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ACTIVE SENSING

ACTIVE SENSING. Lecture 4: Motor systems III. Summary of Motor Systems I-II: Basic motor control loops. PID control. Present. q ’. q. Past. q ’’. Future. Negative feedback loop. Dq ’ (t+ D t) = -f [ Dq ’ ( t )] , f is monotonic increasing. Positive feedback loop.

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ACTIVE SENSING

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  1. ACTIVE SENSING Lecture 4: Motor systems III Motor systems

  2. Summary of Motor Systems I-II:Basic motor control loops Motor systems

  3. PID control Present q’ q Past q’’ Future Negative feedback loop Dq’(t+Dt) = -f [Dq’(t)] , f is monotonic increasing Positive feedback loop Dq’(t+Dt) = f [Dq’(t)] , f is monotonic increasing Motor systems

  4. Motor neuron spindle q’ Knee joint The spinal loop (stretch reflex) Motor systems

  5. The spinal loop (stretch reflex) Motor neuron KM -Ksq’ -KsKMq’ spindle Knee joint Ks q’ dt Motor systems

  6. Pain reflex Positive or negative? What is the underlying circuit? Motor systems

  7. Contact loop – negative or positive? What does it take to switch between negative and positive FB loops? Motor systems

  8. Basic motor control of other sensory organs • visual • Vibrissal Motor systems

  9. Motor control in the visual system • Eye movement (oculomotor control) • Vision (perceptual control) Motor systems

  10. The extra-ocular muscles (EOMs) Motor systems From Bear’s Neuroscience text book

  11. Axes of eye movement control Motor systems

  12. Donder’s and Listing’s laws Valid when looking with the head fixed • Donder’s law states that the orientation of the eye when looking in a specific direction is always the same. • Listing's law specifies what this orientation is. • It refers to the axes (the bars protruding from the eyes) used to rotate from center to various eccentric positions. • Listing found that all these axes are confined to a common plane. • This plane is called Listing's plane. Motor systems

  13. How does the system keep Listing’s plane? • Ocular mechanics? • Neuronal mechanisms? Motor systems

  14. Special design of extra-ocular muscles Orbital pulleys system Motor systems

  15. Demmer JL, Ann. N.Y. Acad. Sci. 956: 17-32 (2002) Motor systems

  16. Demmer JL, Ann. N.Y. Acad. Sci. 956: 17-32 (2002) Motor systems

  17. Demmer JL, Ann. N.Y. Acad. Sci. 956: 17-32 (2002) Motor systems

  18. Demmer JL, Ann. N.Y. Acad. Sci. 956: 17-32 (2002) Motor systems

  19. Special design of extra-ocular muscles proprioceptors Motor systems

  20. Special design of extra-ocular muscles Proprioceptive loop Motor systems

  21. Targets of proprioceptive info • EOM proprioceptors run with the motor fibers of the muscle nerves EOM -> Gasserian ganglion -> trigeminal nuclei (pars interpolaris and pars caudalis). EOM proprioceptive information -> • brain stem structures • the superior colliculus • Thalamic nuclei (LGN, LP, Pulvinar) • the cerebellum • cortical areas: 17,18, frontal cortex. Most of these structures are involved in either vision or oculomotorcontrol. Motor systems

  22. Roles of visual proprioception • oculomotor control • binocular vision • spatial localisation Motor systems

  23. Role of visual proprioception in spatial localization Motor systems P. BUISSERET, PHYSIOLOGICAL REVIEWS Vol. 75, No. 2, April 1995

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