The vestibular system: multimodal integration and encoding of self-motion for motor control

Cullen, Kathleen E.

doi:10.1016/j.tins.2011.12.001

Cited by 506 publications

(429 citation statements)

References 109 publications

(151 reference statements)

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“…The platform's motion was oscillating around the horizontal orientation with the magnitudes significantly smaller than the magnitudes of the base motion with respect to the platform. The base link was moved with the magnitudes of [40][41][42][43][44][45][46][47][48][49][50] • with respect to the platform's orientation. Liquid inside the inclinometer followed the motion of the base link and the platform and the tilt measurements from the inclinometer reached up to 20…”

Section: Resultsmentioning

confidence: 99%

“…As a result, the vestibular organs participate to our sixth sense -the sense of motion that allows us to perceive and control bodily movements [16]. Vestibular processing is highly multimodal, for instance, visual/vestibular and proprioceptive/vestibular sensory inputs are dominant for gaze and postural control, but at the same time vestibular system itself plays an important role in our everyday activities and contributes to various range of functions [5,45].…”

Section: Vestibular Systemmentioning

confidence: 99%

See 1 more Smart Citation

Modeling Verticality Estimation During Locomotion

Farkhatdinov

Michalska

Berthoz

et al. 2013

Romansy 19 – Robot Design, Dynamics and Control

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In this thesis, a nonlinear model of the vestibular system is proposed, with special reference to humans and other locomoting animals. The vestibular system is essential for stable locomotion since it provides idiothetic measurements of spatial orientation that are needed for postural control. The model was constructed from general considerations regarding the Newton-Euler dynamics governing the three-dimensional movements of bodies constrained to oscillate in non-inertial frames, such as the otoliths, which were modeled as spherical damped pendula. Two configurations were considered. The medial model considered only one inner ear located in the center of a head. The lateral model considered two inner ears located laterally with respect to the center of rotation of the head. The differences between these two models were analyzed and the importance of having two vestibular organs discussed. To this end, a nonlinear algebraic observability test was used to verify whether the reconstruction of the head orientation with respect to the gravitational vertical was possible from otoliths measurements only. It could be shown that in order for the head vertical orientation to be observable, the head had to be stabilized during locomotion. Moreover, it was shown that the gravitoinertial ambiguity inherent to inertial idiothetic sensing could be resolved if the head was horizontally stabilized. These results were applied to solve the head vertical orientation estimation problem in the linearized case (Luenberger observer, Kalman filter) as well as in the nonlinear case (Extended Kalman filter, Newton method based observation). These observers were designed and tested in simulations. The simulations indicated that the estimation errors were smaller and the observers converged faster when head was stabilized during locomotion, leading to a nonlinear, combined observation-control system that could be stabilized with respect to the gravitational vertical based on no other information than the prior knowledge of the Newton-Euler dynamics. The results were further tested with a specifically designed experimental setup that comprised an actuated gimbal mechanism to represent the head-neck articulation and a liquid-based inclinometer that represented the otoliths organs. The findings derived from this research would be helpful for analyzing spatial perception in humans and animals, and for improving the perceptual capabilities of robotic systems, such as humanoid robots, rough terrain vehicles, or free-moving drones.Keywords: vestibular system, head-neck system, nonlinear system, observation, estimation, verticality, spatial perception, locomotion, humanoid robot. 3 RésuméDans cette thèse, nous proposons un modèle non-linéaire du système vestibulaire, en particulier chez l'humain et autres animaux mobiles. Le système vestibulaire est essentiel pour une locomotion stable dans la mesure où il fournit des mesures idiothétiques d'orientation spatiale nécessairesà la stabilité posturale. Le développement du modèle est basé sur l...

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Section: Resultsmentioning

confidence: 99%

Section: Vestibular Systemmentioning

confidence: 99%

Modeling Verticality Estimation During Locomotion

Farkhatdinov

Michalska

Berthoz

et al. 2013

Romansy 19 – Robot Design, Dynamics and Control

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“…Here, when the rhythmogenic spinal network for self-motion is active, the inherently non-rhythmic extraocular system becomes entirely appropriated to cyclic feed-forward copies of locomotor CPG output, similar to recently described tentacle movements in X. laevis tadpoles during swimming, when spinal CPG efference copies drive bilateral trigeminal motoneurons (Hänzi et al, 2015). However, when locomotion ceases and CPG circuitry falls inactive, the extraocular motor system now becomes completely subservient to extrinsic feedback signaling from the visuo-vestibular sensory systems during any passively induced head/body motion (Straka and Dieringer, 2004;Cullen, 2012).…”

Section: Neural Network Interactions and Developmentmentioning

confidence: 99%

“…Retinal image stabilization during locomotion is crucial for all vertebrates in order to minimize the disruptive effects of selfgenerated movements on their ability to perceive the surrounding environment (Cullen, 2004(Cullen, , 2011(Cullen, , 2012. To maintain visual acuity, retinal image displacement is counteracted by dynamic compensatory eye and/or head adjustments that are traditionally attributed to the concerted actions of vestibulo-ocular and optokinetic reflexes (Angelaki and Cullen, 2008).…”

Section: Introductionmentioning

confidence: 99%

Adaptive plasticity of spino-extraocular motor coupling during locomotion in metamorphosing Xenopus laevis

Uckermann

Lambert

Combes

et al. 2016

Journal of Experimental Biology

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During swimming in the amphibian Xenopus laevis, efference copies of rhythmic locomotor commands produced by the spinal central pattern generator (CPG) can drive extraocular motor output appropriate for producing image-stabilizing eye movements to offset the disruptive effects of self-motion. During metamorphosis, X. laevis remodels its locomotor strategy from larval tail-based undulatory movements to bilaterally synchronous hindlimb kicking in the adult. This change in propulsive mode results in head/body motion with entirely different dynamics, necessitating a concomitant switch in compensatory ocular movements from conjugate left-right rotations to non-conjugate convergence during the linear forward acceleration produced during each kick cycle. Here, using semi-intact or isolated brainstem/spinal cord preparations at intermediate metamorphic stages, we monitored bilateral eye motion along with extraocular, spinal axial and limb motor nerve activity during episodes of spontaneous fictive swimming. Our results show a progressive transition in spinal efference copy control of extraocular motor output that remains adapted to offsetting visual disturbances during the combinatorial expression of bimodal propulsion when functional larval and adult locomotor systems co-exist within the same animal. In stages at metamorphic climax, spino-extraocular motor coupling, which previously derived from axial locomotor circuitry alone, can originate from both axial and de novo hindlimb CPGs, although the latter's influence becomes progressively more dominant and eventually exclusive as metamorphosis terminates with tail resorption. Thus, adaptive interactions between locomotor and extraocular motor circuitry allows CPG-driven efference copy signaling to continuously match the changing spatio-temporal requirements for visual image stabilization throughout the transitional period when one propulsive mechanism emerges and replaces another.

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“…There are a total of two, one in each ear, in young larval zebrafish: the anterior, or urticular otolith, is believed to be responsible for balance sensing only and the posterior, or saccular otolith, for hearing [22,118,119]. Otoliths are attached to the ear membrane with hair cells or neuronal receptor cells and therefore represent the starting point of the vestibular information processing.…”

Section: Description Of the Vestibular Systemmentioning

confidence: 99%

Imaging, manipulation and optogenetics in zebrafish

Favre-bulle¹

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This thesis investigates the advantages and limits of using laser light for illumination and micromanipulation of the nervous system deep in-vivo in zebrafish. Further interest in the study neuronal pathways and functions in zebrafish led to employ laser micro-manipulation for the stimulation of the systems of interest and the development of optogenetics system and light sheet microscopy for analyses of the processes. First I present the investigation of the interaction of light and brain tissue as we aim to quantify light scattered in zebrafish brain tissue with depth. This is of great importance for optogenetics as it uses light to control (turn on or off) neurons and the unwanted/scattered light out of the aimed region could significantly affect results of experiments. The measurements and model developed to predict light propagation through brain tissue and how much a focussed beam broadens and alters with depth are presented in details. Results show that illumination of individual neurons is possible at depth in the zebrafish brain, despite scattering that results from shallower neural tissue. This means that the approach presented allows for optogenetics manipulation of single neurons to be performed without optical correction for scattering. Secondly, I construct an optogenetics system where we employ advanced optics and novel algorithm to deliver versatile two dimensional illumination that can be used at any depth in the fish. I present an example of a problem that I have solved, and resulting optogenetics results that were obtained, using this new technology. In chapter 5, I was responsible for the improvements implemented on the optogenetics system and the different tests to show its performances. Lucy Heap has performed multiple experiments on that system and I present one example she performed and the results she got.In chapter 7, I performed the manipulation of free otolith in water. I with Alex Stilgoe performed scanning experiments of otolith on an optical trapping system that Alex Stilgoe built.We both performed the analysis of the experimental results. Alex Stilgoe performed the force modelisation with Ray optics methods and we compared it with experimental results. Statement of parts of the thesis submitted to qualify for the award of another degreeNone. I have special thanks to Shu, Swaantje and Lucy for our philosophical discussions, the sharing of our experiences in the good and bad moments of our PhDs and their support.Finally I have some friends that I would like to thank for their great support without necessarily realising it: Mari-wenn, Estelle and Arnaud.8 ABSTRACT

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The vestibular system: multimodal integration and encoding of self-motion for motor control

Cited by 506 publications

References 109 publications

Modeling Verticality Estimation During Locomotion

Modeling Verticality Estimation During Locomotion

Adaptive plasticity of spino-extraocular motor coupling during locomotion in metamorphosing Xenopus laevis

Imaging, manipulation and optogenetics in zebrafish

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