A Model of Predictive Postural Control Against Floor Tilting in Rats.
A Model of Predictive Postural Control Against Floor Tilting in Rats.
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DOI：
10.3389/fnsys.2021.785366
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发表时间：
2021
影响因子：
3
通讯作者：
Yanagihara D
中科院分区：
文献类型：
--
作者：
Konosu A;Funato T;Matsuki Y;Fujita A;Sakai R;Yanagihara D
人类和动物从他们的经验中学习身体和环境的内部模型，并根据内部模型基于预测的未来状态来稳定姿态以对抗干扰。我们评估的机制，预测控制在站立，通过使用大鼠构建一个新的实验系统，并比较他们的行为与数学模型。在实验中，用后肢直立的大鼠（n = 6）被给予光的感觉输入，一段时间后，它们下面的地板向后倾斜。最初，这种干扰引起了大的姿势反应，包括向后旋转的质心角和后肢节段。然而，大鼠在经历了70次连续试验后逐渐适应了干扰，并注意到姿势反应的幅度降低。我们使用倒立摆模型和模型预测控制（MPC）来模拟大鼠在扰动下的姿势控制。MPC是使用控制对象的内部模型来预测未来状态的控制方法。它提供优化预测的未来状态的控制输入。预测和生理参数的识别使得模拟对应于实验，导致预测范围值（0.96 s）接近实验中的间隔时间（0.9-1.15 s）。这些结果表明，大鼠预测姿势动力学干扰的基础上的感觉输入的时间和中枢神经系统提供可塑性机制，以获得MPC的内部模型。
Humans and animals learn the internal model of bodies and environments from their experience and stabilize posture against disturbances based on the predicted future states according to the internal model. We evaluated the mechanism of predictive control during standing, by using rats to construct a novel experimental system and comparing their behaviors with a mathematical model. In the experiments, rats (n = 6) that were standing upright using their hindlimbs were given a sensory input of light, after a certain period, the floor under them tilted backward. Initially, this disturbance induced a large postural response, including backward rotation of the center-of-mass angle and hindlimb segments. However, the rats gradually adjusted to the disturbance after experiencing 70 sequential trials, and a reduction in the amplitude of postural response was noted. We simulated the postural control of the rats under disturbance using an inverted pendulum model and model predictive control (MPC). MPC is a control method for predicting the future state using an internal model of the control target. It provides control inputs that optimize the predicted future states. Identification of the predictive and physiological parameters so that the simulation corresponds to the experiment, resulted in a value of predictive horizon (0.96 s) close to the interval time in the experiment (0.9–1.15 s). These results suggest that the rats predict posture dynamics under disturbance based on the timing of the sensory input and that the central nervous system provides plasticity mechanisms to acquire the internal model for MPC.
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影响因子：
1.9
作者：
Gawthrop, Peter;Loram, Ian;Gollee, Henrik;Lakie, Martin
通讯作者：
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影响因子：
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