1. Tuller, Turvey, Fitch (1982) Coordinative structures - synergies

2. Focus Questions 1.The examples of coordinative structures as equations of constraint over the degrees of freedom of the body become more complex as the paper progresses. How do the simpler examples (the pistol marksperson, the breathing example, maybe also the handstand) compare to the first of the more complex – the airplane? What are the similarities and what is the main difference between the two sets? 2.What do you think are the key similarities (or similarity) between the airplane example and the quadrupedal (horse) gait example? Also, what limb relationships characterized the different phase relationships of the horse’s gait? 3.What promising features of the mass spring system make it a potential candidate as a coordinative structure (or something that links elements of the motor apparatus via equations of constraint)? 4.What evidence is offered in support of such mass spring systems in humans? 5.How do mass spring systems compare to limit cycle oscillators, roughly? 2

3. An old version of a synergy Industrial revolution – steam power available to all industry driven by flywheel Used in cotton industry, trains, cars, etc.  How to regulate the fuel to the flywheel to keep motion stable?  Could pay someone to regulate it?  Wages – expensive. 3

4. An old version of a synergy James Watt invented a self-regulating system to solve the problem of stable engine speed.  Became known as the Watt governor  Components: Pulley » Driven by the engine speed. 4

5. An old version of a synergy James Watt invented a self-regulating system to solve the problem of stable engine speed.  Became known as the Watt governor  Components: Weights 5

6. An old version of a synergy James Watt invented a self-regulating system to solve the problem of stable engine speed.  Became known as the Watt governor  Components: Idle speed plate 6

7. An old version of a synergy James Watt invented a self-regulating system to solve the problem of stable engine speed.  Became known as the Watt governor  Components: Main shaft » Allows rotation from pulley Two scissor arms » Allows arms to flex 7

8. An old version of a synergy James Watt invented a self-regulating system to solve the problem of stable engine speed.  Became known as the Watt governor  Components: Bearings » Allows compression and stretch of unit 8

9. An old version of a synergy James Watt invented a self-regulating system to solve the problem of stable engine speed.  Became known as the Watt governor  Components: Sliding collar 9

10. An old version of a synergy As pulley speeds up…  Shaft increases rotation speed  Balls fly out due to centripetal force  Scissor arms contract  Sliding collar comes down  Sliding collar is attached to valve controlling fuel line  Fuel line closes  Engine decreases speed  Pulley slows down to idling speed All completely self- regulating (self-organizing) 10

11. An old version of a synergy In action…  https://www.youtube.com/watch?v=Nr9UtEhyvfk https://www.youtube.com/watch?v=Nr9UtEhyvfk Key points  Relationship between arm angle and engine speed is complex  Arm angle modulates engine speed, but at the same time engine speed modulates arm angle…it’s a heterarchy. What’s controlling what?  Co-determined and co-determining  To have a person do it would have introduced slow modulation and error  The governor is instantaneous  It seems to be similar to the non-representational models of dynamic control espoused by Turvey 11

12. An old version of a synergy The governor and representation…  The governor is non-representational  No symbol manipulation, no abstract modeling  No discrete sequence of events, so no algorithm  Therefore governor not computational “The continuous and simultaneous relations of causal inference that obtain among the various factors involved, it is this distinctive kind of causal profile that both invites treatment in terms of an alternative dynamic analysis, and that causes problems for the traditional, computational, and representational approach.” Tim Van Gelder (1995): 12

13. A newer version of a synergy Tensegrity – Turvey again…  Haptic perception and action  https://www.youtube.com/watch?v=BLR7ZTSel9M https://www.youtube.com/watch?v=BLR7ZTSel9M  (time out – 15 min video)  Note reference to fractal dimensionality at the end

14. A newer (still) version of a synergy

15. Riley, Shockley, van Orden (2012)  Speed of perception  Speed of action  Turvey presentation last spring “How do you get from PE teacher to this?” Answer – witnessing speed of execution. How can it be done?  Spotting a forged statue immediately  Blink (Gladwell, 2005)  Ultra-fast cognition  Is information processing even possible?  Seems impossible to compute that quickly  Proposal: cognition is a vast self-organizing complex system

16. A newer (still) version of a synergy Riley, Shockley, van Orden (2012)  Not open-loop, not closed loop, but “strange loop”  Self-organization allows for mutual entrainment rather than sequences of hierarchical control  Zero-lag mechanical feedback – preflexes (Nishikawa, 2007)

17. A newer (still) version of a synergy Riley, Shockley, van Orden (2012)  Ultrafast action  Synergies in speech Say /b/ as in Bob – lips must be in contact » Synergy is between elements of the lips, not stored in some executive » Means higher level intervention is unnecessary Tug jaw down – correction in 5-10ms. Dynamic feedback links components directly to each other » Anticipation stronger » Inappropriate actions ruled out

18. A newer (still) version of a synergy Riley, Shockley, van Orden (2012)  Exquisite context sensitivity  Synergies are context-sensitive CPGs » Inhibitors can switch to excitatory » Neurons can be recruited that had no previous role » Separate networks can come together Changes in synergy components coincide with behavior change  Synergies from cognition all the way down Context and cognition Intentions limit d of f Behaviors limited to those consistent with intentions Shifts away from this breaks the symmetry of the synergy and results in ultrafast switching to some other synergy.