Generation Of Rhythmic Patterns Research Articles

A Digital Emulator Design for the Swimming Rhythmic Pattern Generator of a Lamprey

A Digital Emulator Design for the Swimming Rhythmic Pattern Generator of a Lamprey

Zero-shot model-free learning of periodic movements for a bio-inspired soft-robotic arm

In recent years, soft robots gain increasing attention as a result of their compliance when operating in unstructured environments, and their flexibility that ensures safety when interacting with humans. However, challenges lie on the difficulty to develop control algorithms due to various limitations induced by their soft structure. In this paper, we introduce a novel technique that aims to perform motion control of a modular bio-inspired soft-robotic arm, with the main focus lying on facilitating the qualitative reproduction of well-specified periodic trajectories. The introduced method combines the notion behind two previously developed methodologies both based on the Movement Primitive (MP) theory, by exploiting their capabilities while coping with their main drawbacks. Concretely, the requested actuation is initially computed using a Probabilistic MP (ProMP)-based method that considers the trajectory as a combination of simple movements previously learned and stored as a MP library. Subsequently, the key components of the resulting actuation are extracted and filtered in the frequency domain. These are eventually used as input to a Central Pattern Generator (CPG)-based model that takes over the generation of rhythmic patterns at the motor level. The proposed methodology is evaluated on a two-module soft arm. Results show that the first algorithmic component (ProMP) provides an immediate estimation of the requested actuation by avoiding time-consuming training, while the latter (CPG) further simplifies the execution by allowing its control through a low-dimensional parameterization. Altogether, these results open new avenues for the rapid acquisition of periodic movements in soft robots, and their compression into CPG parameters for long-term storage and execution.

Role of Cervical Spinal Magnetic Stimulation in Improving Posture and Functional Ambulation of Patients with Relapsing Remitting Multiple Sclerosis

Balance impairment is one of the hallmarks of early MS. Proprioceptive deficit was found to be one of the main causes of this imbalance. The cervical enlargement has a strong proprioceptive system, with its projections to the reticular formation and the central pattern generators, helping in rhythmic pattern generation and alternate leg movements. Repetitive trans-spinal magnetic stimulation (rTSMS) is a noninvasive technique, which can trigger massive proprioceptive afferents. Therefore, it has the potential of improving proprioceptive deficits and motor control. Objective. To determine the effectiveness of repetitive cervical magnetic stimulation in improving functional ambulation of patients with relapsing remitting multiple sclerosis (RRMS). Design. Prospective sequential clinical trial. Setting. University and academic hospital. Participants. A total of 32 participants (N = 32) with RRMS. Interventions. Outpatient rehabilitation. The 32 patients received 10 sessions over two weeks of 20 Hz cervical spinal magnetic stimulation (SMS). Both groups were assessed at baseline, after 2 weeks, then one month later. Patients were enrolled as a control group at first and received Sham SMS, and then a wash out period of one month was done for all the patients, followed by a baseline assessment. Second, the same 32 patients rejoined as the active group, which received real magnetic stimulation. Both groups performed an intensive physical therapy program with the spinal magnetic stimulation. Main Outcome Measures. Extended Disability status score (EDSS), Timed up and Go test (TUG), Mini-Best test, dynamic posturography sensory organization composite score, and motor composite score. Results. Thirty-two RRMS patients with EDSS range from 1.5 to 6. They showed statistically significant difference between active and control groups in Mini-Best test score. We divided our patients according to EDSS into 3 subgroups: (a) mild: ≤2.5, (b) moderate: 3-5.5, and (c) severe: ≥6. Mild cases showed significant differences in EDSS score, TUG test, Mini-Best test, and dynamic posturography sensory composite scale. The effect size between the different patient subgroups was also measured and showed highly significant improvements in all measured parameters among our mild patients, indicating that this subgroup could be the best responders to cervical repetitive high-frequency magnetic stimulation. Moderate cases showed highly significant improvement in TUG score and Mini-Best test and significant change in EDSS score and the dynamic posturography sensory composite score. Severe cases showed only significant improvements in TUG, Mini-Best test, and sensory composite score. Conclusion. Cervical repetitive magnetic stimulation can help improve balance and functional ambulation and decreases the risk of falls in RRMS patients, especially in the mild, low disability cases.

A Neuromechanical Model of Multiple Network Rhythmic Pattern Generators for Forward Locomotion in C. elegans.

Multiple mechanisms contribute to the generation, propagation, and coordination of the rhythmic patterns necessary for locomotion in Caenorhabditis elegans. Current experiments have focused on two possibilities: pacemaker neurons and stretch-receptor feedback. Here, we focus on whether it is possible that a chain of multiple network rhythmic pattern generators in the ventral nerve cord also contribute to locomotion. We use a simulation model to search for parameters of the anatomically constrained ventral nerve cord circuit that, when embodied and situated, can drive forward locomotion on agar, in the absence of pacemaker neurons or stretch-receptor feedback. Systematic exploration of the space of possible solutions reveals that there are multiple configurations that result in locomotion that is consistent with certain aspects of the kinematics of worm locomotion on agar. Analysis of the best solutions reveals that gap junctions between different classes of motorneurons in the ventral nerve cord can play key roles in coordinating the multiple rhythmic pattern generators.

Speech rhythm as naturally occurring and culturally transmitted behavioral patterns

Rhythm is fundamental to every motor activity. Neural and physiological mechanisms that underlie rhythmic cognition, in general, and rhythmic pattern generation, in particular, are evolutionarily ancient. As speech production is a kind of motor activity, investigating speech rhythm can provide insight into how general motor patterns have been adapted for more specific use in articulation and speech production. Studies on speech rhythm may further provide insight into the development of speech capacity in humans. As speech capacity is putatively a prerequisite for developing a language faculty, studies on speech rhythm may cast some light on the mystery of language evolution in the human genus. Hereby, we propose an approach to exploring speech rhythm as a window on speech emergence in ontogenesis and phylogenesis, as well as on diachronic linguistic changes.

Programmable coupled oscillators for synchronized locomotion

The striking similarity between biological locomotion gaits and the evolution of phase patterns in coupled oscillatory network can be traced to the role of central pattern generator located in the spinal cord. Bio-inspired robotics aim at harnessing this control approach for generation of rhythmic patterns for synchronized limb movement. Here, we utilize the phenomenon of synchronization and emergent spatiotemporal pattern from the interaction among coupled oscillators to generate a range of locomotion gait patterns. We experimentally demonstrate a central pattern generator network using capacitively coupled Vanadium Dioxide nano-oscillators. The coupled oscillators exhibit stable limit-cycle oscillations and tunable natural frequencies for real-time programmability of phase-pattern. The ultra-compact 1 Transistor-1 Resistor implementation of oscillator and bidirectional capacitive coupling allow small footprint area and low operating power. Compared to biomimetic CMOS based neuron and synapse models, our design simplifies on-chip implementation and real-time tunability by reducing the number of control parameters.

Synchronization dynamics of mobile oscillators in the presence of coupling delays.

Individual biological oscillators can synchronize to generate a collective rhythm. During vertebrate development, mobile cells exchange signals to synchronize a rhythmic pattern generator that makes the embryonic segments. Previous theoretical works have shown that cell mobility can enhance synchronization of coupled oscillators when signal exchange is instantaneous. However, in vertebrate segmentation, the exchange of signals is thought to comprise delays from signal sending and processing, which could alter the effect of mobility on synchronization. Here, we study synchronization dynamics of mobile phase oscillators in the presence of coupling delays. We find that mobility can speed up synchronization when coupling delays are present. We derive an analytical expression for the characteristic time of synchronization dynamics, which is in very good agreement with numerical simulations. This analytical expression suggests a subdivision of the mobility range into different dynamical regimes and reveals that, with delayed coupling, synchronization is enhanced at a lower mobility rate than with instantaneous coupling. We argue that these results may be relevant to the synchronization of mobile oscillators in vertebrate segmentation.

Feedback Signal from Motoneurons Influences a Rhythmic Pattern Generator.

Motoneurons are not mere output units of neuronal circuits that control motor behavior but participate in pattern generation. Research on the circuit that controls the crawling motor behavior in leeches indicated that motoneurons participate as modulators of this rhythmic motor pattern. Crawling results from successive bouts of elongation and contraction of the whole leech body. In the isolated segmental ganglia, dopamine can induce a rhythmic antiphasic activity of the motoneurons that control contraction (DE-3 motoneurons) and elongation (CV motoneurons). The study was performed in isolated ganglia where manipulation of the activity of specific motoneurons was performed in the course of fictive crawling (crawling). In this study, the membrane potential of CV was manipulated while crawling was monitored through the rhythmic activity of DE-3. Matching behavioral observations that show that elongation dominates the rhythmic pattern, the electrophysiological activity of CV motoneurons dominates the cycle. Brief excitation of CV motoneurons during crawling episodes resets the rhythmic activity of DE-3, indicating that CV feeds back to the rhythmic pattern generator. CV hyperpolarization accelerated the rhythm to an extent that depended on the magnitude of the cycle period, suggesting that CV exerted a positive feedback on the unit(s) of the pattern generator that controls the elongation phase. A simple computational model was implemented to test the consequences of such feedback. The simulations indicate that the duty cycle of CV depended on the strength of the positive feedback between CV and the pattern generator circuit.SIGNIFICANCE STATEMENT Rhythmic movements of animals are controlled by neuronal networks that have been conceived as hierarchical structures. At the basis of this hierarchy, we find the motoneurons, few neurons at the top control global aspects of the behavior (e.g., onset, duration); and within these two ends, specific neuronal circuits control the actual rhythmic pattern of movements. We have investigated whether motoneurons are limited to function as output units. Analysis of the network that controls crawling behavior in the leech has clearly indicated that motoneurons, in addition to controlling muscle activity, send signals to the pattern generator. Physiological and modeling studies on the role of specific motoneurons suggest that these feedback signals modulate the phase relationship of the rhythmic activity.

Model of rhythmic ball bouncing using a visually controlled neural oscillator.

The present paper investigates the sensory-driven modulations of central pattern generator dynamics that can be expected to reproduce human behavior during rhythmic hybrid tasks. We propose a theoretical model of human sensorimotor behavior able to account for the observed data from the ball-bouncing task. The novel control architecture is composed of a Matsuoka neural oscillator coupled with the environment through visual sensory feedback. The architecture's ability to reproduce human-like performance during the ball-bouncing task in the presence of perturbations is quantified by comparison of simulated and recorded trials. The results suggest that human visual control of the task is achieved online. The adaptive behavior is made possible by a parametric and state control of the limit cycle emerging from the interaction of the rhythmic pattern generator, the musculoskeletal system, and the environment.NEW & NOTEWORTHY The study demonstrates that a behavioral model based on a neural oscillator controlled by visual information is able to accurately reproduce human modulations in a motor action with respect to sensory information during the rhythmic ball-bouncing task. The model attractor dynamics emerging from the interaction between the neuromusculoskeletal system and the environment met task requirements, environmental constraints, and human behavioral choices without relying on movement planning and explicit internal models of the environment.

Making the clock tick: the transcriptional landscape of the plant circadian clock

Circadian clocks are molecular timekeepers that synchronise internal physiological processes with the external environment by integrating light and temperature stimuli. As in other eukaryotic organisms, circadian rhythms in plants are largely generated by an array of nuclear transcriptional regulators and associated co-regulators that are arranged into a series of interconnected molecular loops. These transcriptional regulators recruit chromatin-modifying enzymes that adjust the structure of the nucleosome to promote or inhibit DNA accessibility and thus guide transcription rates. In this review, we discuss the recent advances made in understanding the architecture of the Arabidopsis oscillator and the chromatin dynamics that regulate the generation of rhythmic patterns of gene expression within the circadian clock.

A model of the enteric neural circuitry underlying the generation of rhythmic motor patterns in the colon: the role of serotonin.

We discuss the role of multiple cell types involved in rhythmic motor patterns in the large intestine that include tonic inhibition of the muscle layers interrupted by rhythmic colonic migrating motor complexes (CMMCs) and secretomotor activity. We propose a model that assumes these motor patterns are dependent on myenteric descending 5-hydroxytryptamine (5-HT, serotonin) interneurons. Asynchronous firing in 5-HT neurons excite inhibitory motor neurons (IMNs) to generate tonic inhibition occurring between CMMCs. IMNs release mainly nitric oxide (NO) to inhibit the muscle, intrinsic primary afferent neurons (IPANs), glial cells, and pacemaker myenteric pacemaker interstitial cells of Cajal (ICC-MY). Mucosal release of 5-HT from enterochromaffin (EC) cells excites the mucosal endings of IPANs that synapse with 5-HT descending interneurons and perhaps ascending interneurons, thereby coupling EC cell 5-HT to myenteric 5-HT neurons, synchronizing their activity. Synchronized 5-HT neurons generate a slow excitatory postsynaptic potential in IPANs via 5-HT7 receptors and excite glial cells and ascending excitatory nerve pathways that are normally inhibited by NO. Excited glial cells release prostaglandins to inhibit IMNs (disinhibition) to allow full excitation of ICC-MY and muscle by excitatory motor neurons (EMNs). EMNs release ACh and tachykinins to excite pacemaker ICC-MY and muscle, leading to the simultaneous contraction of both the longitudinal and circular muscle layers. Myenteric 5-HT neurons also project to the submucous plexus to couple motility with secretion, especially during a CMMC. Glial cells are necessary for switching between different colonic motor behaviors. This model emphasizes the importance of myenteric 5-HT neurons and the likely consequence of their coupling and uncoupling to mucosal 5-HT by IPANs during colonic motor behaviors.

Speech rhythm in Kannada speaking adults who stutter

Purpose: A longstanding hypothesis about the underlying mechanisms of stuttering suggests that speech disfluencies may be associated with problems in timing and temporal patterning of speech events.Method: Fifteen adults who do and do not stutter read five sentences, and from these, the vocalic and consonantal durations were measured. Using these, pairwise variability index (raw PVI for consonantal intervals and normalised PVI for vocalic intervals) and interval based rhythm metrics (PercV, DeltaC, DeltaV, VarcoC and VarcoV) were calculated for all the participants.Result: Findings suggested higher mean values in adults who stutter when compared to adults who do not stutter for all the rhythm metrics except for VarcoV. Further, statistically significant difference between the two groups was found for all the rhythm metrics except for VarcoV.Conclusion: Combining the present results with consistent prior findings based on rhythm deficits in children and adults who stutter, there appears to be strong empirical support for the hypothesis that individuals who stutter may have deficits in generation of rhythmic speech patterns.

Physiology in Perspective: The Air We Breathe: Providing O2 for Survival.

As early as the 2nd century BCE, experiments showed that a component of air was necessary for combustion. Later, it was shown that this same component of air was also necessary for life in vertebrate organisms. In the mid 1770s, oxygen was discovered independently by two scientists: the Swedish

Mechanisms of Sensory Feedback and Interactions with Neuromodulators in a Rhythmic Pattern Generator

Mechanisms of Sensory Feedback and Interactions with Neuromodulators in a Rhythmic Pattern Generator

Modular Deconstruction Reveals the Dynamical and Physical Building Blocks of a Locomotion Motor Program

The neural substrates of motor programs are only well understood for small, dedicated circuits. Here we investigate how a motor program is constructed within a large network. We imaged populations of neurons in the Aplysia pedal ganglion during execution of a locomotion motor program. We found that the program was built from a very small number of dynamical building blocks, including both neural ensembles and low-dimensional rotational dynamics. These map onto physically discrete regions of the ganglion, so that the motor program has a corresponding modular organization in both dynamical and physical space. Using this dynamic map, we identify the population potentially implementing the rhythmic pattern generator and find that its activity physically traces a looped trajectory, recapitulating its low-dimensional rotational dynamics. Our results suggest that, even in simple invertebrates, neural motor programs are implemented by large, distributed networks containing multiple dynamical systems.

Sources and range of long-term variability of rhythmic motor patterns in vivo.

The mechanisms of rhythmic motor pattern generation have been studied in detail in vitro, but the long-term stability and sources of variability in vivo are often not well described. The crab stomatogastric ganglion contains the well-characterized gastric mill (chewing) and pyloric (filtering of food) central pattern generators. In vitro, the pyloric rhythm is stereotyped with little variation, but inter-circuit interactions and neuromodulation can alter both rhythm cycle frequency and structure. The range of variation of activity in vivo is, with few exceptions, unknown. Curiously, although the pattern-generating circuits in vivo are constantly exposed to hormonal and neural modulation, the majority of published data show only the unperturbed canonical motor patterns typically observed in vitro. Using long-term extracellular recordings (N=27 animals), we identified the range and sources of variability of the pyloric and gastric mill rhythms recorded continuously over 4 days in freely behaving Jonah crabs (Cancer borealis). Although there was no evidence of innate daily rhythmicity, a 12 h light-driven cycle did manifest. The frequency of both rhythms increased modestly, albeit consistently, during the 3 h before and 3 h after the lights changed. This cycle was occluded by sensory stimulation (feeding), which significantly influenced both pyloric cycle frequency and structure. This was the only instance where the structure of the rhythm changed. In unfed animals the structure remained stable, even when the frequency varied substantially. So, although central pattern generating circuits are capable of producing many patterns, in vivo outputs typically remain stable in the absence of sensory stimulation.

Genetic Determinants of Rhythmic Movements Motor Pattern Generation in Drosophila Melanogaster

Our previous studies of the molecular and cellular mechanisms underlying the generation of rhythmic movements motor patterns were based on use of a selection of candidate genes in which mutations cause impairments to the motor activity of Drosophila melanogaster. We report here testing of the locomotor behavior of Drosophila strains with decreases in the expression of 12 candidate genes in the nervous system. Target genes were suppressed by synthesizing interfering RNA using the GAL4/UAS system under the control of the elav, nrv2, appl, and tsh gene promoters (drivers). These experiments showed that RNA interference of virtually all the candidate genes was accompanied by changes in one or more locomotor parameters. The nature of the abnormalities occurring under the control the various drivers allowed us to identify those genes whose activity in nervous system cells is required for the normal functioning of the central motor pattern generator for locomotor acts.

Self-Organizing Map With Time-Varying Structure to Plan and Control Artificial Locomotion.

This paper presents an algorithm, self-organizing map-state trajectory generator (SOM-STG), to plan and control legged robot locomotion. The SOM-STG is based on an SOM with a time-varying structure characterized by constructing autonomously close-state trajectories from an arbitrary number of robot postures. Each trajectory represents a cyclical movement of the limbs of an animal. The SOM-STG was designed to possess important features of a central pattern generator, such as rhythmic pattern generation, synchronization between limbs, and swapping between gaits following a single command. The acquisition of data for SOM-STG is based on learning by demonstration in which the data are obtained from different demonstrator agents. The SOM-STG can construct one or more gaits for a simulated robot with six legs, can control the robot with any of the gaits learned, and can smoothly swap gaits. In addition, SOM-STG can learn to construct a state trajectory form observing an animal in locomotion. In this paper, a dog is the demonstrator agent.

Mechanisms of rhythm generation of the human lumbar spinal cord in response to tonic stimulation without and with step-related sensory feedback

Independent studies have shown that the human lumbar spinal networks below a complete spinal cord injury can produce rhythmic motor outputs in response to step- related sensory feedback or sustained electrical spinal cord stimulation (SCS). Here we present our current studies ap- plying lumbar SCS in motor-complete spinal cord injured (SCI) individuals in the supine and supported standing posi- tion, and during assisted treadmill stepping, to explore the mechanisms of spinal rhythm generation. SCS could pro- duce rhythmic EMG activities without step-related sensory feedback; in each case, all muscles were active with a com- mon rhythm frequency. During SCS and passive treadmill stepping, muscle activities were normally synchronized to the imposed step frequency, but activities with an independ- ent rhythm frequency were generated as well. The results suggest rhythmic reflex actions and central spinal generation as two different causes of rhythm generation. Here, we present our current studies that explore the roles of sustained inputs and step-related sensory feedback to the human lumbosacral spinal cord in the generation of rhythmic motor patterns. We applied epidural or transcu- taneous lumbar SCS in motor-complete SCI individuals in the supine position (preventing hip extension and axial limb load that are otherwise critical for rhythm genera- tion), in a supported standing positions with the lower limbs being 'mechanically immobilized' (preventing movements at hip and knee), and during assisted and body-weight supported (BWS) treadmill stepping. Based on their characteristically different signal profiles, the hypothesis was that the non-patterned and patterned inputs to the spinal cord neural networks would reveal different mechanisms of rhythm generation. Methods

Central Pattern Generator for Locomotion: Anatomical, Physiological, and Pathophysiological Considerations

This article provides a perspective on major innovations over the past century in research on the spinal cord and, specifically, on specialized spinal circuits involved in the control of rhythmic locomotor pattern generation and modulation. Pioneers such as Charles Sherrington and Thomas Graham Brown have conducted experiments in the early twentieth century that changed our views of the neural control of locomotion. Their seminal work supported subsequently by several decades of evidence has led to the conclusion that walking, flying, and swimming are largely controlled by a network of spinal neurons generally referred to as the central pattern generator (CPG) for locomotion. It has been subsequently demonstrated across all vertebrate species examined, from lampreys to humans, that this CPG is capable, under some conditions, to self-produce, even in absence of descending or peripheral inputs, basic rhythmic, and coordinated locomotor movements. Recent evidence suggests, in turn, that plasticity changes of some CPG elements may contribute to the development of specific pathophysiological conditions associated with impaired locomotion or spontaneous locomotor-like movements. This article constitutes a comprehensive review summarizing key findings on the CPG as well as on its potential role in Restless Leg Syndrome, Periodic Leg Movement, and Alternating Leg Muscle Activation. Special attention will be paid to the role of the CPG in a recently identified, and uniquely different neurological disorder, called the Uner Tan Syndrome.