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--- 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 edit_lock_since: ~ edit_lock_until: ~ edit_lock_user: ~ 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: [] item_issues_reported_by: [] item_issues_resolved_by: [] item_issues_status: [] item_issues_timestamp: [] 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