A spiking neural model of adaptive arm control
Abstract
We present a spiking neuron model of the motor cortices and cerebellum of the motor control system. The model consists of anatomically organized spiking neurons encompassing premotor, primary motor, and cerebellar cortices. The model proposes novel neural computations within these areas to control a nonlinear three-link arm model that can adapt to unknown changes in arm dynamics and kinematic structure. We demonstrate the mathematical stability of both forms of adaptation, suggesting that this is a robust approach for common biological problems of changing body size (e.g. during growth), and unexpected dynamic perturbations (e.g. when moving through different media, such as water or mud). To demonstrate the plausibility of the proposed neural mechanisms, we show that the model accounts for data across 19 studies of the motor control system. These data include a mix of behavioural and neural spiking activity, across subjects performing adaptive and static tasks. Given this proposed characterization of the biological processes involved in motor control of the arm, we provide several experimentally testable predictions that distinguish our model from previous work.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Nov 30, 2016
- Source ID
- 10.1098/rspb.2016.2134
Entities
People
- Chris Eliasmith
- Jean-jacques Slotine
- Terrence C. Stewart
- Travis DeWolf
Organizations
- Air Force Office of Scientific Research
- Canada Foundation for Innovation
- Canada Research Chair
- Defense Advanced Research Projects Agency
- Massachusetts Institute of Technology
- Natural Sciences and Engineering Research Council
- University of Waterloo