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Coupling the neural and physical dynamics in rhythmic movements

Hatsopoulos, Nicholas G. (1996) Coupling the neural and physical dynamics in rhythmic movements. Neural Computation, 8 (3). pp. 567-581. ISSN 0899-7667. doi:10.1162/neco.1996.8.3.567.

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A pair of coupled oscillators simulating a central pattern generator (CPG) interacting with a pendular limb were numerically integrated. The CPG was represented as a van der Pol oscillator and the pendular limb was modeled as a linearized, hybrid spring-pendulum system. The CPG oscillator drove the pendular limb while the pendular limb modulated the frequency of the CPG. Three results were observed. First, sensory feedback influenced the oscillation frequency of the coupled system. The oscillation frequency was lower in the absence of sensory feedback. Moreover, if the muscle gain was decreased, thereby decreasing the oscillation amplitude of the pendular limb and indirectly lowering the effect of sensory feedback, the oscillation frequency decreased monotonically. This is consistent with experimental data (Williamson and Roberts 1986). Second, the CPG output usually led the angular displacement of the pendular limb by a phase of 90° regardless of the length of the limb. Third, the frequency of the coupled system tuned itself to the resonant frequency of the pendular limb. Also, the frequency of the coupled system was highly resistant to changes in the endogenous frequency of the CPG. The results of these simulations support the view that motor behavior emerges from the interaction of the neural dynamics of the nervous system and the physical dynamics of the periphery.

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Additional Information:© 1996 Massachusetts Institute of Technology. Communicated by Nancy Kopell. Posted Online April 4, 2008. This research was partially funded by a grant from the Office of Naval Research to Gilles Laurent. I thank Micah Siegel and William H. Warren for their very helpful comments on this manuscript. Correspondence should be sent to Nicholas G. Hatsopoulos, Department of Neuroscience,Box 1953, Brown University, Providence, RI 02912.
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Office of Naval ResearchUNSPECIFIED
Subject Keywords:intersegmental dynamics; limb dynamics; locomotion; animals
Issue or Number:3
Record Number:CaltechAUTHORS:HATnc96
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:13482
Deposited By: Tony Diaz
Deposited On:17 Jun 2009 21:51
Last Modified:08 Nov 2021 22:38

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