模拟小鼠后肢运动的小脑颞叶学习自适应控制
Adaptive control for hindlimb locomotion in a simulated mouse through temporal cerebellar learning
摘要：
人类和其他脊椎动物在运动中表现出显着的性能和效率，但其运动的生物控制系统的功能仍然只是部分了解。运动的基本模式和时间由脊髓中的中央模式发生器（CPG）提供。小脑在适应性运动中起着重要的作用。最近的研究已经深入了解了负责驱动小脑运动适应的错误信号。然而，小脑输出如何影响步态的问题仍然没有答案。我们假设小脑校正应用于CPG的图案形成部分。在这里，提出了一种用于小鼠的肌肉骨骼系统的自适应运动的生物启发控制系统，其中小脑样模块通过使用双支撑肢间不对称性作为时间教学信号来调整步长。控制系统在模拟小鼠上进行测试，该模拟小鼠在与用真实小鼠进行的实验中所使用的类似的分离带跑步机设置中。结果表明，在肢体间参数的自适应运动行为类似于在人类和小鼠中看到的。控制系统自适应地减少了双支撑不对称性，该不对称性是由于在分裂带协议中的环境扰动而发生的。
英文摘要：
Human beings and other vertebrates show remarkable performance and efficiency in locomotion, but the functioning of their biological control systems for locomotion is still only partially understood. The basic patterns and timing for locomotion are provided by a central pattern generator (CPG) in the spinal cord. The cerebellum is known to play an important role in adaptive locomotion. Recent studies have given insights into the error signals responsible for driving the cerebellar adaptation in locomotion. However, the question of how the cerebellar output influences the gait remains unanswered. We hypothesize that the cerebellar correction is applied to the pattern formation part of the CPG. Here, a bio-inspired control system for adaptive locomotion of the musculoskeletal system of the mouse is presented, where a cerebellar-like module adapts the step time by using the double support interlimb asymmetry as a temporal teaching signal. The control system is tested on a simulated mouse in a split-belt treadmill setup similar to those used in experiments with real mice. The results show adaptive locomotion behavior in the interlimb parameters similar to that seen in humans and mice. The control system adaptively decreases the double support asymmetry that occurs due to environmental perturbations in the split-belt protocol.
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