A possible correlation between the basal ganglia motor function and the inverse kinematics calculation

Abstract

The main hypothesis of this study, based on experimental data showing the relations between the BG activities and kinematic variables, is that BG are involved in computing inverse kinematics (IK) as a part of planning and decision-making. Indeed, it is assumed that based on the desired kinematic variables (such as velocity) of a limb in the workspace, angular kinematic variables in the joint configuration space are calculated. Therefore, in this paper, a system-level computational model of BG is proposed based on geometrical rules, which is able to compute IK. Next, the functionality of each part in the presented model is interpreted as a function of a nucleus or a pathway of BG. Moreover, to overcome existing redundancy in possible trajectories, an optimization problem minimizing energy consumption is defined and solved to select an optimal movement trajectory among an infinite number of possible ones. The validity of the model is checked by simulating it to control a three-segment manipulator with rotational joints in a plane. The performance of the model is studied for different types of movement including different reaching movements, a continuous circular movement and a sequence of tracking movements. Furthermore, to demonstrate the physiological similarity of the presented model to the BG structure, the neuronal activity of each part of the model considered as a BG nucleus is verified. Some changes in model parameters, inspired by the dopamine deficiency, also allow simulating some symptoms of Parkinson's disease such as bradykinesia and akinesia.

Functional imaging correlates of akinesia in Parkinson's disease: Still open issues

“…Rather, future studies should target specific neural mechanisms by means of adapted empirical designs and behavioral markers. More sophisticated behavioral tasks (e.g., Criaud et al, 2016a, Criaud et al, 2016b, Criaud et al, 2017) combined with the use of movement analysis technologies (e.g., Dai et al, 2015; Salimi-Badr et al, 2017; Varriale et al, 2018) to detect and quantitate akinesia might prove useful to better isolate, and then image, the processes that are directly linked to movement initiation disorders. With these conditions in place, future studies will get more chances to extricate the complex interactions that form the neural and neurochemical bases of akinesia.…”

A Proposed Circuit Computation in Basal Ganglia: History‐Dependent Gain

“…If it is the case that STR activity can specifically regulate movement vigor, then activity should be a function of the phase of movement . To build an intuition for why this is so, imagine trying to push a child on a swing.…”

“…If it is the case that STR activity can specifically regulate movement vigor, then activity should be a function of the phase of movement. 65,66 To build an intuition for why this is so, imagine trying to push a child on a swing. If one wants to increase the amplitude of one's swing, it is critical not only to push, but to push at the appropriate phase of the swing to have the desired effect.…”