Integration of gravitational torques in cerebellar pathways allows for the dynamic inverse computation of vertical pointing movements of a robot arm.

<h4>Background</h4>Several authors suggested that gravitational forces are centrally represented in the brain for planning, control and sensorimotor predictions of movements. Furthermore, some studies proposed that the cerebellum computes the inverse dynamics (internal inverse model) whe...

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Autores principales:	Rodolphe J Gentili, Charalambos Papaxanthis, Mehdi Ebadzadeh, Selim Eskiizmirliler, Sofiane Ouanezar, Christian Darlot
Formato:	article
Lenguaje:	EN
Publicado:	Public Library of Science (PLoS) 2009
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/21da47fd78c6417b96efa2d9ff8eda67
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spelling	oai:doaj.org-article:21da47fd78c6417b96efa2d9ff8eda672021-11-25T06:23:07ZIntegration of gravitational torques in cerebellar pathways allows for the dynamic inverse computation of vertical pointing movements of a robot arm.1932-620310.1371/journal.pone.0005176https://doaj.org/article/21da47fd78c6417b96efa2d9ff8eda672009-01-01T00:00:00Zhttps://www.ncbi.nlm.nih.gov/pmc/articles/pmid/19384420/pdf/?tool=EBIhttps://doaj.org/toc/1932-6203<h4>Background</h4>Several authors suggested that gravitational forces are centrally represented in the brain for planning, control and sensorimotor predictions of movements. Furthermore, some studies proposed that the cerebellum computes the inverse dynamics (internal inverse model) whereas others suggested that it computes sensorimotor predictions (internal forward model).<h4>Methodology/principal findings</h4>This study proposes a model of cerebellar pathways deduced from both biological and physical constraints. The model learns the dynamic inverse computation of the effect of gravitational torques from its sensorimotor predictions without calculating an explicit inverse computation. By using supervised learning, this model learns to control an anthropomorphic robot arm actuated by two antagonists McKibben artificial muscles. This was achieved by using internal parallel feedback loops containing neural networks which anticipate the sensorimotor consequences of the neural commands. The artificial neural networks architecture was similar to the large-scale connectivity of the cerebellar cortex. Movements in the sagittal plane were performed during three sessions combining different initial positions, amplitudes and directions of movements to vary the effects of the gravitational torques applied to the robotic arm. The results show that this model acquired an internal representation of the gravitational effects during vertical arm pointing movements.<h4>Conclusions/significance</h4>This is consistent with the proposal that the cerebellar cortex contains an internal representation of gravitational torques which is encoded through a learning process. Furthermore, this model suggests that the cerebellum performs the inverse dynamics computation based on sensorimotor predictions. This highlights the importance of sensorimotor predictions of gravitational torques acting on upper limb movements performed in the gravitational field.Rodolphe J GentiliCharalambos PapaxanthisMehdi EbadzadehSelim EskiizmirlilerSofiane OuanezarChristian DarlotPublic Library of Science (PLoS)articleMedicineRScienceQENPLoS ONE, Vol 4, Iss 4, p e5176 (2009)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Rodolphe J Gentili Charalambos Papaxanthis Mehdi Ebadzadeh Selim Eskiizmirliler Sofiane Ouanezar Christian Darlot Integration of gravitational torques in cerebellar pathways allows for the dynamic inverse computation of vertical pointing movements of a robot arm.
description	<h4>Background</h4>Several authors suggested that gravitational forces are centrally represented in the brain for planning, control and sensorimotor predictions of movements. Furthermore, some studies proposed that the cerebellum computes the inverse dynamics (internal inverse model) whereas others suggested that it computes sensorimotor predictions (internal forward model).<h4>Methodology/principal findings</h4>This study proposes a model of cerebellar pathways deduced from both biological and physical constraints. The model learns the dynamic inverse computation of the effect of gravitational torques from its sensorimotor predictions without calculating an explicit inverse computation. By using supervised learning, this model learns to control an anthropomorphic robot arm actuated by two antagonists McKibben artificial muscles. This was achieved by using internal parallel feedback loops containing neural networks which anticipate the sensorimotor consequences of the neural commands. The artificial neural networks architecture was similar to the large-scale connectivity of the cerebellar cortex. Movements in the sagittal plane were performed during three sessions combining different initial positions, amplitudes and directions of movements to vary the effects of the gravitational torques applied to the robotic arm. The results show that this model acquired an internal representation of the gravitational effects during vertical arm pointing movements.<h4>Conclusions/significance</h4>This is consistent with the proposal that the cerebellar cortex contains an internal representation of gravitational torques which is encoded through a learning process. Furthermore, this model suggests that the cerebellum performs the inverse dynamics computation based on sensorimotor predictions. This highlights the importance of sensorimotor predictions of gravitational torques acting on upper limb movements performed in the gravitational field.
format	article
author	Rodolphe J Gentili Charalambos Papaxanthis Mehdi Ebadzadeh Selim Eskiizmirliler Sofiane Ouanezar Christian Darlot
author_facet	Rodolphe J Gentili Charalambos Papaxanthis Mehdi Ebadzadeh Selim Eskiizmirliler Sofiane Ouanezar Christian Darlot
author_sort	Rodolphe J Gentili
title	Integration of gravitational torques in cerebellar pathways allows for the dynamic inverse computation of vertical pointing movements of a robot arm.
title_short	Integration of gravitational torques in cerebellar pathways allows for the dynamic inverse computation of vertical pointing movements of a robot arm.
title_full	Integration of gravitational torques in cerebellar pathways allows for the dynamic inverse computation of vertical pointing movements of a robot arm.
title_fullStr	Integration of gravitational torques in cerebellar pathways allows for the dynamic inverse computation of vertical pointing movements of a robot arm.
title_full_unstemmed	Integration of gravitational torques in cerebellar pathways allows for the dynamic inverse computation of vertical pointing movements of a robot arm.
title_sort	integration of gravitational torques in cerebellar pathways allows for the dynamic inverse computation of vertical pointing movements of a robot arm.
publisher	Public Library of Science (PLoS)
publishDate	2009
url	https://doaj.org/article/21da47fd78c6417b96efa2d9ff8eda67
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Integration of gravitational torques in cerebellar pathways allows for the dynamic inverse computation of vertical pointing movements of a robot arm.

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