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A Model of Predictive Postural Control Against Floor Tilting in Rats

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...

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Autores principales: Konosu, Akira, Funato, Tetsuro, Matsuki, Yuma, Fujita, Akihiro, Sakai, Ryutaro, Yanagihara, Dai
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8655307/
https://www.ncbi.nlm.nih.gov/pubmed/34899202
http://dx.doi.org/10.3389/fnsys.2021.785366
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author Konosu, Akira
Funato, Tetsuro
Matsuki, Yuma
Fujita, Akihiro
Sakai, Ryutaro
Yanagihara, Dai
author_facet Konosu, Akira
Funato, Tetsuro
Matsuki, Yuma
Fujita, Akihiro
Sakai, Ryutaro
Yanagihara, Dai
author_sort Konosu, Akira
collection PubMed
description 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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spelling pubmed-86553072021-12-10 A Model of Predictive Postural Control Against Floor Tilting in Rats Konosu, Akira Funato, Tetsuro Matsuki, Yuma Fujita, Akihiro Sakai, Ryutaro Yanagihara, Dai Front Syst Neurosci Neuroscience 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. Frontiers Media S.A. 2021-11-25 /pmc/articles/PMC8655307/ /pubmed/34899202 http://dx.doi.org/10.3389/fnsys.2021.785366 Text en Copyright © 2021 Konosu, Funato, Matsuki, Fujita, Sakai and Yanagihara. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Neuroscience
Konosu, Akira
Funato, Tetsuro
Matsuki, Yuma
Fujita, Akihiro
Sakai, Ryutaro
Yanagihara, Dai
A Model of Predictive Postural Control Against Floor Tilting in Rats
title A Model of Predictive Postural Control Against Floor Tilting in Rats
title_full A Model of Predictive Postural Control Against Floor Tilting in Rats
title_fullStr A Model of Predictive Postural Control Against Floor Tilting in Rats
title_full_unstemmed A Model of Predictive Postural Control Against Floor Tilting in Rats
title_short A Model of Predictive Postural Control Against Floor Tilting in Rats
title_sort model of predictive postural control against floor tilting in rats
topic Neuroscience
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8655307/
https://www.ncbi.nlm.nih.gov/pubmed/34899202
http://dx.doi.org/10.3389/fnsys.2021.785366
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