Stroke, spinal cord injury and other neuromuscular disorders lead to impairments in the human body. Upper limb impairments, especially hand impairments affect activities of daily living (ADL) and r...

The signals that the central nervous system (CNS) produces and sends to the muscles to effect movement are not entirely understood. Muscle synergy theory suggests that the central nervous system produces a small number of signals that pass through a network that distributes combinations of these signals to the muscles. Though these synergies are rather stable over time, some variability is present.

The remarkable capability of living organisms to adapt to unknown environments is due to learning mechanisms that are totally different from the current artificial machine-learning paradigm. Computational media composed of identical elements that have simple activity rules play a major role in biological control, such as the activities of neurons in brains and the molecular interactions in intracellular control. As a result of integrations of the individual activities of the computational media, new behavioral patterns emerge to adapt to changing environments. We previously implemented this feature of biological controls in a form of machine learning and succeeded to realize bipedal walking without the robot model or trajectory planning. Despite the success of bipedal walking, it was a puzzle as to why the individual activities of the computational media could achieve the global behavior. In this paper, we answer this question by taking a statistical approach that connects the individual activities of computational media to global network behaviors. We show that the individual activities can generate optimized behaviors from a particular global viewpoint, i.e., autonomous rhythm generation and learning of balanced postures, without using global performance indices.

A human motor system can improve its behavior toward optimal movement. The skeletal system has more degrees of freedom than the task dimensions, which incurs an ill-posed problem. The multijoint system involves complex interaction torques between joints. To produce optimal motion in terms of energy consumption, the so-called cost function based optimization has been commonly used in previous works. Even if it is a fact that an optimal motor pattern is employed phenomenologically, there is no evidence that shows the existence of a physiological process that is similar to such a mathematical optimization in our central nervous system. In this study, we aim to find a more primitive computational mechanism with a modular configuration to realize adaptability and optimality without prior knowledge of system dynamics. We propose a novel motor control paradigm based on tacit learning with task space feedback. The motor command accumulation during repetitive environmental interactions, play a major role in the learning process. It is applied to a vertical cyclic reaching which involves complex interaction torques. We evaluated whether the proposed paradigm can learn how to optimize solutions with a 3-joint, planar biomechanical model. The results demonstrate that the proposed method was valid for acquiring motor synergy and resulted in energy efficient solutions for different load conditions. The case in feedback control is largely affected by the interaction torques. In contrast, the trajectory is corrected over time with tacit learning toward optimal solutions. Energy efficient solutions were obtained by the emergence of motor synergy. During learning, the contribution from feedforward controller is augmented and the one from the feedback controller is minimized down to 12% for no load at hand, 16% for a 0.5kg load condition. The proposed paradigm could provide an optimization process in redundant system with dynamic-model-free and cost-function-free approach.

The development of a method to feed proper environmental inputs back to the central nervous system (CNS) remains one of the challenges in achieving natural movement when part of the body is replaced with an artificial device. Muscle synergies are widely accepted as a biologically plausible interpretation of the neural dynamics between the CNS and the muscular system. Yet the sensorineural dynamics of environmental feedback to the CNS has not been investigated in detail. In this study, we address this issue by exploring the concept of sensory synergy. In contrast to muscle synergy, we hypothesize that sensory synergy plays an essential role in integrating the overall environmental inputs to provide low-dimensional information to the CNS. We assume that sensor synergy and muscle synergy communicate using these low-dimensional signals. To examine our hypothesis, we conducted posture control experiments involving lateral disturbance with 9 healthy participants. Proprioceptive information represented by the changes on muscle lengths were estimated by using the musculoskeletal model analysis software SIMM. Changes on muscles lengths were then used to compute sensory synergies. The experimental results indicate that the environmental inputs were translated into the two dimensional signals and used to move the upper limb to the desired position immediately after the lateral disturbance. Participants who showed high skill in posture control were found to be likely to have a strong correlation between sensory and muscle signaling as well as high coordination between the utilized sensory synergies. These results suggest the importance of integrating environmental inputs into suitable low-dimensional signals before providing them to the CNS. This mechanism should be essential when designing the prosthesis’ sensory system to make the controller simpler

Acquiring information about the distribution of electrical sources in the brain from electroencephalography (EEG) data remains a significant challenge. An accurate solution would provide an understanding of the inner mechanisms of the electrical activity in the brain and information about damaged tissue. In this paper, we present a methodology for reconstructing brain electrical activity from EEG data by using the bidomain formulation. The bidomain model considers continuous active neural tissue coupled with a nonlinear cell model. Using this technique, we aim to find the brain sources that give rise to the scalp potential recorded by EEG measurements taking into account a non-static reconstruction. We simulate electrical sources in the brain volume and compare the reconstruction to the minimum norm estimates (MNEs) and low resolution electrical tomography (LORETA) results. Then, with the EEG dataset from the EEG Motor Movement/Imagery Database of the Physiobank, we identify the reaction to visual stimuli by calculating the time between stimulus presentation and the spike in electrical activity. Finally, we compare the activation in the brain with the registered activation using the LinkRbrain platform. Our methodology shows an improved reconstruction of the electrical activity and source localization in comparison with MNE and LORETA. For the Motor Movement/Imagery Database, the reconstruction is consistent with the expected position and time delay generated by the stimuli. Thus, this methodology is a suitable option for continuously reconstructing brain potentials.