Gentaro Taga

Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment

A new principle of sensorimotor control of legged locomotion in an unpredictable environment is proposed on the basis of neurophysiological knowledge and a theory of nonlinear dynamics. Stable and flexible locomotion is realized as a global limit cycle generated by a global entrainment between the rhythmic activities of a nervous system composed of coupled neural oscillators and the rhythmic movements of a musculo-skeletal system including interaction with its environment. Coordinated movements are generated not by slaving to an explicit representation of the precise trajectories of the movement of each part but by dynamic interactions among the nervous system, the musculo-skeletal system and the environment. The performance of a bipedal model based on the above principle was investigated by computer simulation. Walking movements stable to mechanical perturbations and to environmental changes were obtained. Moreover, the model generated not only the walking movement but also the running movement by changing a single parameter nonspecific to the movement. The transitions between the gait patterns occurred with hysteresis.

A model of the neuro-musculo-skeletal system for human locomotion

The generation of human locomotion was examined by linking computational neuroscience with biomechanics from the perspective of nonlinear dynamical theory. We constructed a model of human locomotion, which includes a musculo-skeletal system with 8 segments and 20 muscles, a neural rhythm generator composed of 7 pairs of neural oscillators, and mechanisms for processing and transporting sensory and motor signals. Using a computer simulation, we found that locomotion emerged as a stable limit cycle that was generated by the global entrainment between the musculo-skeletal system, the neural system, and the environment. Moreover, the walking movements of the model could be compared quantitatively with those of experimental studies in humans.

Brain imaging in awake infants by near-infrared optical topography

Studies of young infants are critical to understand perceptual, motor, and cognitive processing in humans. However, brain mechanisms involved are poorly understood, because the use of brain-imaging methods such as functional magnetic resonance imaging in awake infants is difficult. In the present study we show functional brain imaging of awake infants viewing visual stimuli by means of multichannel near-infrared spectroscopy, a technique that permits a measurement of cerebral hemoglobin oxygenation in response to brain activation through the intact skull without subject constraint. We found that event-related increases in oxyhemoglobin were evident in localized areas of the occipital cortex of infants aged 2–4 months in response to a brief presentation of a checkerboard pattern reversal while they maintained fixation to attention-grabbing stimuli. The dynamic change in cerebral blood oxygenation was qualitatively similar to that observed in the adult brain. This result introduces near-infrared optical topography as a method for investigating the functional development of the brain in early infancy.

A model of the neuro-musculo-skeletal system for anticipatory adjustment of human locomotion during obstacle avoidance

Abstract. Theoretical studies on human locomotion have shown that a stable and flexible gait emerges from the dynamic interaction between the rhythmic activity of a neural system composed of a neural rhythm generator (RG) and the rhythmic movement of the musculo-skeletal system. This study further explores the mechanism of the anticipatory control of locomotion based on the emergent properties of a neural system that generates the basic pattern of gait. A model of the neuro-musculo-skeletal system to execute the task of stepping over a visible obstacle with both limbs during walking is described. The RG in the neural system was combined with a system referred to as a discrete movement generator (DM), which receives both the output of the RG and visual information regarding the obstacle and generates discrete signals for modification of the basic gait pattern. A series of computer simulations demonstrated that an obstacle placed at an arbitrary position can be cleared by sequential modifications of gait: (1) modulating the step length when approaching the obstacle and (2) modifying the trajectory of the swing limbs while stepping over it. This result suggests that anticipatory adjustments are produced not by the unidirectional flow of the information from visual signals to motor commands but by the bi-directional circulation of information between the DM and the RG. The validity of this model is discussed in relation to motor cortical activity during anticipatory modifications in cats and the ecological psychology of visuo-motor control in humans.

Twenty years of functional near-infrared spectroscopy: introduction for the special issue

Papers from four different groups were published in 1993 demonstrating the ability of functional near infrared spectroscopy (fNIRS) to non-invasively measure hemoglobin concentration responses to brain function in humans. This special issue commemorates the first 20years of fNIRS research. The 9 reviews and 49 contributed papers provide a comprehensive survey of the exciting advances driving the field forward and of the myriad of applications that will benefit from fNIRS.

The right hemisphere of sleeping infant perceives sentential prosody

Behavioral studies proposed that prosodic information in speech sounds plays important roles for human infants to acquire their native languages. Here, we examined the neural basis of prosodic processing in 3-month-old infants. In order to obtain hemodynamic responses with high signal-to-noise ratio, we used near-infrared optical topography in the infants while they were in quiet sleep. First, we observed bilateral activation under each of the normal and flattened speech conditions. The flattened speech sound was created by eliminating changes in the pitch contours of the original utterance. In a direct comparison between the two conditions, the right temporoparietal region showed more prominent activation to normal speech sounds than to flattened speech sounds. This result demonstrates that the localized region of the right hemisphere in 3-month-old infant is involved in the processing of pitch contours. Our findings suggest that prosodic processing in the right hemisphere may facilitate the acquisition of lexical or syntactic knowledge in the early stages of language development.

Three dimensional bipedal stepping motion using neural oscillators-towards humanoid motion in the real world

CPG (central pattern generator) and entrainment dynamics together form a promising framework for robust and adaptive behavior generation for a high degree of freedom system in unstructured environment. This paper investigates its possibility in the domain of biped robotic locomotion. We extend a previous work on 2D biped locomotion using neural oscillators to 3D, introducing many more degrees of freedom and complexity in control. While the complexity of the problem has been increased, we have simplified the internal neural mechanism compared to the original 2D work. Our fully dynamic 3D simulation experiments showed that our mechanism can generate 3D stable biped stepping motion as well as tolerance against external perturbations.

Development of Global Cortical Networks in Early Infancy

Human cognition and behaviors are subserved by global networks of neural mechanisms. Although the organization of the brain is a subject of interest, the process of development of global cortical networks in early infancy has not yet been clarified. In the present study, we explored developmental changes in these networks from several days to 6 months after birth by examining spontaneous fluctuations in brain activity, using multichannel near-infrared spectroscopy. We set up 94 measurement channels over the frontal, temporal, parietal, and occipital regions of the infant brain. The obtained signals showed complex time-series properties, which were characterized as 1/f fluctuations. To reveal the functional connectivity of the cortical networks, we calculated the temporal correlations of continuous signals between all the pairs of measurement channels. We found that the cortical network organization showed regional dependency and dynamic changes in the course of development. In the temporal, parietal, and occipital regions, connectivity increased between homologous regions in the two hemispheres and within hemispheres; in the frontal regions, it decreased progressively. Frontoposterior connectivity changed to a “U-shaped” pattern within 6 months: it decreases from the neonatal period to the age of 3 months and increases from the age of 3 months to the age of 6 months. We applied cluster analyses to the correlation coefficients and showed that the bilateral organization of the networks begins to emerge during the first 3 months of life. Our findings suggest that these developing networks, which form multiple clusters, are precursors of the functional cerebral architecture.

Emergence of bipedal locomotion through entrainment among the neuro-musculo-skeletal system and the environment

Abstract A principle of locomotor control in an unpredictably changing environment is presented on the basis of neurophysiology and biomechanics from the perspective of nonlinear dynamics theory. Locomotor movements emerge as a limit cycle generated through global entrainment among the neuro-musculo-skeletal system and the environment. A computer simulation of a specific model of bipedal locomotion shows its ability to adapt to a changing environment in real-time. The stability of the limit cycle is maintained despite the presence of time delays in transporting and processing information between the neural rhythm generator and the musculo-skeletal system. With considerable time delays, however, the locomotor pattern becomes chaotic, which is compared with a gait of patients with neural deficits. A general framework for motor control is discussed toward the control of movements in an unpredictable environment.

Spontaneous oscillation of oxy- and deoxy- hemoglobin changes with a phase difference throughout the occipital cortex of newborn infants observed using non-invasive optical topography

We investigated spontaneous changes in the cerebral oxygenation state of infants during quiet sleeping by using a form of multi-channel near-infrared spectroscopy: non-invasive optical topography. Eight infants born at 32-39 weeks were studied at postconceptional term age (38-43 weeks). Spatially synchronized oscillations of changes in the concentration of oxy- and deoxy- hemoglobin ([oxy-Hb] and [deoxy-Hb]) were observed throughout the occipital cortex. Time series analysis based on the theory of non-linear oscillators showed that the mean periods of the oscillation for each infant ranged from 11 to 18 s. The phase lag of [oxy-Hb] relative to [deoxy-Hb] was stable at about 3pi/4. This phase difference may result from interplay between the vasomotion and the oxygen consumption in relation to brain activity.