Sensory models for the simulated mouse in the NRP

A biologically inspired translation model for proprioceptive sensory information was developed. The translation is achieved implementing a computational model of neural activity of type Ia and type II sensory fibers connected to muscle spindles. The model also includes activity of both static and dynamic gamma-motoneurons, that provide fusimotor activation capable of regulating the sensitivity of the proprioceptive feedback, through the contraction of specific intrafusal fibers (Proske, 19971).

Figure 1 Intrafusal fibers

The proposed model is an extension of a state-of-the art computational models of muscle spindle activity (Mileusnic, 20062). The model developed by Mileusnic and colleagues, albeit complete and validated against neuroscientific data, was completely rate based, thus it was modified in order to be integrated in a spiking neural network simulation. In particular, a spike integration technique was employed to compute fusimotor activation and the generated rate was used to generate spike trains.

The proprioceptive model is implemented on NEST, in order to provide an easy integration inside the NRP, and on SpiNNaker, for supporting real-time robotic applications. The proposed component can be coupled to both biomechanical models, like musculo-skeletal systems, and common robotic platforms (via suitable conversions from encoder values to simulated muscle length). In particular, this model will be used, as part of CDP1, to provide sensory feedback from the virtual mouse body.

1 Proske, U. (1997). The mammalian muscle spindle. Physiology, 12(1), 37-42.

2 Mileusnic, M. P., Brown, I. E., Lan, N., & Loeb, G. E. (2006). Mathematical models of proprioceptors. I. Control and transduction in the muscle spindle. Journal of neurophysiology, 96(4), 1772-1788.


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