---
abstract: 'While motor skill acquisition process is regarded as development of coordination, typically regarded as synchronisation among joint movements, we found another phenomenon which we call differentiation as a consequence of synchronisation. The synchronised movement established is decomposed into several sections or modulated to be executed on different timings without breaking the coordination among them, resulting in the gain of efficiency or flexibility. In the acquisition of skills, the coordinative structure thus goes through two stages: synchronisation and differentiation. We verify in this paper our observation through our experiments and dynamical analysis of the kneading of ceramic art and playing the shaker in samba.'
altloc:
  - http://asip.lucs.lu.se/ftp/pub/LUCS_Studies/LUCS117/yamamoto.pdf
chapter: ~
commentary: ~
commref: ~
confdates: 'August 25-27, 2004'
conference: 'Fourth International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems'
confloc: 'Genoa, Italy'
contact_email: ~
creators_id: []
creators_name:
  - family: Yamamoto
    given: Tomoyuki
    honourific: ''
    lineage: ''
  - family: Fujinami
    given: Tsutomu
    honourific: ''
    lineage: ''
date: 2004
date_type: published
datestamp: 2005-04-14
department: ~
dir: disk0/00/00/41/49
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editors_id: []
editors_name:
  - family: Berthouze
    given: Luc
    honourific: ''
    lineage: ''
  - family: Kozima
    given: Hideki
    honourific: ''
    lineage: ''
  - family: Prince
    given: Christopher G.
    honourific: ''
    lineage: ''
  - family: Sandini
    given: Giulio
    honourific: ''
    lineage: ''
  - family: Stojanov
    given: Georgi
    honourific: ''
    lineage: ''
  - family: Metta
    given: Giorgio
    honourific: ''
    lineage: ''
  - family: Balkenius
    given: Christian
    honourific: ''
    lineage: ''
eprint_status: archive
eprintid: 4149
fileinfo: /style/images/fileicons/application_pdf.png;/4149/1/yamamoto.pdf
full_text_status: public
importid: ~
institution: ~
isbn: ~
ispublished: pub
issn: ~
item_issues_comment: []
item_issues_count: 0
item_issues_description: []
item_issues_id: []
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item_issues_resolved_by: []
item_issues_status: []
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item_issues_type: []
keywords: 'motion analysis, periodic movement, skill acquisition, joint movement synchronization'
lastmod: 2011-03-11 08:55:52
latitude: ~
longitude: ~
metadata_visibility: show
note: ~
number: ~
pagerange: 97-104
pubdom: FALSE
publication: ~
publisher: Lund University Cognitive Studies
refereed: TRUE
referencetext: ~
relation_type: []
relation_uri: []
reportno: ~
rev_number: 12
series: ~
source: ~
status_changed: 2007-09-12 16:56:12
subjects:
  - comp-sci-robot
  - bio-ani-behav
succeeds: ~
suggestions: ~
sword_depositor: ~
sword_slug: ~
thesistype: ~
title: 'Synchronisation and Differentiation: Two Stages of Coordinative Structure'
type: confpaper
userid: 3507
volume: 117
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