Connecting Artificial Brains to Robots in a Comprehensive Simulation Framework: The Neurorobotics Platform

Credibility, Replicability, and Reproducibility in Simulation for Biomedicine and Clinical Applications in Neuroscience

Modeling and simulation in computational neuroscience is currently a research enterprise to better understand neural systems. It is not yet directly applicable to the problems of patients with brain disease. To be used for clinical applications, there must not only be considerable progress in the field but also a concerted effort to use best practices in order to demonstrate model credibility to regulatory bodies, to clinics and hospitals, to doctors, and to patients. In doing this for neuroscience, we can learn lessons from long-standing practices in other areas of simulation (aircraft, computer chips), from software engineering, and from other biomedical disciplines. In this manuscript, we introduce some basic concepts that will be important in the development of credible clinical neuroscience models: reproducibility and replicability; verification and validation; model configuration; and procedures and processes for credible mechanistic multiscale modeling. We also discuss how garnering strong community involvement can promote model credibility. Finally, in addition to direct usage with patients, we note the potential for simulation usage in the area of Simulation-Based Medical Education, an area which to date has been primarily reliant on physical models (mannequins) and scenario-based simulations rather than on numerical simulations.

Humanoid robotics-History, current state of the art, and challenges

Humanoids represent one of the ultimate goals of robotics: to synthesize advances from many disciplines.

Proprioceptive Feedback through a Neuromorphic Muscle Spindle Model

Connecting biologically inspired neural simulations to physical or simulated embodiments can be useful both in robotics, for the development of a new kind of bio-inspired controllers, and in neuroscience, to test detailed brain models in complete action-perception loops. The aim of this work is to develop a fully spike-based, biologically inspired mechanism for the translation of proprioceptive feedback. The translation is achieved by implementing a computational model of neural activity of type Ia and type II afferent fibers of muscle spindles, the primary source of proprioceptive information, which, in mammals is regulated through fusimotor activation and provides necessary adjustments during voluntary muscle contractions. As such, both static and dynamic γ-motoneurons activities are taken into account in the proposed model. Information from the actual proprioceptive sensors (i.e., motor encoders) is then used to simulate the spindle contraction and relaxation, and therefore drive the neural activity. To assess the feasibility of this approach, the model is implemented on the NEST spiking neural network simulator and on the SpiNNaker neuromorphic hardware platform and tested on simulated and physical robotic platforms. The results demonstrate that the model can be used in both simulated and real-time robotic applications to translate encoder values into a biologically plausible neural activity. Thus, this model provides a completely spike-based building block, suitable for neuromorphic platforms, that will enable the development of sensory-motor closed loops which could include neural simulations of areas of the central nervous system or of low-level reflexes.