A Model of Predictive Postural Control Against Floor Tilting in Rats

Humans and animals learn the internal model of bodies and environments from their experience and stabilize posture against disturbances based on the predicted future states according to the internal model. We evaluated the mechanism of predictive control during standing, by using rats to construct a...

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Autores principales:	Akira Konosu, Tetsuro Funato, Yuma Matsuki, Akihiro Fujita, Ryutaro Sakai, Dai Yanagihara
Formato:	article
Lenguaje:	EN
Publicado:	Frontiers Media S.A. 2021
Materias:	predictive postural control bipedal rats motor learning model predictive control simulation Neurosciences. Biological psychiatry. Neuropsychiatry RC321-571
Acceso en línea:	https://doaj.org/article/048b52b094364d869e3cb243c4d8b72c
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spelling	oai:doaj.org-article:048b52b094364d869e3cb243c4d8b72c2021-11-30T23:19:30ZA Model of Predictive Postural Control Against Floor Tilting in Rats1662-513710.3389/fnsys.2021.785366https://doaj.org/article/048b52b094364d869e3cb243c4d8b72c2021-11-01T00:00:00Zhttps://www.frontiersin.org/articles/10.3389/fnsys.2021.785366/fullhttps://doaj.org/toc/1662-5137Humans and animals learn the internal model of bodies and environments from their experience and stabilize posture against disturbances based on the predicted future states according to the internal model. We evaluated the mechanism of predictive control during standing, by using rats to construct a novel experimental system and comparing their behaviors with a mathematical model. In the experiments, rats (n = 6) that were standing upright using their hindlimbs were given a sensory input of light, after a certain period, the floor under them tilted backward. Initially, this disturbance induced a large postural response, including backward rotation of the center-of-mass angle and hindlimb segments. However, the rats gradually adjusted to the disturbance after experiencing 70 sequential trials, and a reduction in the amplitude of postural response was noted. We simulated the postural control of the rats under disturbance using an inverted pendulum model and model predictive control (MPC). MPC is a control method for predicting the future state using an internal model of the control target. It provides control inputs that optimize the predicted future states. Identification of the predictive and physiological parameters so that the simulation corresponds to the experiment, resulted in a value of predictive horizon (0.96 s) close to the interval time in the experiment (0.9–1.15 s). These results suggest that the rats predict posture dynamics under disturbance based on the timing of the sensory input and that the central nervous system provides plasticity mechanisms to acquire the internal model for MPC.Akira KonosuTetsuro FunatoYuma MatsukiAkihiro FujitaRyutaro SakaiDai YanagiharaFrontiers Media S.A.articlepredictive postural controlbipedal ratsmotor learningmodel predictive controlsimulationNeurosciences. Biological psychiatry. NeuropsychiatryRC321-571ENFrontiers in Systems Neuroscience, Vol 15 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	predictive postural control bipedal rats motor learning model predictive control simulation Neurosciences. Biological psychiatry. Neuropsychiatry RC321-571
spellingShingle	predictive postural control bipedal rats motor learning model predictive control simulation Neurosciences. Biological psychiatry. Neuropsychiatry RC321-571 Akira Konosu Tetsuro Funato Yuma Matsuki Akihiro Fujita Ryutaro Sakai Dai Yanagihara A Model of Predictive Postural Control Against Floor Tilting in Rats
description	Humans and animals learn the internal model of bodies and environments from their experience and stabilize posture against disturbances based on the predicted future states according to the internal model. We evaluated the mechanism of predictive control during standing, by using rats to construct a novel experimental system and comparing their behaviors with a mathematical model. In the experiments, rats (n = 6) that were standing upright using their hindlimbs were given a sensory input of light, after a certain period, the floor under them tilted backward. Initially, this disturbance induced a large postural response, including backward rotation of the center-of-mass angle and hindlimb segments. However, the rats gradually adjusted to the disturbance after experiencing 70 sequential trials, and a reduction in the amplitude of postural response was noted. We simulated the postural control of the rats under disturbance using an inverted pendulum model and model predictive control (MPC). MPC is a control method for predicting the future state using an internal model of the control target. It provides control inputs that optimize the predicted future states. Identification of the predictive and physiological parameters so that the simulation corresponds to the experiment, resulted in a value of predictive horizon (0.96 s) close to the interval time in the experiment (0.9–1.15 s). These results suggest that the rats predict posture dynamics under disturbance based on the timing of the sensory input and that the central nervous system provides plasticity mechanisms to acquire the internal model for MPC.
format	article
author	Akira Konosu Tetsuro Funato Yuma Matsuki Akihiro Fujita Ryutaro Sakai Dai Yanagihara
author_facet	Akira Konosu Tetsuro Funato Yuma Matsuki Akihiro Fujita Ryutaro Sakai Dai Yanagihara
author_sort	Akira Konosu
title	A Model of Predictive Postural Control Against Floor Tilting in Rats
title_short	A Model of Predictive Postural Control Against Floor Tilting in Rats
title_full	A Model of Predictive Postural Control Against Floor Tilting in Rats
title_fullStr	A Model of Predictive Postural Control Against Floor Tilting in Rats
title_full_unstemmed	A Model of Predictive Postural Control Against Floor Tilting in Rats
title_sort	model of predictive postural control against floor tilting in rats
publisher	Frontiers Media S.A.
publishDate	2021
url	https://doaj.org/article/048b52b094364d869e3cb243c4d8b72c
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A Model of Predictive Postural Control Against Floor Tilting in Rats

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