Spinal reflexive movement follows general tau theory

Background Tau theory explains how both intrinsically and perceptually guided movements are controlled by the brain. According to general tau theory, voluntary, self-paced human movements are controlled by coupling the tau of the movement (i.e., the rate of closure of the movement gap at its current closure rate) onto an intrinsically generated tau-guide (Lee in Ecol Psychol 10:221–250, 1998). To date there are no studies that have looked at involuntary movements, which are directly guided by innate patterns of neural energy generated at the level of the spinal cord or brain, and that can be explained by general tau theory. This study examines the guidance of an involuntary movement generated by the Patellar reflex in presence of a minimized gravitational field. Results The results showed that the Patellar reflexive movement is strongly coupled to an intrinsic tau-guide particularly when the limb is not moving in the direction of gravity. Conclusion These results suggest that the same principles of control underpin both voluntary and involuntary movements irrespective of whether they are generated in the brain or the spinal cord. Secondly, given that movements like the patellar reflex are visible from infancy, one might conclude that tau-guidance is an innate form of motor control, or neural blueprint, that has evolved over time.

A Bio-inspired trajectory planning method for robotic manipulators based on improved bacteria foraging optimization algorithm and tau theory

<abstract><p>In this paper, a novel bio-inspired trajectory planning method is proposed for robotic systems based on an improved bacteria foraging optimization algorithm (IBFOA) and an improved intrinsic Tau jerk (named Tau-J*) guidance strategy. Besides, the adaptive factor and elite-preservation strategy are employed to facilitate the IBFOA, and an improved Tau-J* with higher-order of intrinsic guidance movement is used to avoid the nonzero initial and final jerk, so as to overcome the computational burden and unsmooth trajectory problems existing in the optimization algorithm and traditional interpolation algorithm. The IBFOA is utilized to determine a small set of optimal control points, and Tau-J* is then invoked to generate smooth trajectories between the control points. Finally, the results of simulation tests demonstrate the eminent stability, optimality, and rapidity capability of the proposed bio-inspired trajectory planning method.</p></abstract>

Spinal reflexive movement follows General Tau Theory

Background Tau theory explains how both intrinsically and perceptually guided movements are controlled by the brain. According to general tau theory, voluntary, self-paced human movements are controlled by coupling the tau of the movement (i.e. the rate of closure of the movement gap at its current closure rate) onto an intrinsically generated tau-guide (Lee, 1998). To date there are no studies that have looked at involuntary movements, which are directly guided by innate patterns of neural energy generated at the level of the spinal cord or brain, and that can be explained by general tau theory. This study examines the guidance of an involuntary movement generated by the Patellar reflex in presence of a minimized gravitational field. Results The results showed that the Patellar reflexive movement is strongly coupled to an intrinsic tau-guide particularly when the limb is not moving in the direction of gravity. Conclusion These results suggest that the same principles of control underpin both voluntary and involuntary movements irrespective of whether they are generated in the brain or the spinal cord. Secondly, given that movements like the patellar reflex are visible from infancy, one might conclude that tau-guidance is an innate form of motor control, or neural blueprint, that has evolved over time.

How do timing mechanisms work?

This chapter addresses the nature of the general-purpose timekeeping mechanisms that are assumed in phonology-extrinsic-timing models of speech production. The first part of the chapter discusses some current questions about the nature of these mechanisms. The second part of the chapter presents Lee’s General Tau theory (Lee 1998, 2009), a theory of the temporal guidance of action in voluntary movement. This theory provides a crucial component for our phonology-extrinsic-timing-based, three-component model of speech production because its tau-coupling mechanism provides a way to plan movements with appropriate velocity profiles, as well as endpoint-based movement coordination. In doing so, it provides a general-purpose, phonology-extrinsic alternative to AP/TD’s use of oscillators for the control of the time-course of articulatory movement and coordination.

Bio-inspired Autonomous Visual Vertical and Horizontal Control of a Quadrotor Unmanned Aerial Vehicle

Near-ground manoeuvres, such as landing, are key elements in unmanned aerial vehicle navigation. Traditionally, these manoeuvres have been done using external reference frames to measure or estimate the velocity and the height of the vehicle. Complex near-ground manoeuvres are performed by flying animals with ease. These animals perform these complex manoeuvres by exclusively using the information from their vision and vestibular system. In this paper, we use the Tau theory, a visual strategy that, is believed, is used by many animals to approach objects, as a solution for relative ground distance control for unmanned vehicles. In this paper, it is shown how this approach can be used to perform near-ground manoeuvres in a vertical and horizontal manner on a moving target without the knowledge of height and velocity of either the vehicle or the target. The proposed system is tested with simulations. Here, it is shown that, using the proposed methods, the vehicle is able to perform landing on a moving target, and also they enable the user to choose the dynamic characteristics of the approach.

Prospective control of movement in the basal ganglia

Neural systems control purposeful movements both within an animal’s body (e.g., pumping blood) and in the environment (e.g., reaching). This is vital for all animals. The movement control functions of globus pallidus (GP), subthalamic nucleus (STN) and zona incerta (ZI) were analyzed in monkeys reaching for seen targets. Temporal profiles of their hand movements and the synchronized pattern of neuropower (rate of flow of electrochemical energy) through the basal ganglia were analyzed in terms of general tau theory of movement control (Lee et al., 2009), using the variable rho (=1/tau). The results suggest: (i) the neuroinformation for controlling movement is the relative-rate-of-change, rho, of neuropower in the nervous system; (ii) GP is involved in creating prescriptive rhos of neuropower to guide movements; (iii) STN is involved in registering perceptual rhos of neuropower to monitor the movement; (iv) ZI is involved in combining the prescriptive and perceptual rhos of neuropower to generate performatory rhos of neuropower to activate the muscles to produce the movement. Possible implications for Parkinson’s disease are discussed.

Improving tauG-control of action in PD

A theory of action control (General Tau Theory) is applied to analyzing normal and abnormal movements in PD; and to designing and testing the efficacy of a sonic aid for PD. A central aspect of the theory, which is supported by experimental evidence across a variety of actions and species, is that the trajectories of competent skilled actions follow a particular temporal pattern, which is described by the mathematical function, tauG. Since tauG-control of actions can be largely deficient in PD, we designed a device that generates whoop-like sounds, where the fundamental frequency of the sound follows the tauG pattern. Our hypothesis was that by listening to these sounds the nervous system of someone with PD might be helped subsequently to self-generate tauG patterns in their nervous system, which might facilitate movement control in different situations. Five adults with PD, and five age-matched controls, took part in the study. They each listened to the sounds under two conditions: (a) experimental - turning a handle for 5 minutes while the sounds were played (b) control - turning the handle without the sounds. Before and after each condition, the tauG-control of lateral body sway while standing was measured (without the sounds playing), using force-plates, on two tasks: (i) keeping the feet down, (ii) lifting the trailing foot. The number of participants out of five, who showed greater ratio improvement following practice with whoop sounds compared to without sounds, was, on each task, high for the PDs compared with the age-matched controls (4 vs 2 or 3). Thus, for the PDs, listening to the tauG whoop-like sounds while performing one action (handle turning) improved subsequent tauG-control on a different task (body-swaying).

TauG-Guidance Of Neonatal Vocalizing

A theory of action control (General Tau Theory) is applied to analyzing the vocalizations of human neonates. A central aspect of the theory, which is supported by experimental evidence across various actions and species, is that the trajectories of competent skilled actions follow a particular temporal pattern, which is described by the mathematical function, tauG. It was found that the acoustic waveform of vocalizations of healthy, full-term babies followed the tauG pattern with high precision. We conclude that healthy full-term neonates can be born with the ability to tauG-guide their vocalizations.