Inverse control by mirroring joint dynamics within the olivo-cerebellar complex
Abstract/Contents
- Abstract
- In this dissertation, I revisit Kawato's proposal, that the cerebellum predictively modulates descending motor commands, to achieve smooth and coordinated motion, by acquiring an inverse model of the biomechanical plant, and extend it by describing a novel and precise mapping between a cerebellar multizonal microcomplex and a joint's inverse model. This mapping renders two novel predictions: First, inferior olive's oscillations mirror the biomechanical joint's oscillations. Second, deep cerebellar neurons implement a gain factor, set by Purkinje cell inhibition, on inferior olive's signals to mirror the spinal cord's gain. I use biophysical modeling to show that oscillations within the inferior olive match the range of natural frequencies and damping ratios of biophysical joints, and that deep cerebellar neurons enable a multiplicative interaction between the Purkinje and the olivary pathways. Furthermore, I determine the effects of current injection into the inferior olive and the deep cerebellar nuclei and use these results within a control theory model to predict that experimentally disturbing the inferior olive will introduce motor output ringing, while disturbing the deep nuclei will also scale motor output. In both cases, manipulating the inverse model implemented by microzonal microcomplex will unmask the joint's natural dynamics as observed by motor ringing at the joint's natural frequency.
Description
| Type of resource | text |
|---|---|
| Form | electronic; electronic resource; remote |
| Extent | 1 online resource. |
| Publication date | 2011 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Associated with | Alvarez Icaza Rivera, Rodrigo |
|---|---|
| Associated with | Stanford University, Department of Bioengineering. |
| Primary advisor | Boahen, Kwabena (Kwabena Adu) |
| Primary advisor | Schnitzer, Mark Jacob, 1970- |
| Thesis advisor | Boahen, Kwabena (Kwabena Adu) |
| Thesis advisor | Schnitzer, Mark Jacob, 1970- |
| Thesis advisor | Delp, Scott |
| Advisor | Delp, Scott |
Subjects
| Genre | Theses |
|---|
Bibliographic information
| Statement of responsibility | Rodrigo Alvarez-Icaza Rivera. |
|---|---|
| Note | Submitted to the Department of Bioengineering. |
| Thesis | Ph.D. Stanford University 2011 |
| Location | electronic resource |
Access conditions
- Copyright
- © 2011 by Rodrigo Alvarez Icaza Rivera
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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