A mathematical modeling study of inter-segmental coordination during stick insect walking
A mathematical modeling study of inter-segmental coordination during stick insect walking
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DOI：
10.1007/s10827-010-0254-3
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发表时间：
2011-04-01
影响因子：
1.2
通讯作者：
Daun-Gruhn, Silvia
中科院分区：
文献类型：
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作者：
Daun-Gruhn, Silvia
在竹节虫行走的生物力学条件下，需要一个建模的方法，该方法是基于控制对拮抗运动神经元（MN）池为每个腿关节由独立的中央模式发生器（CPG）。每个CPG控制一对拮抗MN池。此外，特定的感觉反馈信号在单腿运动的控制和腿间协调的产生或两个任务之间的相互作用中起着重要作用。然而，目前，没有数学模型存在，提供了一个理论的方法来理解在这样的多腿运动系统的协调运动的产生。在本研究中，我创建了这样一个理论模型的竹节虫步行系统，它描述了一个单一的向前步进中间腿的MN活动，并有助于解释的神经元机制的协调信息传递同侧腿之间。在这个模型中，属于同一条腿的CPG，以及属于不同腿的CPG，通过特定的感觉反馈通路连接起来，这些通路传递有关运动过程中产生的运动和力的信息。该模型强调了感觉反馈的重要性，中枢神经系统使用感觉反馈来增强三个胸髋关节CPG之间从前到后的弱兴奋性和抑制性突触连接。因此，感觉反馈激活尾部模式生成网络，并通过生成同相和异相的胸部MN活动来帮助协调腿部运动。
The biomechanical conditions for walking in the stick insect require a modeling approach that is based on the control of pairs of antagonistic motoneuron (MN) pools for each leg joint by independent central pattern generators (CPGs). Each CPG controls a pair of antagonistic MN pools. Furthermore, specific sensory feedback signals play an important role in the control of single leg movement and in the generation of inter-leg coordination or the interplay between both tasks. Currently, however, no mathematical model exists that provides a theoretical approach to understanding the generation of coordinated locomotion in such a multi-legged locomotor system. In the present study, I created such a theoretical model for the stick insect walking system, which describes the MN activity of a single forward stepping middle leg and helps to explain the neuronal mechanisms underlying coordinating information transfer between ipsilateral legs. In this model, CPGs that belong to the same leg, as well as those belonging to different legs, are connected by specific sensory feedback pathways that convey information about movements and forces generated during locomotion. The model emphasizes the importance of sensory feedback, which is used by the central nervous system to enhance weak excitatory and inhibitory synaptic connections from front to rear between the three thorax-coxa-joint CPGs. Thereby the sensory feedback activates caudal pattern generation networks and helps to coordinate leg movements by generating in-phase and out-of-phase thoracic MN activity.