Modeling The Spino- Neuromuscular System Terence Soule, Stanley Gotshall, Richard Wells, Mark...
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Transcript of Modeling The Spino- Neuromuscular System Terence Soule, Stanley Gotshall, Richard Wells, Mark...
Modeling The Spino-Neuromuscular System
Terence Soule, Stanley Gotshall, Richard Wells, Mark DeSantis, Kathy Browder, Eric Wolbrecht
Goals/Motivation
• Build a biologically accurate model of (a small piece of) the spino-neuromuscular system
• Biological modeling– Hypothesis Testing– Injury modeling
• Better Robots
Physical Model
Biceps equivalent
Gravitational force
Biceps’ applied force
Triceps equivalent
Triceps’ applied force
Neural Model High Level
Neural Networks (12 total)
I
User controlled input
Renshaw Inhibition Muscle
Fibers (6 per muscle)
Neural Model Detailed
52 Synaptic Connections x 6 Motor Units Per Muscle x 2 Muscles = 624 Synapses!
Some Feedback Loops
GammaMN
Alpha-MN
RenshawCell
Intrafusal Fibers
Extrafusal Fibers
1aAfferent
Neurons• Neurons are ‘pulse coded’
Time
Neu
ron
Pote
ntial
Threshold
Input Signals
Neuron Fires
Refractory period
Goal: Desired Behavior
0
1
2
3
0 200 400 600 800 1000 1200Time Step
Jo
int
An
gle
(R
ad
ian
s)
Trained
Target
(1:2)
(1:3)
(0)
Inputs??
• What input do you use to tell the arm to move up? Down? Move fast? Hold still?
• Encoding problem• Arbitrary solution:
– Up -> high frequency input ~60 Hertz– Down -> lower frequency input ~30 Hertz
Problem
• Anatomy/network is ‘known’–Reflex pathways –Neuron types–Inhibitory/excitatory connections
• Strength of connections is unknown
Representation of Connections
Array of connection strengths & muscle fiber strengths:0.23 | 1.43 | 2.3 | … | 0.21 631 Total Values
Need to find a set of values that allows the model to behave properly.
Inter-relation between values is very complex, i.e. non-linear.
Evolutionary TrainingNeed to adjust the strengths of inter-neuron connections & muscle fiber strengths & …
Population New Population
Selection by fitness
Crossover and
Mutation
Insert
When the new population is full, evaluate the individuals and repeat
(potential) solutions w/ fitnesses
Fitness
• Root mean squared error• Square root of the sum of the squared errors
between actual and target motion at a series of points along the desired trajectory.
Crossover and Mutation
0.23 | 1.43 | 2.3 | 0.32 | 1.3 | … | 0.210.43 | 0.14 | 2.3 | 1.67 | 1.5 | … | 1.320.23 | 1.43 | 2.3 | 1.67 | 1.3 | … | 1.320.43 | 0.19 | 2.3 | 0.32 | 1.5 | … | 0.21
Crossover
Mutation
New solutions (offspring) based on ‘parent’ solutions.
Results - Behavior
0
1
2
3
0 200 400 600 800 1000 1200Time Step
Jo
int
An
gle
(R
ad
ian
s)
Trained
Target
(1:2)
(1:3)
(0)
Results - Training
-300
-250
-200
-150
-100
-50
0
0 5000 10000 15000 20000 25000 30000 35000 40000 45000 50000
Iteration
Fitn
ess
Best w/ Renshaws Avg. w/ RenshawsBest w/o Renshaws Avg. w/o Renshaws
Co-activation, Tonic Tension
Recruitment
StabilityAltering weight
StabilityAltering arm weight
0.65kg approaches the peak faster than 0.55kg
Results - Generalizability
1
10
100
1000
10000
0.5 0.55 0.6 0.65 0.7 0.75 0.8
Lifted Weight (kg)
Fit
nes
s -
Mat
ch t
o D
esir
ed B
ehav
ior
Training points
Test Points Training on multiple cases improves behavior on ‘out of sample’ test cases.
StabilityAltering speeds/frequencies
StabilityAltering speeds/frequencies
Training Algorithms
Conclusions• Model is trainable• Trainable with mixed variable types (connection
strengths and muscle fiber strengths)• Model produces fundamental biological
behaviors• Increasing complexity produced better behavior• Model is robust, proper training helps
Future Work
• Train more complex behaviors• Generalized movement• Adaptation to injury • Real robots ( w/simpler networks and neurons)
– Non-pulse coded neurons– One `fiber’/actuator per muscle– Simpler networks– Known angles