An Integrated Neurorobotics Model of the Cerebellar-Basal Ganglia Circuitry.

This work presents a neurorobotics model of the brain that integrates the cerebellum and the basal ganglia regions to coordinate movements in a humanoid robot. This cerebellar-basal ganglia circuitry is well known for its relevance to the motor control used by most mammals. Other computational models have been designed for similar applications in the robotics field. However, most of them completely ignore the interplay between neurons from the basal ganglia and cerebellum. Recently, neuroscientists indicated that neurons from both regions communicate not only at the level of the cerebral cortex but also at the subcortical level. In this work, we built an integrated neurorobotics model to assess the capacity of the network to predict and adjust the motion of the hands of a robot in real time. Our model was capable of performing different movements in a humanoid robot by respecting the sensorimotor loop of the robot and the biophysical features of the neuronal circuitry. The experiments were executed in simulation and the real world. We believe that our proposed neurorobotics model can be an important tool for new studies on the brain and a reference toward new robot motor controllers.

Neuro4PD: An Initial Neurorobotics Model of Parkinson's Disease.

In this work, we present the first steps toward the creation of a new neurorobotics model of Parkinson's Disease (PD) that embeds, for the first time in a real robot, a well-established computational model of PD. PD mostly affects the modulation of movement in humans. The number of people suffering from this neurodegenerative disease is set to double in the next 15 years and there is still no cure. With the new model we were capable to further explore the dynamics of the disease using a humanoid robot. Results show that the embedded model under both conditions, healthy and parkinsonian, was capable of performing a simple behavioural task with different levels of motor disturbance. We believe that this neurorobotics model is a stepping stone to the development of more sophisticated models that could eventually test and inform new PD therapies and help to reduce and replace animals in research.

Astrocytic Response to Acutely- and Chronically-Implanted Microelectrode Arrays in the Marmoset (Callithrix jacchus) Brain.

Microelectrode implants are an important tool in neuroscience research and in developing brain⁻machine interfaces. Data from rodents have consistently shown that astrocytes are recruited to the area surrounding implants, forming a glial scar that increases electrode impedance and reduces chronic utility. However, studies in non-human primates are scarce, with none to date in marmosets. We used glial fibrillary acidic protein (GFAP) immunostaining to characterize the acute and chronic response of the marmoset brain to microelectrodes. By using densitometry, we showed that marmoset astrocytes surround brain implants and that a glial scar is formed over time, with significant increase in the chronic condition relative to the acute condition animal.

Effects of direct cedrol inhalation into the lower airway on brain hemodynamics in totally laryngectomized subjects.

A previous study reported that when cedrol (odorant) is inhaled directly through the lower airway of the trachea, it decreases the sympathetic nervous activity and blood pressure in totally laryngectomized subjects (Umeno et al., 2008). In the present study, totally laryngectomized subjects were asked to inhale cedrol into the lower airway in the same manner and its effects on regional cerebral blood flow (rCBF) were analyzed. Our results indicated that hippocampal rCBF was bilaterally increased during cedrol inhalation as compared to the inhalation of blank air. These results provide the first evidence that an odorant in the lower airway modulates autonomic activity via the central nervous system.

Neuronal activity of the anterior cingulate cortex during an observation-based decision making task in monkeys.

The medial prefrontal cortex (mPFC) including the anterior cingulate sulcus is implicated in both decision-making and social cognition, suggesting that this area may play a central role in decision-making based on social context. In the present study, neural activity was recorded from the monkey anterior cingulate cortex (ACC) while the monkeys chose one of two identical figures based on the choice previously made by a robot arm. Monkeys observed that the robot touched one of the two figures in the left or right side of a touch screen. Every time the robot chose the correct option, the same pair appeared on another touch screen for the monkey. Then, the monkey had to touch the figure in the same side to obtain reward. Neuronal responses were compared by one-way ANOVA among 17 intervals distributed in 4 phases: baseline before the trial, observation phase (robot arm choices and feedback signals), inter-phase interval (between observation and following execution phases), and execution phase (monkeys choices and associated outcomes). Of 264 neurons recorded, 164 (62.12%) responded in one or more intervals of the task. Of these, 16 responded during the observation-phase, 5 during the inter-phase interval, 98 during the execution-phase and 18 on both observation and execution phases. Furthermore, neuronal activity of 69 (26.14%) neurons during action observation was correlated with that during real action (execution). This type of neurons might correspond to mirror neurons. The results indicated that the ACC processes information about self and others actions and outcomes, which may support social-based decision-making.

Neuronal responses in the nucleus accumbens shell during sexual behavior in male rats.

Previous behavioral studies have indicated that the nucleus accumbens (NAc) shell of a male rat is involved in its sexual behavior; however, no previous studies have investigated neuronal activities in the male rat NAc shell during sexual behavior. To investigate this issue, we recorded single unit activities in the NAc shell of male rats during sexual behavior. Of 123 NAc shell neurons studied, 53, 47, and 40 neurons exhibited significantly changed firing rates at various times during intromission, genital auto-grooming, and sniffing of females, respectively. The two types of NAc shell neurons [putative fast spiking interneurons (pFSIs) and medium spiny neurons (pMSNs)] responded differently during sexual behavior. First, more pFSIs than pMSNs exhibited inhibitory responses to thrusting with intromission and genital grooming, while pFSIs and pMSNs responded similarly to sniffing of females. Second, both pFSIs and pMSNs responded differently to thrusting with and without intromission. Furthermore, NAc shell neuronal activity was significantly different across the different phases of sexual behavior, and the number of NAc shell neurons with delta oscillation, which is related to behavioral inhibition, and high gamma oscillation, which is related to reward perception, increased after ejaculation. Together, our results suggest that the NAc shell is deeply involved in sexual behavior, and changes in NAc shell neuronal activity are related to performance of sexual behavior, encoding cues or contexts related to sexual behavior, reward-related processing, and the inhibition of sexual behavior after ejaculation.

Modeling dichromatic and trichromatic sensitivity to the color properties of fruits eaten by squirrel monkeys (Saimiri sciureus).

Most platyrrhines have a visual polymorphism that is characterized by the presence of multiple alleles of the M/LWS gene on the X chromosome. This polymorphism is probably maintained by selection. There are two possible mechanisms by which this can be explained: First, heterozygous females may have perceptual advantages over dichromats, such that trichromacy would be favored via the existence of different visual pigments. This is known as selection by heterosis. Second, dichromacy may be advantageous in some situations, with polymorphism being maintained by frequency-dependent selection. In this study the reflectance spectra of fruits and flowers eaten by a troop of squirrel monkeys (Saimiri sciureus) in Eastern Amazon were measured using a spectrophotometer. S. sciureus have an SWS cone with a spectral tuning of approximately 430 nm, and three M/LWS alleles with spectral tunings of 535 nm, 550 nm, and 562 nm. Based on the spectral tunings of the different phenotypes and the spectral data obtained from the food items, the responses of the different visual systems to the measured objects were modeled and then compared. The model predicted that trichromatic phenotypes would have an advantage over dichromats in detecting fruits and flowers from background foliage, which suggests that heterosis is the mechanism for maintaining polymorphism in S. sciureus. On the other hand, a large proportion of fruits could not be detected by any of the phenotypes. Additional studies are necessary to determine whether other important aspects of the primates' visual world, such as prey, predator, and conspecific detection, favor tri- or dichromacy.