Getting started
Starting SURE_REACHDemo
Start SURE_REACHDemo by double-clicking on „SURE_READDEMO.jar“. (If this does not work, can launch the program from the command shell by entering: „java -jar SURE_REACHDemo.jar“.)
Selecting a configuration
At first, you have to decide which configuration you want to use. The configuration determines the geometry of the arm, the setup of the neural networks, and so on. You can select one of the preset configurations or load others by selecting „load other configuration“.
For now, select „psychological review“ and click on „OK“.
Loading neural network files
By default, the program starts with completely untrained neural networks which can not yet be used to control the arm. You can either let the networks learn or load neural networks from files. Since motor learning may take some time, let‘s load the two required neural networks from files.
Select „File“ and then „Load motorcontroller“ from the menu and open the file „psychrev-motorcontroller.ser“.
Then, select „File“ and „Load posture memory“ and open „psychrev-motorcontroller.ser“.
Making some first movements
Once started, the program looks very much like this:
To simulate a movement to a certain hand location:
On the tab hand in the goal window. Use the sliders or the text fields to choose a desired hand location. The goal is displayed as a green circle in the arm window. Alternatively, you can click with the mouse on the arm display to set the goal. Now click on the run button at the bottom of the program window to make the arm move. Click it again to halt the simulation.
The goal posture window displays the goal representation in posture space. This goal representations is generated by the posture memory neural network. The activation maps window displays the activity in the motor controller.
To execute a movement toward a specific arm posture,
Click on the posture tab in the goal window. The goal is now displayed as a blue arm. Move the sliders to select a goal posture and run the simulation again.