Name
Title | ||
|---|---|---|
Sensorimotor Interactions During Locomotion: Principles Derived from Biological Systems |
Abstract | ||
|---|---|---|
Rhythmic movements in biological systems are produced inpart by central circuits called central pattern generators (CPGs).For example, locomotion in vertebrates derives from the spinal CPGwith activity initiated by the brain and controlled by sensoryfeedback. Sensory feedback is traditionally viewed as controllingCPGs cycle by cycle, with the brain commanding movements on a topdown basis. We present an alternative view which insensory feedback alters the properties of the CPG on a fastas well as a slow time scale. The CPG, in turn, providesfeedforward filtering of the sensory feedback. This bidirectionalinteraction is widespread across animals, suggesting it is a commonfeature of motor systems, and, therefore, might offer a new way toview sensorimotor interactions in all systems including roboticsystems. Bidirectional interactions are also apparent between thecerebral cortex and the CPG. The motor cortex doesn‘t simply commandmuscle contractions, but rather operates with the CPG to produceadaptively structured movements. To facilitate these adaptiveinteractions, the motor cortex receives feedback from the CPG thatcreates a temporal activity pattern mirroring the spinal motor outputduring locomotion. Thus, the activity of the motor cortical cells isshaped by the spinal pattern generator as they drive motor commands.These common features of CPG structure and function are suggested asoffering a new perspective for building robotic systems. CPGs offer apotential for adaptive control, especially when combined with theprinciples of sensorimotor integration described here. |
Year | DOI | Venue |
|---|---|---|
1999 | 10.1023/A:1008920420634 | Auton. Robots |
Keywords | Field | DocType |
locomotion,sensory feedback,central pattern generator | Computer vision,Neuroscience,Computer science,Digital pattern generator,CpG site,Artificial intelligence,Motor cortex,Adaptive control,Motor system,Sensory system,Central pattern generator,Feed forward | Journal |
Volume | Issue | ISSN |
7 | 3 | 1573-7527 |
Citations | PageRank | References |
22 | 4.14 | 1 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| A H Cohen | 1 | 577 | 50.66 |
| David L. Boothe | 2 | 22 | 5.15 |