Sensory Feedback in the Control of Posture and Locomotion

Edwards, Donald H.; Prilutsky, Boris I.

doi:10.1002/9781118873397.ch9

Cited by 15 publications

(12 citation statements)

References 164 publications

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“…At the end of stance, the limb loading decreases and swing can be initiated. A second signal relates to hip angle [69]. At the end of stance, the hip extension is thought to assist the initiation of the swing phase using signals from the stretch of hip flexor muscles [70].…”

Section: Afferent Feedbackmentioning

confidence: 99%

“…The largest energy changes occurred in the lowering strategies because more strides and larger energy changes were needed to recover, suggesting a trade-off between stability and energy efficiency [283]. Elderly people may opt for stability as it was found that older adults (65)(66)(67)(68)(69)(70)(71)(72)(73)(74)(75) years) always adopted a lowering strategy when perturbed with a tripping stimulus in late or mid-swing (60-80%), while younger adults also adopted elevating strategies [284]. Simulations by these authors showed that, when perturbed later in swing, subjects needed a larger recovery step and higher recovery limb force for successful recovery.…”

Section: Suddenly Appearing Obstaclesmentioning

confidence: 99%

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Walking with perturbations: a guide for biped humans and robots

Duysens

Forner-Cordero

2018

Bioinspir. Biomim.

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This paper provides an update on the neural control of bipedal walking in relation to bioinspired models and robots. It is argued that most current models or robots are based on the construct of a symmetrical central pattern generator (CPG). However, new evidence suggests that CPG functioning is basically asymmetrical with its flexor half linked more tightly to the rhythm generator. The stability of bipedal gait, which is an important problem for robots and biological systems, is also addressed. While it is not possible to determine how biological biped systems guarantee stability, robot solutions can be useful to propose new hypotheses for biology. In the second part of this review, the focus is on gait perturbations, which is an important topic in robotics in view of the frequent falls of robots when faced with perturbations. From the human physiology it is known that the initial reaction often consists of a brief interruption followed by an adequate response. For instance, the successful recovery from a trip is achieved using some basic reactions (termed elevating and lowering strategies), that depend on the phase of the step cycle of the trip occurrence. Reactions to stepping unexpectedly in a hole depend on comparing expected and real feedback. Implementation of these ideas in models and robotics starts to emerge, with the most advanced robots being able to learn how to fall safely and how to deal with complicated disturbances such as provided by walking on a split-belt.

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Section: Afferent Feedbackmentioning

confidence: 99%

Section: Suddenly Appearing Obstaclesmentioning

confidence: 99%

Walking with perturbations: a guide for biped humans and robots

Duysens

Forner-Cordero

2018

Bioinspir. Biomim.

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“…Specifically, CPGs control the alternating activity in antagonistic motor neurons (for reviews see [ 27 – 30 ]). Sensory feedback from leg sense organs acts on CPGs, and thereby controls the relative phase and the magnitude of rhythmic locomotor neuron activity [ 31 ]. CPGs drive motor neurons that innervate leg muscles.…”

Section: Introductionmentioning

confidence: 99%

Calcium imaging of CPG-evoked activity in efferent neurons of the stick insect

et al. 2018

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The stick insect is a well-established experimental animal to study the neural basis of walking. Here, we introduce a preparation that allows combining calcium imaging in efferent neurons with electrophysiological recordings of motor neuron activity in the stick insect thoracic nerve cord. The intracellular free calcium concentration in middle leg retractor coxae motor neurons and modulatory octopaminergic DUM neurons was monitored after backfilling lateral nerve nl5 that contains the axons of these neurons with the calcium indicator Oregon Green BAPTA-1. Rhythmic spike activity in retractor and protractor motor neurons was evoked by pharmacological activation of central pattern generating neuronal networks and recorded extracellularly from lateral nerves. A primary goal of this study was to investigate whether changes in the intracellular free calcium concentration observed in motor neurons during oscillatory activity depend on action potentials. We show that rhythmic spike activity in leg motor neurons induced either pharmacologically or by tactile stimulation of the animal is accompanied by a synchronous modulation in the intracellular free calcium concentration. Calcium oscillations in motor neurons do not appear to depend on calcium influx through voltage-sensitive calcium channels that are gated by action potentials because Calcium oscillations persist after pharmacologically blocking action potentials in the motor neurons. Calcium oscillations were also apparent in the modulatory DUM neurons innervating the same leg muscle. However, the timing of calcium oscillations varied not only between DUM neurons and motor neurons, but also among different DUM neurons. Therefore, we conclude that the motor neurons and the different DUM neurons receive independent central drive.

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“…This context is highly variable, and originates from motor commands and other internal signals, as well as from the physical properties of the environment (Caggiano et al, 2018;Crapse and Sommer, 2008;Dickinson et al, 2000;Franklin and Wolpert, 2011;von Holst and Mittelstaedt, 1950;Sperry, 1950). Due to the variable nature of the context, locomotor performance is thought to depend on the interplay between self-generated sensory signals (sensory feedback), and motor-related internal information (Bässler and Büschges, 1998;Edwards and Prilutsky, 2017;Gordon et al, 2015;Tuthill and Azim, 2018). However, the general principles by which these multimodal and context-dependent interactions guide locomotion performance remain poorly understood.…”

Section: Introductionmentioning

confidence: 99%

Motor context coordinates visually guided walking inDrosophila

Cruz

Fujiwara

Varela

et al. 2019

Preprint

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Course control is critical for the acquisition of spatial information during exploration and navigation, and it is thought to rely on neural circuits that process locomotive-related multimodal signals. However, which circuits underlie this control, and how multimodal information contributes to the control system are questions poorly understood. We used Virtual Reality to examine the role of self-generated visual signals (visual feedback) on the control of exploratory walking in flies. Exploratory flies display two distinct motor contexts, characterized by low speed and fast rotations, or by high speed and slow rotations, respectively. Flies use visual feedback to control body rotations, but in a motor-context specific manner, primarily when walking at high speed.Different populations of visual motion-sensitive cells estimate body rotations via congruent, multimodal inputs, and drive compensatory rotations. However, their effective contribution to course control is dynamically tuned by a speed-related signal. Our data identifies visual networks with a multimodal circuit mechanism for adaptive course control and suggests models for how visual feedback is combined with internal signals to guide exploratory course control.

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Sensory Feedback in the Control of Posture and Locomotion

Cited by 15 publications

References 164 publications

Walking with perturbations: a guide for biped humans and robots

Walking with perturbations: a guide for biped humans and robots

Calcium imaging of CPG-evoked activity in efferent neurons of the stick insect

Motor context coordinates visually guided walking inDrosophila

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