More Like this

1. Corollary discharge prevents signal distortion and enhances sensing during locomotion

   https://doi.org/10.1101/2021.02.15.431323  

   Skandalis, * ; Lunsford, Elias T. ; Liao*, James C. ( February 2021 , bioRxiv)

   Sensory feedback during movement entails sensing a mix of externally- and self-generated stimuli (respectively, exafference and reafference). In many peripheral sensory systems, a parallel copy of the motor command, a corollary discharge, is thought to eliminate sensory feedback during behaviors. However, reafference has important roles in motor control, because it provides real-time feedback on the animal’s motions through the environment. In this case, the corollary discharge must be calibrated to enable feedback while avoiding negative consequences like sensor fatigue. The undulatory motions of fishes’ bodies generate induced flows that are sensed by the lateral line sensory organ, and prior work has shown these reafferent signals contribute to the regulation of swimming kinematics. Corollary discharge to the lateral line reduces the gain for reafference, but cannot eliminate it altogether. We develop a data-driven model integrating swimming biomechanics, hair cell physiology, and corollary discharge to understand how sensory modulation is calibrated during locomotion in larval zebrafish. In the absence of corollary discharge, lateral line afferent units exhibit the highly heterogeneous habituation rates characteristic of hair cell systems, typified by decaying sensitivity and phase distortions with respect to an input stimulus. Activation of the corollary discharge prevents habituation, reduces response heterogeneity, and regulatesmore »response phases in a narrow interval around the time of the peak stimulus. This suggests a synergistic interaction between the corollary discharge and the polarization of lateral line sensors, which sharpens sensitivity along their preferred axes. Our integrative model reveals a vital role of corollary discharge for ensuring precise feedback, including proprioception, during undulatory locomotion.« less
2. Somatosensory changes associated with motor skill learning

   https://doi.org/10.1152/jn.00497.2019  

   Mirdamadi, Jasmine Lauren ; Block, Hannah J ( January 2020 , Journal of Neurophysiology)

   Trial-and-error motor adaptation has been linked to somatosensory plasticity and shifts in proprioception (limb position sense). The role of sensory processing in motor skill learning is less understood. Unlike adaptation, skill learning involves the acquisition of new movement patterns in the absence of perturbation, with performance limited by the speed-accuracy tradeoff. We investigated somatosensory changes during motor skill learning at the behavioral and neurophysiological level. Twenty-eight healthy young adults practiced a maze-tracing task, guiding a robotic manipulandum through an irregular 2D track featuring several abrupt turns. Practice occurred on days 1 and 2. Skill was assessed before practice on day 1 and again on day 3, with learning indicated by a shift in the speed-accuracy function between these assessments. Proprioceptive function was quantified with a passive two-alternative forced choice task. In a subset of 15 participants, we measured short latency afferent inhibition (SAI) to index somatosensory projections to motor cortex. We found that motor practice enhanced the speed-accuracy skill function (F 4,108 = 32.15, p < 0.001) and was associated with improved proprioceptive sensitivity at retention (t 22 = 24.75, p = 0.0031). Further, SAI increased after training (F 1,14 = 5.41, p = 0.036). Interestingly, individuals with larger increasesmore »in SAI, reflecting enhanced somatosensory afference to motor cortex, demonstrated larger improvements in motor skill learning. These findings suggest that SAI may be an important functional mechanism for some aspect of motor skill learning. Further research is needed to test what parameters (task complexity, practice time, etc) are specifically linked to somatosensory function.« less
3. Investigating the role of low level reinforcement reflex loops in insect locomotion

   https://doi.org/10.1088/1748-3190/ac28ea  

   Goldsmith, C A ; Quinn, R D ; Szczecinski, N S ( October 2021 , Bioinspiration & Biomimetics)

   Abstract Insects are highly capable walkers, but many questions remain regarding how the insect nervous system controls locomotion. One particular question is how information is communicated between the ‘lower level’ ventral nerve cord (VNC) and the ‘higher level’ head ganglia to facilitate control. In this work, we seek to explore this question by investigating how systems traditionally described as ‘positive feedback’ may initiate and maintain stepping in the VNC with limited information exchanged between lower and higher level centers. We focus on the ‘reflex reversal’ of the stick insect femur-tibia joint between a resistance reflex (RR) and an active reaction in response to joint flexion, as well as the activation of populations of descending dorsal median unpaired (desDUM) neurons from limb strain as our primary reflex loops. We present the development of a neuromechanical model of the stick insect ( Carausius morosus ) femur-tibia (FTi) and coxa-trochanter joint control networks ‘in-the-loop’ with a physical robotic limb. The control network generates motor commands for the robotic limb, whose motion and forces generate sensory feedback for the network. We based our network architecture on the anatomy of the non-spiking interneuron joint control network that controls the FTi joint, extrapolated network connectivity based on known muscle responses,more »and previously developed mechanisms to produce ‘sideways stepping’. Previous studies hypothesized that RR is enacted by selective inhibition of sensory afferents from the femoral chordotonal organ, but no study has tested this hypothesis with a model of an intact limb. We found that inhibiting the network’s flexion position and velocity afferents generated a reflex reversal in the robot limb’s FTi joint. We also explored the intact network’s ability to sustain steady locomotion on our test limb. Our results suggested that the reflex reversal and limb strain reinforcement mechanisms are both necessary but individually insufficient to produce and maintain rhythmic stepping in the limb, which can be initiated or halted by brief, transient descending signals. Removing portions of this feedback loop or creating a large enough disruption can halt stepping independent of the higher-level centers. We conclude by discussing why the nervous system might control motor output in this manner, as well as how to apply these findings to generalized nervous system understanding and improved robotic control.« less
4. Central pattern generator with inertial feedback for stable locomotion and climbing in unstructured terrain.

   Guillaume Sartoretti, Samuel Shaw ( May 2018 , IEEE International Conference on Robotics and Automation)

   : Inspired by the locomotor nervous system of vertebrates, central pattern generator (CPG) models can be used to design gaits for articulated robots, such as crawling, swimming or legged robots. Incorporating sensory feedback for gait adaptation in these models can improve the locomotive performance of such robots in challenging terrain. However, many CPG models to date have been developed exclusively for open-loop gait generation for traversing level terrain. In this paper, we present a novel approach for incorporating inertial feedback into the CPG framework for the control of body posture during legged locomotion on steep, unstructured terrain. That is, we adapt the limit cycle of each leg of the robot with time to simultaneously produce locomotion and body posture control. We experimentally validate our approach on a hexapod robot, locomoting in a variety of steep, challenging terrains (grass, rocky slide, stairs). We show how our approach can be used to level the robot's body, allowing it to locomote at a relatively constant speed, even as terrain steepness and complexity prevents the use of an open-loop control strategy.
5. Increase in weighting of vision vs. proprioception associated with force field adaptation

   https://doi.org/10.1038/s41598-019-46625-7  

   Sexton, Brandon M. ; Liu, Yang ; Block, Hannah J. ( July 2019 , Scientific Reports)

   Hand position can be estimated by vision and proprioception (position sense). The brain is thought to weight and integrate these percepts to form a multisensory estimate of hand position with which to guide movement. Force field adaptation, a type of cerebellum-dependent motor learning, is associated with both motor and proprioceptive changes. The cerebellum has connections with multisensory parietal regions; however, it is unknown if force adaptation is associated with changes in multisensory perception. If force adaptation affects all relevant sensory modalities similarly, the brain’s weighting of vision vs. proprioception should be maintained. Alternatively, if force perturbation is interpreted as somatosensory unreliability, vision may be up-weighted relative to proprioception. We assessed visuo-proprioceptive weighting with a perceptual estimation task before and after subjects performed straight-ahead reaches grasping a robotic manipulandum. Each subject performed one session with a clockwise or counter-clockwise velocity-dependent force field, and one session in a null field. Subjects increased their weight of vision vs. proprioception in the force field session relative to the null session, regardless of force field direction, in the straight-ahead dimension (F_1,44 = 5.13, p = 0.029). This suggests that force field adaptation is associated with an increase in the brain’s weighting of vision vs. proprioception.