kawato/Ppdf/Naist 2007.pdfMorimoto J, Endo G, Nakanishi J, Hyon SH, Cheng G: Modulation of simple...
Transcript of kawato/Ppdf/Naist 2007.pdfMorimoto J, Endo G, Nakanishi J, Hyon SH, Cheng G: Modulation of simple...
Discovery Channel
•
•
•
•
Schaal S, Sternad D, Osu R, Kawato M: Rhythmic arm movement is not discrete. Nature Neuroscience, 7, 1137-1144 (2004).Nakanishi J, Morimoto J, Endo G, Cheng G, Schaal S, Kawato M: Learning from demonstration and adaptation of biped locomotion,J. Robotics and Autonomous Systems, 47, 79-91 (2004).
Biped
Morimoto J, Endo G, Nakanishi J, Hyon SH, Cheng G: Modulation ofsimple sinusoidal patterns by a coupled oscillator model for bipedwalking. 2006 IEEE International Conference on Robotics andAutomation, ICRA-06, submitted (2005)
By ATR and SONY IDL Collaborative Research
•
•
•
•
•
•
•
•
•
Shibata, T. and Vijayakumar, S. and Conradt, J. and Schaal, S.: Biomimetic OculomotorControl. Adaptive Behavior, 9, 189-208 (2001).
DB 26 Arts
An ATR/SARCOS development with ICORP/JST funding
CB_CPG_WalkMonkey locomotion
Parallel Fiber and Climbing Fiber Inputs to
Purkinje Cells induce
Simple Spikes and Complex Spikes
A
Purkinje cellClimbing
fiber (CF)
Parallel fiber (PF)
Complex spike (CS)
Error signal
Inputsignal
Output signal Error signal
B
Complex spike (CS)
Error signal
Simple spike (SS)
Internal model output
1
2
1
2
1
2
1 = (M2L12
+ 2M2L1S2cos 2 + I1 + I2) ˙̇ 1
+ (M2 L1S2cos2 + I2 ) ˙̇ 2
M2 L1S2(2 ˙1 + ˙
2) ˙2sin 2 + B1
˙1
2 = (M2L1S2cos 2 + I2 ) ˙̇1 + I2˙̇
2
+ M2L1S2˙12sin 2 + B2
˙2
1
2
˙1
˙2
˙̇1
˙̇2
1
2
1
2
˙1
˙2
1
2
1
2
˙1
˙2
•
•
•
•
Jun Nakanishi, and Stefan Schaal Feedback error learning and nonlinear adaptive control.Neural Networks, 17, 1453-1451 (2004)
desired
E =12( desired ff )T ( desired ff )
d dt = ( ff )T( desired ff )
d dt = ( ff )Tfb
( desired ff )fb
desiredfb
y n xi i
y = i xin
C Cspont
d i dt = xi(C Cspont)
d i dt = ( ff i) fb
= ( ( y) i) fb
= xi (C Cspont)
(1)
(2)
(3)
(4)
SS t = win
t xi t
dwi t dt = xi t {CS t CSspont} wi t
wi t ~ xi t {CS t CSspont}
SS t = xi t {CS t CSspont}n
xi t
~ {CS t CSspont}
Purkinje Cell Activity of Awake Monkeys
during Eye Movement Tasks (OFR)
Eye movements are recorded by
implanted search coil.
Kenji Kawano, Munetaka Shidara,
Hiroaki Gomi, Yasushi Kobayashi,
Aya Takemura, Yuka Inoue
Ocular Following Responses: Reflex eye movement induced by
movement of large visual field
Simple and Complex Spikes of Purkinje Cells
in Monkeys during Ocular Following Responses
Kawano, Shidara, Gomi, Kobayashi, Takemura
-+
+
-
-
+
f t( ) = M ˙ ̇ t +( ) + B ˙ t +( ) + K t +( ) + fbias
A
B
C
F
G
H
Spi
kes/
s
D
Simple spikes (purple) are maximally induced by
ipsiversive or downward stimulus movement.
Complex spikes (blue) are opposite.
Comparing simple spike and complex spike, temporal
pattern is opposite, and firing rate is very different
(100 spikes/sec vs. 1 spike/sec)
Firing rate is related to magnitude of eye movement.
• Temporal profile of simple spike firing and complex spike firing for eachneuron is very similar (just opposite in sign and firing rate is different).
– Complex spike firing may be a template for simple spike firing.
– Simple spike of individual cell is prescribed by complex spike.
��
-+
+
-
-
+�
�
�
�
�
�
1. IDM representation
2. Mirror between CS and SS
3. Population coding to rate coding
4. Two opposite axes for CS and SS
5. Full learning simulation
��
Shidara M, Kawano K, Gomi H, Kawato M: Inverse-dynamics model eye movement control by Purkinjecells in the cerebellum. Nature, 365, 50-52 (1993).
Kawato M: Internal models for motor control andtrajectory planning. Current Opinion inNeurobiology, 9, 718-727 (1999).
E 2
E 3
I1
I 2
I 3V1
A1
V2
V3
A2
A3
10000
p 2+300 p +10000
36000p 2
+120 p + 90000
p
p2
r t( )v t( )
p
E1
e0.039 p SLV t( )
e 0.012 pt( )
Tracking arm
movement task
of monkeys
(7cm/sec)
Monkeys moved their
arms under 10 force
fields; 5 viscous and 5
elastic.
Movement kinematics
(position, velocity, etc)
were similar under 10
fields.
Movement
dynamics
(muscle
activities and
force) were
largely
different.
EMG activities of flexor carpi
radialis at each hand position
Simple spike activities
at each hand position
Simple
spike
activities
were very
similar.
Pasalar et al. Nature Neurosci. 2006)
Simple spike activities in cerebellar arm related area (lobule V-
VI) do not encode movement dynamics in slow tracking arm
movements (Pasalar et al., Nature Neuroscience, 2006)
Fast Arm Reaching
under Two Force Fields
flexion and extension of
elbow (max 80cm/sec)
After training
Biceps
muscle
Similar
kinematics
Largely different
dynamics
Triceps
muscle
Yamamoto K, Kawato M, Kotoaska S, Kitazawa S: Encoding of movement dynamics
by Purkinje cell simple spike activity during fast arm movements under resistive and
assistive force fields. Journal of Neurophysiology, 97 1588-1599 (2007)
-> Simple spike activities in 94 of 96 Purkinje cells
were significantly different between two fields.
Temporal firing
frequency of
simple spike
Mutual
information
6 Purkinje cells
Simple spikes: Different
Simple Spikes encode
Movement Dynamics
Simple Spikes
instantaneously switched
Monkeys switched muscle activities at
the first trials when force fields were
switched -> Monkeys should have
acquired internal models for the fields.
Monkeys switched simple spike activities
from the 1st trial after switching of force
fields.
•
•
•
•
Sarah-Jayne Blakemore,Daniel M.Wolpert and Christopher D. Frith Abnormalities in theawareness of action. Trends in Cognitive Sciences 6, 237-242, 2002
• •
1 = 6( )1 = 12( )1 = 12( )
11 1
2 2 2
-
-
-
--
-
1
2
3
4
1
2
3
4
ˆ 1
ˆ 2
ˆ 3
ˆ 4
VS
MST , ,
:MST 500ms
MST
•
•
•
•
•
•
•
•
•
•
p q
xy
p
q
x
y
120
=q
p
y
x
cossin
sincos
x
y
=
p
q
Imamizu H, Miyauchi S, Tamada T, Sasaki Y, Takino R, Puetz B, Yoshioka T, Kawato M: Human cerebellar activity reflecting an acquired internal model of a new tool. Nature 403 192-195(2000)
X (mm)
Y (mm)
Right
Left
Anterior
Posterior
Z (mm)
Superior
Inferior
Organization of 16 Daily Tools in
the Right Superior Cerebellum
16 tools and utensils:Chopsticks, saw, scissors,pencil, hammer, screw-driver,fork, spoon, tooth brush,brush, comb, cutting pliers,monkey wrench, wrench,knife and clip
MRI
Mirror
Medial lateral
Ant.
Pos.
•Averaged across 8 subjects with fixed effect
model p<0.05 corrected.
•The peaks are projected in a horizontal plane
Conditions
•Tool-use execution
•Hold the tool and look at the object
control
•Tool-use motor imagery
Higuchi et al. Cortex (2007)
Higuchi et al. Cortex (2007)
Language and Tool Internal Models in
Broca’s Area: Segregation and Overlap
• 28 healthy subjects ( 14males and 14 females)
• Conditions
– Tool-use execution – Hold the tool and look
at the object
control – Tool-use motor
imagery– Story listening– Reversed story
listening (control)
Typical subject
Random effect
analysis
Higuchi, Chaminade,
Imamizu, Kawato
(in preparation)
MT :
Newsome et al., (1988)
MST :
:
Kawano et al., (1994) Kawano et al., (1992)
MSTd:
•
•
•
•
•
A
B
C
FL
VN
FLVPFL
VN
MST
FLVPFL
VN
P
Vhead eye
P
head eye
vision
P
Vhead eye
P
Vhead eye
P
Vhead eye
vision
P
Vhead eye
vision MST
Vhead eye
P
Vhead eye
vision MSTMST
A B C D
E F G HH E H
G G
E
EEH H
G G
+ -
+
+
-
-
Figure 2
P
.
.
.
.
.
.
.
. .
.
.
.