Sensory feedback plays a significant role in generating walking gait and in gait transition in salamanders: A simulation study
Here, we use a three-dimensional, neuro-musculo-mechanical model of a salamander with realistic physical parameters in order to investigate the role of sensory feedback in gait generation and transition. Activation of limb and axial muscles were driven by neural output patterns obtained from a centr...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2011-11-01
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| Series: | Frontiers in Neurorobotics |
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| Online Access: | http://journal.frontiersin.org/Journal/10.3389/fnbot.2011.00003/full |
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| author | Nalin eHarischandra Nalin eHarischandra Jeremei eKnuesel Alexander eKozlov Alexander eKozlov Andrej eBicanski Jean-Marie eCabelguen Auke Jan Ijspeert Örjan eEkeberg Örjan eEkeberg |
| author_facet | Nalin eHarischandra Nalin eHarischandra Jeremei eKnuesel Alexander eKozlov Alexander eKozlov Andrej eBicanski Jean-Marie eCabelguen Auke Jan Ijspeert Örjan eEkeberg Örjan eEkeberg |
| author_sort | Nalin eHarischandra |
| collection | DOAJ |
| description | Here, we use a three-dimensional, neuro-musculo-mechanical model of a salamander with realistic physical parameters in order to investigate the role of sensory feedback in gait generation and transition. Activation of limb and axial muscles were driven by neural output patterns obtained from a central pattern generator (CPG) which is composed of simulated spiking neurons with adaptation. The CPG consists of a body CPG and four limb CPGs that are interconnected via synapses both ipsilateraly and contralaterally. We use the model both with and without sensory modulation and for different combinations of ipsilateral and contralateral coupling between the limb CPGs. We found that the proprioceptive sensory inputs are essential in obtaining a coordinated walking gait. The sensory feedback includes the signals coming from the stretch receptor like intraspinal neurons located in the girdle regions and the limb stretch receptors residing in the hip and scapula regions of the salamander. On the other hand, coordinated motor output patterns for the trotting gait were obtainable without the sensory inputs. We found that the gait transition from walking to trotting can be induced by increased activity of the descending drive coming from the mesencephalic locomotor region (MLR) and is helped by the sensory inputs at the hip and scapula regions detecting the late stance phase. More neurophysiological experiments are required to identify the precise type of mechanoreceptors in the salamander and the neural mechanisms mediating the sensory modulation. |
| first_indexed | 2024-12-12T02:03:54Z |
| format | Article |
| id | doaj.art-414279279f3a410aa8380d2b6a898553 |
| institution | Directory Open Access Journal |
| issn | 1662-5218 |
| language | English |
| last_indexed | 2024-12-12T02:03:54Z |
| publishDate | 2011-11-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Neurorobotics |
| spelling | doaj.art-414279279f3a410aa8380d2b6a8985532022-12-22T00:42:06ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182011-11-01510.3389/fnbot.2011.0000312516Sensory feedback plays a significant role in generating walking gait and in gait transition in salamanders: A simulation studyNalin eHarischandra0Nalin eHarischandra1Jeremei eKnuesel2Alexander eKozlov3Alexander eKozlov4Andrej eBicanski5Jean-Marie eCabelguen6Auke Jan Ijspeert7Örjan eEkeberg8Örjan eEkeberg9School of Computer Science and Communication, Royal Institute of TechnologyStockholm Brain InstituteEPFLSchool of Computer Science and Communication, Royal Institute of TechnologyKarolinska InstituteEPFLBordeaux UniversityEPFLSchool of Computer Science and Communication, Royal Institute of TechnologyStockholm Brain InstituteHere, we use a three-dimensional, neuro-musculo-mechanical model of a salamander with realistic physical parameters in order to investigate the role of sensory feedback in gait generation and transition. Activation of limb and axial muscles were driven by neural output patterns obtained from a central pattern generator (CPG) which is composed of simulated spiking neurons with adaptation. The CPG consists of a body CPG and four limb CPGs that are interconnected via synapses both ipsilateraly and contralaterally. We use the model both with and without sensory modulation and for different combinations of ipsilateral and contralateral coupling between the limb CPGs. We found that the proprioceptive sensory inputs are essential in obtaining a coordinated walking gait. The sensory feedback includes the signals coming from the stretch receptor like intraspinal neurons located in the girdle regions and the limb stretch receptors residing in the hip and scapula regions of the salamander. On the other hand, coordinated motor output patterns for the trotting gait were obtainable without the sensory inputs. We found that the gait transition from walking to trotting can be induced by increased activity of the descending drive coming from the mesencephalic locomotor region (MLR) and is helped by the sensory inputs at the hip and scapula regions detecting the late stance phase. More neurophysiological experiments are required to identify the precise type of mechanoreceptors in the salamander and the neural mechanisms mediating the sensory modulation.http://journal.frontiersin.org/Journal/10.3389/fnbot.2011.00003/fullComputer SimulationLocomotionspiking neuronsNeuronal NetworkSensory feedbackGait transition |
| spellingShingle | Nalin eHarischandra Nalin eHarischandra Jeremei eKnuesel Alexander eKozlov Alexander eKozlov Andrej eBicanski Jean-Marie eCabelguen Auke Jan Ijspeert Örjan eEkeberg Örjan eEkeberg Sensory feedback plays a significant role in generating walking gait and in gait transition in salamanders: A simulation study Frontiers in Neurorobotics Computer Simulation Locomotion spiking neurons Neuronal Network Sensory feedback Gait transition |
| title | Sensory feedback plays a significant role in generating walking gait and in gait transition in salamanders: A simulation study |
| title_full | Sensory feedback plays a significant role in generating walking gait and in gait transition in salamanders: A simulation study |
| title_fullStr | Sensory feedback plays a significant role in generating walking gait and in gait transition in salamanders: A simulation study |
| title_full_unstemmed | Sensory feedback plays a significant role in generating walking gait and in gait transition in salamanders: A simulation study |
| title_short | Sensory feedback plays a significant role in generating walking gait and in gait transition in salamanders: A simulation study |
| title_sort | sensory feedback plays a significant role in generating walking gait and in gait transition in salamanders a simulation study |
| topic | Computer Simulation Locomotion spiking neurons Neuronal Network Sensory feedback Gait transition |
| url | http://journal.frontiersin.org/Journal/10.3389/fnbot.2011.00003/full |
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