Dataset Information

Cortical Spiking Network Interfaced with Virtual Musculoskeletal Arm and Robotic Arm.

ABSTRACT: Embedding computational models in the physical world is a critical step towards constraining their behavior and building practical applications. Here we aim to drive a realistic musculoskeletal arm model using a biomimetic cortical spiking model, and make a robot arm reproduce the same trajectories in real time. Our cortical model consisted of a 3-layered cortex, composed of several hundred spiking model-neurons, which display physiologically realistic dynamics. We interconnected the cortical model to a two-joint musculoskeletal model of a human arm, with realistic anatomical and biomechanical properties. The virtual arm received muscle excitations from the neuronal model, and fed back proprioceptive information, forming a closed-loop system. The cortical model was trained using spike timing-dependent reinforcement learning to drive the virtual arm in a 2D reaching task. Limb position was used to simultaneously control a robot arm using an improved network interface. Virtual arm muscle activations responded to motoneuron firing rates, with virtual arm muscles lengths encoded via population coding in the proprioceptive population. After training, the virtual arm performed reaching movements which were smoother and more realistic than those obtained using a simplistic arm model. This system provided access to both spiking network properties and to arm biophysical properties, including muscle forces. The use of a musculoskeletal virtual arm and the improved control system allowed the robot arm to perform movements which were smoother than those reported in our previous paper using a simplistic arm. This work provides a novel approach consisting of bidirectionally connecting a cortical model to a realistic virtual arm, and using the system output to drive a robotic arm in real time. Our techniques are applicable to the future development of brain neuroprosthetic control systems, and may enable enhanced brain-machine interfaces with the possibility for finer control of limb prosthetics.

SUBMITTER: Dura-Bernal S

PROVIDER: S-EPMC4658435 | biostudies-literature | 2015

REPOSITORIES: biostudies-literature

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Cortical Spiking Network Interfaced with Virtual Musculoskeletal Arm and Robotic Arm.

Dura-Bernal Salvador S Zhou Xianlian X Neymotin Samuel A SA Przekwas Andrzej A Francis Joseph T JT Lytton William W WW

Frontiers in neurorobotics 20151125

Embedding computational models in the physical world is a critical step towards constraining their behavior and building practical applications. Here we aim to drive a realistic musculoskeletal arm model using a biomimetic cortical spiking model, and make a robot arm reproduce the same trajectories in real time. Our cortical model consisted of a 3-layered cortex, composed of several hundred spiking model-neurons, which display physiologically realistic dynamics. We interconnected the cortical mo ...[more]

PMID: 26635598

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Project description:Spiking neural networks were introduced to understand spatiotemporal information processing in neurons and have found their application in pattern encoding, data discrimination, and classification. Bioinspired network architectures are considered for event-driven tasks, and scientists have looked at different theories based on the architecture and functioning. Motor tasks, for example, have networks inspired by cerebellar architecture where the granular layer recodes sparse representations of the mossy fiber (MF) inputs and has more roles in motor learning. Using abstractions from cerebellar connections and learning rules of deep learning network (DLN), patterns were discriminated within datasets, and the same algorithm was used for trajectory optimization. In the current work, a cerebellum-inspired spiking neural network with dynamics of cerebellar neurons and learning mechanisms attributed to the granular layer, Purkinje cell (PC) layer, and cerebellar nuclei interconnected by excitatory and inhibitory synapses was implemented. The model's pattern discrimination capability was tested for two tasks on standard machine learning (ML) datasets and on following a trajectory of a low-cost sensor-free robotic articulator. Tuned for supervised learning, the pattern classification capability of the cerebellum-inspired network algorithm has produced more generalized models than data-specific precision models on smaller training datasets. The model showed an accuracy of 72%, which was comparable to standard ML algorithms, such as MLP (78%), Dl4jMlpClassifier (64%), RBFNetwork (71.4%), and libSVM-linear (85.7%). The cerebellar model increased the network's capability and decreased storage, augmenting faster computations. Additionally, the network model could also implicitly reconstruct the trajectory of a 6-degree of freedom (DOF) robotic arm with a low error rate by reconstructing the kinematic parameters. The variability between the actual and predicted trajectory points was noted to be ± 3 cm (while moving to a position in a cuboid space of 25 × 30 × 40 cm). Although a few known learning rules were implemented among known types of plasticity in the cerebellum, the network model showed a generalized processing capability for a range of signals, modulating the data through the interconnected neural populations. In addition to potential use on sensor-free or feed-forward based controllers for robotic arms and as a generalized pattern classification algorithm, this model adds implications to motor learning theory.

Project description:Directed random graph models frequently are used successfully in modeling the population dynamics of networks of cortical neurons connected by chemical synapses. Experimental results consistently reveal that neuronal network topology is complex, however, in the sense that it differs statistically from a random network, and differs for classes of neurons that are physiologically different. This suggests that complex network models whose subnetworks have distinct topological structure may be a useful, and more biologically realistic, alternative to random networks. Here we demonstrate that the balanced excitation and inhibition frequently observed in small cortical regions can transiently disappear in otherwise standard neuronal-scale models of fluctuation-driven dynamics, solely because the random network topology was replaced by a complex clustered one, whilst not changing the in-degree of any neurons. In this network, a small subset of cells whose inhibition comes only from outside their local cluster are the cause of bistable population dynamics, where different clusters of these cells irregularly switch back and forth from a sparsely firing state to a highly active state. Transitions to the highly active state occur when a cluster of these cells spikes sufficiently often to cause strong unbalanced positive feedback to each other. Transitions back to the sparsely firing state rely on occasional large fluctuations in the amount of non-local inhibition received. Neurons in the model are homogeneous in their intrinsic dynamics and in-degrees, but differ in the abundance of various directed feedback motifs in which they participate. Our findings suggest that (i) models and simulations should take into account complex structure that varies for neuron and synapse classes; (ii) differences in the dynamics of neurons with similar intrinsic properties may be caused by their membership in distinctive local networks; (iii) it is important to identify neurons that share physiological properties and location, but differ in their connectivity.

Dataset Information

Cortical Spiking Network Interfaced with Virtual Musculoskeletal Arm and Robotic Arm.

Publications

Cortical Spiking Network Interfaced with Virtual Musculoskeletal Arm and Robotic Arm.

Similar Datasets

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