Biomimetic Control Scheme for Musculoskeletal Humanoids Based on Motor Directional Tuning in the Brain

Author(s):  
Yasunori Toshimitsu ◽  
Kento Kawaharazuka ◽  
Kei Tsuzuki ◽  
Moritaka Onitsuka ◽  
Manabu Nishiura ◽  
...  
Author(s):  
Changwon Kim ◽  
Reza Langari

This paper presents the application of a novel intelligent control strategy for lane change maneuvers in highway environment. The lateral dynamics of a vehicle with and without wind disturbance are derived and utilized to implement a neuromophic controller based on the brain limbic system. To show the robustness of the proposed controller, several disturbance conditions including wind, uncertainty in the cornering stiffness, and changes in the vehicle mass, are investigated. To demonstrate the performance of the suggested strategy, the simulation results of the proposed method were compared with the human driver model based control scheme, which has been discussed in the literature. The simulation results demonstrate the superiority of the proposed controller in energy efficiency, driving comfort, and robustness.


1997 ◽  
Vol 78 (2) ◽  
pp. 1120-1134 ◽  
Author(s):  
Christian Quaia ◽  
Lance M. Optican

Quaia, Christian and Lance M. Optican. Model with distributed vectorial premotor bursters accounts for the component stretching of oblique saccades. J. Neurophysiol. 78: 1120–1134, 1997. During oblique saccades, the durations of the horizontal and vertical components are stretched until they are approximately equal. Models of the saccadic system have been proposed that provide a mechanism for that stretching. However, they fail to simulate the pattern of activity recorded from premotor medium lead burst neurons (MLBNs) in the brain stem. A new model of the saccadic system is proposed that accounts for both the component stretching of oblique movements and the pattern of activity recorded in MLBNs. MLBNs that project to horizontal (or vertical) motoneurons actually have a wide span of on-directions (the direction associated with the largest discharge) around the cardinal direction. We infer from the wide span of their on-directions that, at the level of individual MLBNs, the vectorial signal present in spatially organized structures (e.g., the superior colliculus) is not decomposed into the separate horizontal and vertical components represented by the motoneurons. Nonetheless, all prior models of the saccadic system have decomposed the vectorial premotor command into horizontal and vertical commands at the level of the MLBNs. That decomposition was explicit, because individual MLBNs, with a sine- or cosine-shaped directional tuning curve, were used. We propose here that the decomposition into horizontal and vertical commands is carried out only at the level of the motoneurons. This decomposition is implicit, because no single MLBN encodes the horizontal or vertical command; the command only exists implicitly in the activity of the population of MLBNs. The new vectorial burster model correctly simulates the pattern of activity recorded in primate MLBNs, and the components of its oblique saccades are stretched. Two mechanisms contribute to this stretching: the distribution of MLBN tuning curves and the inhibition exerted by the contralateral population of MLBNs. In contrast, feedback control of the saccade contributes negligibly to the stretching. Even though the vectorial burster model predicts a component stretching, it is not constrained to produce perfectly straight oblique saccades because no trajectory control is implemented. The amount of curvature depends on the similarity of the horizontal and vertical systems (both neural and mechanical). In this model, stretching is interpreted simply as a side effect of the properties of the MLBNs' tuning curves. The distributed MLBNs of the vectorial burster model forces the general organization of the saccadic system to be reconsidered. We propose that a distributed architecture in which several different neural systems cooperate is needed.


2019 ◽  
Author(s):  
Simon R. Steinkamp ◽  
Simone Vossel ◽  
Gereon R. Fink ◽  
Ralph Weidner

AbstractHemispatial neglect, after unilateral lesions to parietal brain areas, is characterized by an inability to respond to unexpected stimuli in contralesional space. As the visual field’s horizontal meridian is most severely affected, the brain networks controlling visuospatial processes might be tuned explicitly to this axis. We investigated such a potential directional tuning in the dorsal and ventral frontoparietal attention networks, with a particular focus on attentional reorientation. We used an orientation-discrimination task where a spatial pre-cue indicated the target position with 80% validity. Healthy participants (n = 29) performed this task in two runs and were required to (re-)orient attention either only along the horizontal or the vertical meridian, while fMRI and behavioral measures were recorded. By using a General Linear Model for behavioral and fMRI data, Dynamic Causal Modeling for effective connectivity, and other predictive approaches, we found strong statistical evidence for a reorientation effect for horizontal and vertical runs. However, neither neural nor behavioral measures differed between vertical and horizontal reorienting. Moreover, models from one run successfully predicted the cueing condition in the respective other run. Our results suggest that activations in the dorsal and ventral attention networks represent higher-order cognitive processes related to spatial attentional (re-)orientating that are independent of directional tuning.


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