To gain a better understanding of the functionality of representation and categorization in
action and interaction, it is fundamental that researchers understand how movements are
represented in long-term memory. It is our position that human motor control requires
that our actions be planned and represented in terms of intended perceptual effects and
future task demands, and that the individual has a well-structured mental representation
of the task so that the movement can be carried out successfully. Basic Action Concepts
(BACs) are identified as major building blocks of cognitive representation in long-term
memory, which are cognitive tools used to master the functional demands of movement
tasks. In this paper, we consider relevant issues in research methodology and present an
experimental method that can be used to assess action-relevant representational structures.
This method permits us to observe the strong relationship between cognitive representation
and performance in manual action. For example, the specific differences in the
mental representations of participants are strongly related to skill level, as well as
biomechanical and task constraints. We then discuss results from our learning experiments,
where we have examined the development and changes in cognitive representation
over time. From these experiments we have found that cognitive reference structures
include task-specific spatial information, which provides the basis for action control in
skilled voluntary movement. We have implemented these results on various robotic
platforms. We argue that the insights gained from various experimental approaches in the
field of cognitive psychology and motor control enable researchers to explore the possibilities
and limitations of artificial control architectures in robot systems. Finally, we argue
that this is not a unidirectional process. Researchers from the field of cognitive psychology
and motor control can profit from the advances in technological systems, which enhance
the understanding of human motor control in skilled voluntary action.