Stabilization and mobility of the head and trunk in wild monkeys during terrestrial and flat-surface walks and gallops

Humanoid Head Camera Stabilization Using a Soft Robotic Neck and a Robust Fractional Order Controller

In this paper, a new approach for head camera stabilization of a humanoid robot head is proposed, based on a bio-inspired soft neck. During walking, the sensors located on the humanoid's head (cameras or inertial measurement units) show disturbances caused by the torso inclination changes inherent to this process. This is currently solved by a software correction of the measurement, or by a mechanical correction by motion cancellation. Instead, we propose a novel mechanical correction, based on strategies observed in different animals, by means of a soft neck, which is used to provide more natural and compliant head movements. Since the neck presents a complex kinematic model and nonlinear behavior due to its soft nature, the approach requires a robust control solution. Two different control approaches are addressed: a classical PID controller and a fractional order controller. For the validation of the control approaches, an extensive set of experiments is performed, including real movements of the humanoid, different head loading conditions or transient disturbances. The results show the superiority of the fractional order control approach, which provides higher robustness and performance.

Effector-dependent stochastic reference frame transformations alter decision-making

Psychophysical, motor control, and modeling studies have revealed that sensorimotor reference frame transformations (RFTs) add variability to transformed signals. For perceptual decision-making, this phenomenon could decrease the fidelity of a decision signal's representation or alternatively improve its processing through stochastic facilitation. We investigated these two hypotheses under various sensorimotor RFT constraints. Participants performed a time-limited, forced-choice motion discrimination task under eight combinations of head roll and/or stimulus rotation while responding either with a saccade or button press. This paradigm, together with the use of a decision model, allowed us to parameterize and correlate perceptual decision behavior with eye-, head-, and shoulder-centered sensory and motor reference frames. Misalignments between sensory and motor reference frames produced systematic changes in reaction time and response accuracy. For some conditions, these changes were consistent with a degradation of motion evidence commensurate with a decrease in stimulus strength in our model framework. Differences in participant performance were explained by a continuum of eye–head–shoulder representations of accumulated motion evidence, with an eye-centered bias during saccades and a shoulder-centered bias during button presses. In addition, we observed evidence for stochastic facilitation during head-rolled conditions (i.e., head roll resulted in faster, more accurate decisions in oblique motion for a given stimulus–response misalignment). We show that perceptual decision-making and stochastic RFTs are inseparable within the present context. We show that by simply rolling one's head, perceptual decision-making is altered in a way that is predicted by stochastic RFTs.

Inferring cost of transport from whole-body kinematics in three sympatric turtle species with different locomotor habits

Chelonians are mechanically unusual vertebrates as an exoskeleton limits their body wall mobility. They generally move slowly on land and have aquatic or semi-aquatic lifestyles. Somewhat surprisingly, the limited experimental work that has been done suggests that their energetic cost of transport (CoT) are relatively low. This study examines the mechanical evidence for CoT in three turtle species that have differing degrees of terrestrial activity. Our results show that Apolone travels faster than the other two species, and that Chelydra has higher levels of yaw. All the species show poor mean levels of energy recovery, and, whilst there is considerable variation, never show the high levels of energy recovery seen in cursorial quadrupeds. The mean mechanical CoT is 2 to 4 times higher than is generally seen in terrestrial animals. We therefore find no mechanical support for a low CoT in these species. This study illustrates the need for research on a wider range of chelonians to discover whether there are indeed general trends in mechanical and metabolic energy costs.

Head stabilization in small vertebrates that run at high frequencies with a sprawled posture

Small animals face a large challenge when running. A stable head is key to maintenance of a stable gaze and a good sense of self-motion and spatial awareness. However, trunk undulations caused by the cyclic limb movements result in involuntary head movements. Hence, the head needs to be stabilized. Humans are capable of stabilizing their head up to 2–3 Hz, but small animals run at cycle frequencies that are up to six times higher. We wondered how natural selection has adapted their head stabilization control. We observed that the relative contributions of vision, on the one hand, and vestibular perception and proprioception, on the other hand, remain the same when lizards undergo fast or slow body undulations in an experimental set-up. Lizards also maintain a short phase lag at both low and high undulation frequencies. Hence, we found no indication that they use a different control mechanism at high frequencies. Instead, head stabilization probably remains possible owing to faster reflex pathways and a lower head inertia. Hence, the intrinsic physical and neurological characteristics of lizards seem to be sufficient to enable head stabilization at high frequencies, obviating the need for evolutionary adaptation of the control pathways. These properties are not unique to lizards and might, therefore, also facilitate head stabilization at high frequencies in other small, fast animals.

Sensory gaze stabilization in echolocating bats

Sensing from a moving platform is challenging for both man-made machines and animals. Animals' heads jitter during movement, so if the sensors they carry are not stabilized, any spatial estimation might be biased. Flying animals, like bats, seriously suffer from this problem because flapping flight induces rapid changes in acceleration which moves the body up and down. For echolocating bats, the problem is crucial. Because they emit a sound to sense the world, an unstable head means sound energy pointed in the wrong direction. It is unknown how bats mitigate this problem. By tracking the head and body of flying fruit bats, we show that they stabilize their heads, accurately maintaining a fixed acoustic-gaze relative to a target. Bats can solve the stabilization task even in complete darkness using only echo-based information. Moreover, the bats point their echolocation beam below the target and not towards it, a strategy that should result in better estimations of target elevation.

Gravito-inertial ambiguity resolved through head stabilization

It has been frequently observed that humans and animals spontaneously stabilize their heads with respect to the gravitational vertical during body movements even in the absence of vision. The interpretations of this intriguing behaviour have so far not included the need, for survival, to robustly estimate verticality. Here we use a mechanistic model of the head/otolith organ to analyse the possibility for this system to render verticality 'observable', a fundamental prerequisite to the determination of the angular position and acceleration of the head from idiothetic, inertial measurements. The intrinsically nonlinear head-vestibular dynamics is shown to generally lack observability unless the head is stabilized in orientation by feedback. Thus, our study supports the hypothesis that a central function of the physiologically costly head stabilization strategy is to enable an organism to estimate the gravitational vertical and head acceleration during locomotion. Moreover, our result exhibits a rare peculiarity of certain nonlinear systems to fortuitously alter their observability properties when feedback is applied.

Compliant legs enable lizards to maintain high running speeds on complex terrains

Substrate variations are likely to compel animal performance in natural environments, as running over complex terrains challenges the dynamic stability of the body differently in each step. Yet, being able to negotiate complex terrains at top speed is a strong advantage for animals that have to deal with predators and evasive prey. Only little is known on how animals negotiate such terrain variability at high speed. We investigated this in fast running Acanthodactylus boskianus lizards, by measuring their 3D kinematics using four synchronized high-speed video cameras (325Hz) on an adaptable racetrack. This racetrack was covered with four different substrates, representing increasing levels of terrain complexity. We found that the lizards deal with this complexity gradient by gradually adopting more erect parasagittal leg postures. More erected legs enable, in turn, more compliant legs use which are highly adjustable on complex terrains. Additionally, the lizards stabilise their head, which facilitates vestibular and visual perception. Together, compliant legs and head stabilisation enable the lizards to minimise movements of the body centre of mass, even when running on highly irregular terrains. This suggests that the head and the centre of mass are the priority targets for running on uneven terrains. As a result, running performance (mean forward speed) decreases only slightly, and only on the most challenging substrate under investigation.

Assessing morphology and function of the semicircular duct system: introducing new in-situ visualization and software toolbox

The semicircular duct system is part of the sensory organ of balance and essential for navigation and spatial awareness in vertebrates. Its function in detecting head rotations has been modelled with increasing sophistication, but the biomechanics of actual semicircular duct systems has rarely been analyzed, foremost because the fragile membranous structures in the inner ear are hard to visualize undistorted and in full. Here we present a new, easy-to-apply and non-invasive method for three-dimensional in-situ visualization and quantification of the semicircular duct system, using X-ray micro tomography and tissue staining with phosphotungstic acid. Moreover, we introduce Ariadne, a software toolbox which provides comprehensive and improved morphological and functional analysis of any visualized duct system. We demonstrate the potential of these methods by presenting results for the duct system of humans, the squirrel monkey and the rhesus macaque, making comparisons with past results from neurophysiological, oculometric and biomechanical studies. Ariadne is freely available at http://www.earbank.org.

What is nausea? A historical analysis of changing views

The connotation of "nausea" has changed across several millennia. The medical term 'nausea' is derived from the classical Greek terms ναυτια and ναυσια, which designated the signs and symptoms of seasickness. In classical texts, nausea referred to a wide range of perceptions and actions, including lethargy and disengagement, headache (migraine), and anorexia, with an awareness that vomiting was imminent only when the condition was severe. However, some recent articles have limited the definition to the sensations that immediately precede emesis. Defining nausea is complicated by the fact that it has many triggers, and can build-up slowly or rapidly, such that the prodromal signs and symptoms can vary. In particular, disengagement responses referred to as the "sopite syndrome" are typically present only when emetic stimuli are moderately provocative, and do not quickly culminate in vomiting or withdrawing from the triggering event. This review considers how the definition of "nausea" has evolved over time, and summarizes the physiological changes that occur prior to vomiting that may be indicative of nausea. Also described are differences in the perception of nausea, as well as the accompanying physiological responses, that occur with varying stimuli. This information is synthesized to provide an operational definition of nausea.

Head movement during walking in the cat

Knowledge of how the head moves during locomotion is essential for understanding how locomotion is controlled by sensory systems of the head. We have analyzed head movements of the cat walking along a straight flat pathway in the darkness and light. We found that cats' head left-right translations, and roll and yaw rotations oscillated once per stride, while fore-aft and vertical translations, and pitch rotations oscillated twice. The head reached its highest vertical positions during second half of each forelimb swing, following maxima of the shoulder/trunk by 20–90°. Nose-up rotation followed head upward translation by another 40–90° delay. The peak-to-peak amplitude of vertical translation was ~1.5 cm and amplitude of pitch rotation was ~3°. Amplitudes of lateral translation and roll rotation were ~1 cm and 1.5–3°, respectively. Overall, cats' heads were neutral in roll and 10–30° nose-down, maintaining horizontal semicircular canals and utriculi within 10° of the earth horizontal. The head longitudinal velocity was 0.5–1 m/s, maximal upward and downward linear velocities were ~0.05 and ~0.1 m/s, respectively, and maximal lateral velocity was ~0.05 m/s. Maximal velocities of head pitch rotation were 20–50 °/s. During walking in light, cats stood 0.3–0.5 cm taller and held their head 0.5–2 cm higher than in darkness. Forward acceleration was 25–100% higher and peak-to-peak amplitude of head pitch oscillations was ~20 °/s larger. We concluded that, during walking, the head of the cat is held actively. Reflexes appear to play only a partial role in determining head movement, and vision might further diminish their role.

Locomotor head movements and semicircular canal morphology in primates

Animal locomotion causes head rotations, which are detected by the semicircular canals of the inner ear. Morphologic features of the canals influence rotational sensitivity, and so it is hypothesized that locomotion and canal morphology are functionally related. Most prior research has compared subjective assessments of animal "agility" with a single determinant of rotational sensitivity: the mean canal radius of curvature (R). In fact, the paired variables of R and body mass are correlated with agility and have been used to infer locomotion in extinct species. To refine models of canal functional morphology and to improve locomotor inferences for extinct species, we compare 3D vector measurements of head rotation during locomotion with 3D vector measures of canal sensitivity. Contrary to the predictions of conventional models that are based upon R, we find that axes of rapid head rotation are not aligned with axes of either high or low sensitivity. Instead, animals with fast head rotations have similar sensitivities in all directions, which they achieve by orienting the three canals of each ear orthogonally (i.e., along planes at 90° angles to one another). The extent to which the canal configuration approaches orthogonality is correlated with rotational head speed independent of body mass and phylogeny, whereas R is not.

Parabrachial nucleus neuronal responses to off-vertical axis rotation in macaques

The caudal aspect of the parabrachial nucleus (PBN) contains neurons responsive to whole body, periodic rotational stimulation in alert monkeys (Balaban et al. in J Neurophysiol 88:3175-3193, 2002). This study characterizes the angular and linear motion-sensitive response properties of PBN unit responses during off-vertical axis rotation (OVAR) and position trapezoid stimulation. The OVAR responses displayed a constant firing component which varied from the firing rate at rest. Nearly two-thirds of the units also modulated their discharges with respect to head orientation (re: gravity) during constant velocity OVAR stimulation. The modulated response magnitudes were equal during ipsilateral and contralateral OVARs, indicative of a one-dimensional accelerometer. These response orientations during OVAR divided the units into three spatially tuned populations, with peak modulation responses centered in the ipsilateral ear down, contralateral anterior semicircular canal down, and occiput down orientations. Because the orientation of the OVAR modulation response was opposite in polarity to the orientation of the static tilt component of responses to position trapezoids for the majority of units, the linear acceleration responses were divided into colinear dynamic linear and static tilt components. The orientations of these unit responses formed two distinct population response axes: (1) units with an interaural linear response axis and (2) units with an ipsilateral anterior semicircular canal-contralateral posterior semicircular canal plane linear response axis. The angular rotation sensitivity of these units is in a head-vertical plane that either contains the linear acceleration response axis or is perpendicular to the linear acceleration axis. Hence, these units behave like head-based ('strapdown') inertial guidance sensors. Because the PBN contributes to sensory and interoceptive processing, it is suggested that vestibulo-recipient caudal PBN units may detect potentially dangerous anomalies in control of postural stability during locomotion. In particular, these signals may contribute to the range of affective and emotional responses that include panic associated with falling, malaise associated with motion sickness and mal-de-debarquement, and comorbid balance and anxiety disorders.

Stabilization and mobility of the head, neck and trunk in horses during overground locomotion: comparisons with humans and other primates

Segmental kinematics were investigated in horses during overground locomotion and compared with published reports on humans and other primates to determine the impact of a large neck on rotational mobility (> 20 deg.) and stability (< or = 20 deg.) of the head and trunk. Three adult horses (Equus caballus) performing walks, trots and canters were videotaped in lateral view. Data analysis included locomotor velocity, segmental positions, pitch and linear displacements and velocities, and head displacement frequencies. Equine, human and monkey skulls and cervical spines were measured to estimate eye and vestibular arc length during head pitch displacements. Horses stabilized all three segments in all planes during all three gaits, unlike monkeys and humans who make large head pitch and yaw rotations during walks, and monkeys that make large trunk pitch rotations during gallops. Equine head angular displacements and velocities, with some exceptions during walks, were smaller than in humans and other primates. Nevertheless, owing to greater off-axis distances, orbital and vestibular arc lengths remained larger in horses, with the exception of head-neck axial pitch during trots, in which equine arc lengths were smaller than in running humans. Unlike monkeys and humans, equine head peak-frequency ranges fell within the estimated range in which inertia has a compensatory stabilizing effect. This inertial effect was typically over-ridden, however, by muscular or ligamentous intervention. Thus, equine head pitch was not consistently compensatory, as reported in humans. The equine neck isolated the head from the trunk enabling both segments to provide a spatial reference frame.

Head stabilization by vestibulocollic reflexes during quadrupedal locomotion in monkey

Little is known about the three-dimensional characteristics of vestibulocollic reflexes during natural locomotion. Here we determined how well head stability is maintained by the angular and linear vestibulocollic reflexes (aVCR, lVCR) during quadrupedal locomotion in rhesus and cynomolgus monkeys. Animals walked on a treadmill at velocities of 0.4-1.25 m/s. Head rotations were represented by Euler angles (Fick convention). The head oscillated in yaw and roll at stride frequencies (approximately 1-2 Hz) and pitched at step frequencies (approximately 2-4 Hz). Head angular accelerations (100-2,500 degrees/s2) were sufficient to have excited the aVOR to stabilize gaze. Pitch and roll head movements were <7 degrees , peak to peak, and the amplitude was unrelated to stride frequency. Yaw movements were larger due to spontaneous voluntary head shifts and were smaller at higher walking velocities. Head translations were small (< or =4 cm). Cynomolgus monkeys positioned their heads more forward in pitch than the rhesus monkeys. None of the animals maintained a forward head fixation point, indicating that the lVCR contributed little to compensatory head movements in these experiments. Significantly, aVCR gains in roll and pitch were close to unity and phases were approximately 180 degrees over the full frequency range of natural walking, which is in contrast to previous findings using anesthesia or passive trunk rotation with body restraint. We conclude that the behavioral state associated with active body motion is necessary to maintain head stability in pitch and roll over the full range of stride/step frequencies encountered during walking.

Steady locomotion in dogs: temporal and associated spatial coordination patterns and the effect of speed

Only a few studies on quadrupedal locomotion have investigated symmetrical and asymmetrical gaits in the same framework because the mechanisms underlying these two types of gait seem to be different and it took a long time to identify a common set of parameters for their simultaneous study. Moreover,despite the clear importance of the spatial dimension in animal locomotion,the relationship between temporal and spatial limb coordination has never been quantified before. We used anteroposterior sequence (APS) analysis to analyse 486 sequences from five malinois (Belgian shepherd) dogs moving at a large range of speeds (from 0.4 to 10.0 m s–1) to compare symmetrical and asymmetrical gaits through kinematic and limb coordination parameters. Considerable continuity was observed in cycle characteristics,from walk to rotary gallop, but at very high speeds an increase in swing duration reflected the use of sagittal flexibility of the vertebral axis to increase speed. This change occurred after the contribution of the increase in stride length had become the main element driving the increase in speed– i.e. when the dogs had adopted asymmetrical gaits. As the left and right limbs of a pair are linked to the same rigid structure, spatial coordination within pairs of limbs reflected the temporal coordination within pairs of limbs whatever the speed. By contrast, the relationship between the temporal and spatial coordination between pairs of limb was found to depend on speed and trunk length. For trot and rotary gallop, this relationship was thought also to depend on the additional action of trunk flexion and leg angle at footfall.

Stabilization and mobility of the head and trunk in vervet monkeys(Cercopithecus aethiops) during treadmill walks and gallops

The brain requires internal or external reference frames to determine body orientation in space. These frames may change, however, to meet changing conditions. During quadrupedal overground locomotion by monkeys, the head rotates on a stabilized trunk during walking, but the trunk rotates on a stabilized head during galloping. Do the same movement patterns occur during in-place locomotion? Head and trunk pitch rotations were measured, and yaw and roll rotations estimated from cine films of three adult vervet monkeys(Cercopithecus aethiops L. 1758) walking and galloping quadrupedally on a treadmill. Head and trunk rotational patterns during treadmill walks were comparable to the patterns found during overground walks. The rotational velocities of these segments during both treadmill walks and gallops were also comparable to the velocities found during natural locomotion. By contrast,whereas head and trunk rotational patterns during treadmill gallops did occur that were comparable to the patterns practiced during overground gallops, a significantly different pattern involving large and simultaneous head and trunk rotations was more commonly observed. Simultaneous head and trunk rotations may be possible during treadmill gallops because the fixed visual surround is providing an adequate spatial reference frame. Alternatively, or in addition to this visual information, a re-weighting in other sensory modalities may be occurring. Specifically, the vestibular inputs used during overground locomotion to reference gravity or a gravity-derived vector may become less important than proprioceptive inputs that are using the treadmill belt surface as a reference. Regardless, the spatial reference frame being used, blinks that occur at specific times during the largest head yaw rotations may be necessary to avoid the initiation of unwanted and potentially destabilizing lateral sway brought on by sudden increases in optic flow velocity.