Anticipatory Engineering: Anticipation in Sensory-Motor Systems of Human

  • Yoshikatsu HayashiEmail author
  • Jamie Blake
  • Slawomir J. Nasuto
Part of the Cognitive Systems Monographs book series (COSMOS, volume 29)


In visual tracking experiments, distributions of the relative phase between target and tracer showed positive relative phase indicating that the tracer precedes the target position. We found a mode transition from the reactive to anticipatory mode. The proposed integrated model provides a framework to understand the anticipatory behaviour of human, focusing on the integration of visual and somatosensory information. The time delays in visual processing and somatosensory feedback are explicitly treated in the simultaneous differential equations. The anticipatory behaviour observed in the visual tracking experiments can be explained by the feedforward term of target velocity, internal dynamics, and time delay in somatosensory feedback.


Anticipatory mode Delayed differential equations Somatosensory feedback Mode transition 



This work was supported by an equipment grant of University of Reading and a research grant of School of Systems Engineering, University of Reading.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Yoshikatsu Hayashi
    • 1
    Email author
  • Jamie Blake
    • 1
  • Slawomir J. Nasuto
    • 1
  1. 1.Brain Embodiment Lab School of Systems EngineeringUniversity of ReadingReadingUK

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