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Neuromodulation and Synaptic Plasticity for the Control of Fast Periodic Movement: Energy Efficiency in Coupled Compliant Joints via PCA

Stratmann, Philipp and Lakatos, Dominic and Albu-Schäffer, Alin (2016) Neuromodulation and Synaptic Plasticity for the Control of Fast Periodic Movement: Energy Efficiency in Coupled Compliant Joints via PCA. Frontiers in Neurorobotics, 10 (2). Frontiers Media S.A.. doi: 10.3389/fnbot.2016.00002. ISSN 1662-5218.

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Official URL: http://journal.frontiersin.org/article/10.3389/fnbot.2016.00002/full


There are multiple indications that the nervous system of animals tunes muscle output to exploit natural dynamics of the elastic locomotor system and the environment. This is an advantageous strategy especially in fast periodic movements, since the elastic elements store energy and increase energy efficiency and movement speed. Experimental evidence suggests that coordination among joints involves proprioceptive input and neuromodulatory influence originating in the brain stem. However, the neural strategies underlying the coordination of fast periodic movements remain poorly understood. Based on robotics control theory, we suggest that the nervous system implements a mechanism to accomplish coordination between joints by a linear coordinate transformation from the multi-dimensional space representing proprioceptive input at the joint level into a one-dimensional controller space. In this one-dimensional subspace, the movements of a whole limb can be driven by a single oscillating unit as simple as a reflex interneuron. The output of the oscillating unit is transformed back to joint space via the same transformation. The transformation weights correspond to the dominant principal component of the movement. In this study, we propose a biologically plausible neural network to exemplify that the central nervous system (CNS) may encode our controller design. Using theoretical considerations and computer simulations, we demonstrate that spike-timing-dependent plasticity (STDP) for the input mapping and serotonergic neuromodulation for the output mapping can extract the dominant principal component of sensory signals. Our simulations show that our network can reliably control mechanical systems of different complexity and increase the energy efficiency of ongoing cyclic movements. The proposed network is simple and consistent with previous biologic experiments. Thus, our controller could serve as a candidate to describe the neural control of fast, energy-efficient, periodic movements involving multiple coupled joints.

Item URL in elib:https://elib.dlr.de/103358/
Document Type:Article
Title:Neuromodulation and Synaptic Plasticity for the Control of Fast Periodic Movement: Energy Efficiency in Coupled Compliant Joints via PCA
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074UNSPECIFIED
Date:8 March 2016
Journal or Publication Title:Frontiers in Neurorobotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
EditorsEmailEditor's ORCID iDORCID Put Code
Knoll, Alois CTechnische Universität MünchenUNSPECIFIEDUNSPECIFIED
Röhrbein, FlorianTechnische Universität MünchenUNSPECIFIEDUNSPECIFIED
Publisher:Frontiers Media S.A.
Keywords:elastic movement, neural movement control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Walking Robotics/Locomotion [SY], R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Stratmann, Philipp
Deposited On:21 Mar 2016 16:18
Last Modified:08 Nov 2023 15:23

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