小柯机器人

丹麦哥本哈根大学Henrik Lindén等研究人员合作发现，运动受脊柱运动网络中旋转神经动力学的支配。该研究于2022年10月12日在线发表于国际一流学术期刊《自然》。

研究人员提出了腰部脊髓神经元的集合记录，并表明在神经空间中，神经元群不是交替进行，而是进行低维的“旋转”，其中神经活动在有节奏的行为中连续循环所有阶段。旋转的半径与预期的肌肉力量相关，低维轨迹的扰动可以改变运动行为。由于现有的脊柱运动控制模型没有对旋转提供充分的解释，研究人员提出了一个运动的神经生成理论，从中可以很容易地解释这个问题和其他未解决的问题，如速度调节、力控制和多功能性。

据介绍，尽管运动的产生是神经系统的一项基本功能，但其背后的神经原理仍不清楚。由于在行走等有节奏的运动中，屈肌和伸肌的活动是交替进行的，因此人们通常认为负责的神经回路也同样表现为交替活动。

附：英文原文

Title: Movement is governed by rotational neural dynamics in spinal motor networks

Author: Lindn, Henrik, Petersen, Peter C., Vestergaard, Mikkel, Berg, Rune W.

Issue&Volume: 2022-10-12

Abstract: Although the generation of movements is a fundamental function of the nervous system, the underlying neural principles remain unclear. As flexor and extensor muscle activities alternate during rhythmic movements such as walking, it is often assumed that the responsible neural circuitry is similarly exhibiting alternating activity1. Here we present ensemble recordings of neurons in the lumbar spinal cord that indicate that, rather than alternating, the population is performing a low-dimensional ‘rotation’ in neural space, in which the neural activity is cycling through all phases continuously during the rhythmic behaviour. The radius of rotation correlates with the intended muscle force, and a perturbation of the low-dimensional trajectory can modify the motor behaviour. As existing models of spinal motor control do not offer an adequate explanation of rotation1,2, we propose a theory of neural generation of movements from which this and other unresolved issues, such as speed regulation, force control and multifunctionalism, are readily explained.

DOI: 10.1038/s41586-022-05293-w

Source: https://www.nature.com/articles/s41586-022-05293-w

Nature：《自然》，创刊于1869年。隶属于施普林格·自然出版集团，最新IF：69.504
官方网址：http://www.nature.com/
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