auton Mental Dev 2:304\u2013324","journal-title":"IEEE Trans Auton Mental Dev"},{"key":"526_CR26","doi-asserted-by":"crossref","first-page":"464","DOI":"10.1007\/BF00622503","volume":"37","author":"E Holst","year":"1950","unstructured":"Holst E, von Mittelstaedt H (1950) Das Reafferenzprinzip (Wechselwirkungen zwischen Zentralnervensystem und Peripherie). Naturwissenschaften 37:464\u2013476","journal-title":"Naturwissenschaften"},{"key":"526_CR27","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-56927-2","volume-title":"Self-organizing maps","author":"T Kohonen","year":"2001","unstructured":"Kohonen T (2001) Self-organizing maps. 3rd ed. Springer, Berlin","edition":"3"},{"key":"526_CR28","doi-asserted-by":"crossref","first-page":"244","DOI":"10.1038\/nature02169","volume":"427","author":"KP K\u00f6rding","year":"2004","unstructured":"K\u00f6rding KP, Wolpert DM (2004) Bayesian integration in sensorimotor learning. Nature 427:244\u2013247","journal-title":"Nature"},{"key":"526_CR29","doi-asserted-by":"crossref","DOI":"10.1093\/acprof:oso\/9780195333169.001.0001","volume-title":"Synergy","author":"ML Latash","year":"2008","unstructured":"Latash ML (2008) Synergy. Oxford University Press, New York"},{"key":"526_CR30","volume-title":"Dexterity and its development","year":"1996","unstructured":"Latash, ML, Turvey, MT (eds) (1996) Dexterity and its development. Lawrence Erlbaum Assoc Inc, Mahwah"},{"key":"526_CR31","doi-asserted-by":"crossref","first-page":"276","DOI":"10.1123\/mcj.11.3.276","volume":"11","author":"ML Latash","year":"2007","unstructured":"Latash ML, Scholz JP, Sch\u00f6ner G (2007) Toward a new theory of motor synergies. Motor Control 11:276\u2013308","journal-title":"Motor Control"},{"key":"526_CR32","doi-asserted-by":"crossref","first-page":"11727","DOI":"10.1073\/pnas.1003483107","volume":"107","author":"MR Longo","year":"2010","unstructured":"Longo MR, Haggard P (2010) An implicit body representation underlying human position sense. PNAS 107:11727\u201311732","journal-title":"PNAS"},{"key":"526_CR33","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.bbr.2008.02.041","volume":"191","author":"TR Makin","year":"2008","unstructured":"Makin TR, Holmes NP, Ehrsson HH (2008) On the other hand: dummy hands and peripersonal space. Behav Brain Res 191:1\u201310","journal-title":"Behav Brain Res"},{"key":"526_CR34","doi-asserted-by":"crossref","first-page":"531","DOI":"10.1016\/S0960-9822(03)00449-4","volume":"13","author":"A Maravita","year":"2003","unstructured":"Maravita A, Spence C, Driver J (2003) Multisensory integration and the body schema: close to hand and within reach. Curr Biol 13:531\u2013539","journal-title":"Curr Biol"},{"key":"526_CR35","doi-asserted-by":"crossref","first-page":"1056","DOI":"10.1038\/nn.2357","volume":"12","author":"LM McGuire","year":"2009","unstructured":"McGuire LM, Sabes PN (2009) Sensory transformations and the use of multiple reference frames for reach planning. Nat Neurosci 12:1056\u20131061","journal-title":"Nat Neurosci"},{"key":"526_CR36","doi-asserted-by":"crossref","first-page":"319","DOI":"10.1007\/s10339-011-0404-1","volume":"12","author":"D Nguyen-Tuong","year":"2011","unstructured":"Nguyen-Tuong D, Peters J (2011) Model learning for robot control: a survey. Cogn Process 12:319\u2013340","journal-title":"Cogn Process"},{"key":"526_CR37","doi-asserted-by":"crossref","first-page":"381","DOI":"10.1146\/annurev.neuro.26.041002.131112","volume":"26","author":"A Pouget","year":"2003","unstructured":"Pouget A, Dayan P, Zemel R (2003) Inference and computation with population codes. Ann Rev Neurosci 26:381\u2013410","journal-title":"Ann Rev Neurosci"},{"key":"526_CR38","doi-asserted-by":"crossref","unstructured":"Reimann H, Iossifidis I, Sch\u00f6ner G (2010) Integrating orientation constraints into the attractor dynamics approach for autonomous manipulation. In: International conference on humanoid robots, pp 294\u2013301","DOI":"10.1109\/ICHR.2010.5686349"},{"key":"526_CR39","unstructured":"Reimann H, Iossifidis I, Schoner G (2011) Generating collision free reaching movements for redundant manipulators using dynamical systems. In: 2010 IEEE\/RSJ international conference on intelligent robots and systems (IROS 2011), pp 5372\u20135379"},{"key":"526_CR40","volume-title":"Neural computation and self-organizing maps\u2014an introduction","author":"H Ritter","year":"1992","unstructured":"Ritter H, Martinetz T, Schulten K (1992) Neural computation and self-organizing maps\u2014an introduction. Addison-Wesley, New York"},{"key":"526_CR41","volume-title":"Human motor control","author":"DA Rosenbaum","year":"2010","unstructured":"Rosenbaum DA (2010) Human motor control. 2nd ed. Academic Press, San Diego","edition":"2"},{"key":"526_CR42","doi-asserted-by":"crossref","first-page":"2047","DOI":"10.1162\/089976698300016963","volume":"10","author":"S Schaal","year":"1998","unstructured":"Schaal S, Atkeson CG (1998) Constructive incremental learning from only local information. Neural Comput 10:2047\u20132084","journal-title":"Neural Comput"},{"key":"526_CR43","doi-asserted-by":"crossref","unstructured":"Scheinmann V, McCarthy JM (2008) Mechanisms and actuation. In: Siciliano B, Khatib O (eds) Springer handbook of robotics. Springer, Berlin, chap 3, pp 67\u201386","DOI":"10.1007\/978-3-540-30301-5_4"},{"key":"526_CR44","doi-asserted-by":"crossref","first-page":"399","DOI":"10.1007\/s10514-011-9226-3","volume":"30","author":"M Schilling","year":"2011","unstructured":"Schilling M (2011) Universally manipulable body models\u2014dual quaternion representations in layered and dynamic MMCs. Auton Robots 30:399\u2013425","journal-title":"Auton Robots"},{"key":"526_CR45","doi-asserted-by":"crossref","first-page":"135","DOI":"10.1080\/11762320802221074","volume":"5","author":"J Schmitz","year":"2008","unstructured":"Schmitz J, Schneider A, Schilling M, Cruse H (2008) No need for a body model: positive velocity feedback for the control of an 18-DOF robot walker. Appl Bionics Biomech 5:135\u2013147","journal-title":"Appl Bionics Biomech"},{"key":"526_CR46","doi-asserted-by":"crossref","first-page":"359","DOI":"10.1007\/s00221-008-1280-5","volume":"185","author":"R Shadmehr","year":"2008","unstructured":"Shadmehr R, Krakauer JW (2008) A computational neuroanatomy for motor control. Exp Brain Res 185:359\u2013381","journal-title":"Exp Brain Res"},{"key":"526_CR47","volume-title":"The computational neurobiology of reaching and pointing: a foundation for motor learning","author":"R Shadmehr","year":"2005","unstructured":"Shadmehr R, Wise SP (2005) The computational neurobiology of reaching and pointing: a foundation for motor learning. MIT Press, Cambridge"},{"key":"526_CR48","doi-asserted-by":"crossref","first-page":"1115","DOI":"10.1016\/j.robot.2011.07.006","volume":"59","author":"O Sigaud","year":"2011","unstructured":"Sigaud O, Salaun C, Padois V (2011) On-line regression algorithms for learning mechanical models of robots: a survey. Robotics Auton Syst 59:1115\u20131129","journal-title":"Robotics Auton Syst"},{"key":"526_CR49","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1007\/s10710-011-9147-0","volume":"13","author":"PO Stalph","year":"2011","unstructured":"Stalph PO, Butz MV (2011) Learning local linear Jacobians for flexible and adaptive robot arm control. Genetic Programm Evolvable Mach 13:137\u2013157","journal-title":"Genetic Programm Evolvable Mach"},{"key":"526_CR50","volume-title":"Seeing, reaching, touching: the relations between vision and touch in infancy","author":"A Streri","year":"1993","unstructured":"Streri A, Pownall TT, Kingerlee ST (1993) Seeing, reaching, touching: the relations between vision and touch in infancy. The MIT Press, Cambridge"},{"key":"526_CR51","doi-asserted-by":"crossref","first-page":"474","DOI":"10.1016\/S1364-6613(98)01259-5","volume":"2","author":"G Tononi","year":"1998","unstructured":"Tononi G, Edelman GM, Sporns O (1998) Complexity and coherency: integrating information in the brain. Trends Cogn Sci 2:474\u2013484","journal-title":"Trends Cogn Sci"},{"key":"526_CR52","doi-asserted-by":"crossref","first-page":"1132","DOI":"10.1162\/neco.2006.18.5.1132","volume":"18","author":"M Toussaint","year":"2006","unstructured":"Toussaint M (2006) A sensorimotor map: modulating lateral interactions for anticipation and planning. Neural Comput 18:1132\u20131155","journal-title":"Neural Comput"},{"key":"526_CR53","doi-asserted-by":"crossref","first-page":"2602","DOI":"10.1162\/089976605774320557","volume":"17","author":"S Vijayakumar","year":"2005","unstructured":"Vijayakumar S, D\u2019Souza A, Schaal S (2005) Incremental online learning in high dimensions. Neural Comput 17:2602\u20132634","journal-title":"Neural Comput"},{"key":"526_CR54","first-page":"313","volume":"102","author":"JP Wells","year":"2002","unstructured":"Wells JP, Hyler-Both DL, Danley TD, Wallace GH (2002) Biomechanics of growth and development in the healthy human infant: a pilot study. J Am Osteopath Assoc 102:313\u2013319","journal-title":"J Am Osteopath Assoc"},{"key":"526_CR55","doi-asserted-by":"crossref","first-page":"1317","DOI":"10.1016\/S0893-6080(98)00066-5","volume":"11","author":"DM Wolpert","year":"1998","unstructured":"Wolpert DM, Kawato M (1998) Multiple paired forward and inverse models for motor control. Neural Netw 11:1317\u20131329","journal-title":"Neural Netw"}],"container-title":["Biological Cybernetics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00422-012-0526-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00422-012-0526-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00422-012-0526-2","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,7,4]],"date-time":"2019-07-04T17:36:00Z","timestamp":1562261760000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00422-012-0526-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,10,23]]},"references-count":55,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2013,2]]}},"alternative-id":["526"],"URL":"https:\/\/doi.org\/10.1007\/s00422-012-0526-2","relation":{},"ISSN":["0340-1200","1432-0770"],"issn-type":[{"value":"0340-1200","type":"print"},{"value":"1432-0770","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,10,23]]}}}