Abstract
The cerebellum plays a crucial role in motor learning and it acts as a predictive controller. A biological inspired cerebellar model with distributed plasticity has been embedded into a real-time controller of a neurorobot. A cerebellum-driven task has been designed: the Vestibulo- Ocular Reflex (VOR), which produces eye movements stabilizing images on the retina during head movement. The cerebellar controller drives eye compensation, by providing joint torque based on network output activity. We compared a cerebellar controller with only the cortical plasticity and a cerebellar controller with also the plasticity mechanisms at deep nuclei, in VOR multiple sessions. The results were interpreted using a two state multi-rate model integrating two learning processes with different sensitivities to error and different retention strengths. The cerebellar model showed effective learning along task repetitions, allowing a fine timing and gain adaptation based on the head stimulus. The multisite plasticity proved superior to single-site plasticity in generating human-like VOR during acquisition, extinction and consolidation.
| Original language | English |
|---|---|
| Title of host publication | "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 |
| Publisher | IEEE Computer Society |
| Pages | 813-818 |
| Number of pages | 6 |
| ISBN (Print) | 9781479931262 |
| Publication status | Published - Sep 30 2014 |
| Event | 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 - Sao Paulo, Brazil Duration: Aug 12 2014 → Aug 15 2014 |
Other
| Other | 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014 |
|---|---|
| Country | Brazil |
| City | Sao Paulo |
| Period | 8/12/14 → 8/15/14 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Biomedical Engineering
- Mechanical Engineering
Cite this
Distributed cerebellar plasticity implements multiple-scale memory components of vestibulo-ocular reflex in real-robots. / Casellato, Claudia; Antonietti, Alberto; Garrido, Jesus A.; Pedrocchi, Alessandra; D'Angelo, Egidio.
"2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014. IEEE Computer Society, 2014. p. 813-818 6913879.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Distributed cerebellar plasticity implements multiple-scale memory components of vestibulo-ocular reflex in real-robots
AU - Casellato, Claudia
AU - Antonietti, Alberto
AU - Garrido, Jesus A.
AU - Pedrocchi, Alessandra
AU - D'Angelo, Egidio
PY - 2014/9/30
Y1 - 2014/9/30
N2 - The cerebellum plays a crucial role in motor learning and it acts as a predictive controller. A biological inspired cerebellar model with distributed plasticity has been embedded into a real-time controller of a neurorobot. A cerebellum-driven task has been designed: the Vestibulo- Ocular Reflex (VOR), which produces eye movements stabilizing images on the retina during head movement. The cerebellar controller drives eye compensation, by providing joint torque based on network output activity. We compared a cerebellar controller with only the cortical plasticity and a cerebellar controller with also the plasticity mechanisms at deep nuclei, in VOR multiple sessions. The results were interpreted using a two state multi-rate model integrating two learning processes with different sensitivities to error and different retention strengths. The cerebellar model showed effective learning along task repetitions, allowing a fine timing and gain adaptation based on the head stimulus. The multisite plasticity proved superior to single-site plasticity in generating human-like VOR during acquisition, extinction and consolidation.
AB - The cerebellum plays a crucial role in motor learning and it acts as a predictive controller. A biological inspired cerebellar model with distributed plasticity has been embedded into a real-time controller of a neurorobot. A cerebellum-driven task has been designed: the Vestibulo- Ocular Reflex (VOR), which produces eye movements stabilizing images on the retina during head movement. The cerebellar controller drives eye compensation, by providing joint torque based on network output activity. We compared a cerebellar controller with only the cortical plasticity and a cerebellar controller with also the plasticity mechanisms at deep nuclei, in VOR multiple sessions. The results were interpreted using a two state multi-rate model integrating two learning processes with different sensitivities to error and different retention strengths. The cerebellar model showed effective learning along task repetitions, allowing a fine timing and gain adaptation based on the head stimulus. The multisite plasticity proved superior to single-site plasticity in generating human-like VOR during acquisition, extinction and consolidation.
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M3 - Conference contribution
SN - 9781479931262
SP - 813
EP - 818
BT - "2014 5th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014
PB - IEEE Computer Society
ER -