A six degrees-of-freedom cable-driven robotic platform for head-neck movement.

This paper introduces a novel cable-driven robotic platform that enables six degrees-of-freedom (DoF) natural head-neck movements. Poor postural control of the head-neck can be a debilitating symptom of neurological disorders such as amyotrophic lateral sclerosis and cerebral palsy. Current treatments using static neck collars are inadequate, and there is a need to develop new devices to empower movements and facilitate physical rehabilitation of the head-neck. State-of-the-art neck exoskeletons using lower DoF mechanisms with rigid linkages are limited by their hard motion constraints imposed on head-neck movements. By contrast, the cable-driven robot presented in this paper does not constrain motion and enables wide-range, 6-DoF control of the head-neck. We present the mechatronic design, validation, and control implementations of this robot, as well as a human experiment to demonstrate a potential use case of this versatile robot for rehabilitation. Participants were engaged in a target reaching task while the robot applied both assistive and resistive moments on the head during the task. Our results show that neck muscle activation increased by 19% when moving the head against resistance and decreased by 28-43% when assisted by the robot. Overall, these results provide a scientific justification for further research in enabling movement and identifying personalized rehabilitation for motor training. Beyond rehabilitation, other applications such as applying force perturbations on the head to study sensory integration and applying traction to achieve pain relief may benefit from the innovation of this robotic platform which is capable of applying controlled 6-DoF forces/moments on the head.

Modeling the Impact of Head-Body Rotations on Audio-Visual Spatial Perception for Virtual Reality Applications.

Humans perceive the world by integrating multimodal sensory feedback, including visual and auditory stimuli, which holds true in virtual reality (VR) environments. Proper synchronization of these stimuli is crucial for perceiving a coherent and immersive VR experience. In this work, we focus on the interplay between audio and vision during localization tasks involving natural head-body rotations. We explore the impact of audio-visual offsets and rotation velocities on users' directional localization acuity for various viewing modes. Using psychometric functions, we model perceptual disparities between visual and auditory cues and determine offset detection thresholds. Our findings reveal that target localization accuracy is affected by perceptual audio-visual disparities during head-body rotations, but remains consistent in the absence of stimuli-head relative motion. We then showcase the effectiveness of our approach in predicting and enhancing users' localization accuracy within realistic VR gaming applications. To provide additional support for our findings, we implement a natural VR game wherein we apply a compensatory audio-visual offset derived from our measured psychometric functions. As a result, we demonstrate a substantial improvement of up to 40% in participants' target localization accuracy. We additionally provide guidelines for content creation to ensure coherent and seamless VR experiences.

Short-term learning of the vestibulo-ocular reflex induced by a custom interactive computer game.

Retinal image slip during head rotation drives motor learning in the rotational vestibulo-ocular reflex (VOR) and forms the basis of gaze-stability exercises that treat vestibular dysfunction. Clinical exercises, however, are unengaging, cannot easily be titrated to the level of impairment, and provide neither direct feedback nor tracking of the patient's adherence, performance, and progress. To address this, we have developed a custom application for VOR training based on an interactive computer game. In this study, we tested the ability of this game to induce VOR learning in individuals with normal vestibular function, and we compared the efficacy of single-step and incremental learning protocols. Eighteen participants played the game twice on different days. All participants tolerated the game and were able to complete both sessions. The game scenario incorporated a series of brief head rotations, similar to active head impulses, that were paired with a dynamic acuity task and with a visual-vestibular mismatch (VVM) intended to increase VOR gain (single-step: 300 successful trials at ×1.5 viewing; incremental: 100 trials each of ×1.13, ×1.33, and ×1.5 viewing). Overall, VOR gain increased by 15 ± 4.7% (mean ± 95% CI, P < 0.001). Gains increased similarly for active and passive head rotations, and, contrary to our hypothesis, there was little effect of the learning strategy. This study shows that an interactive computer game provides robust VOR training and has the potential to deliver effective, engaging, and trackable gaze-stability exercises to patients with a range of vestibular dysfunctions.NEW & NOTEWORTHY This study demonstrates the feasibility and efficacy of a customized computer game to induce motor learning in the high-frequency rotational vestibulo-ocular reflex. It provides a physiological basis for the deployment of this technology to clinical vestibular rehabilitation.

A dynamic sequence of visual processing initiated by gaze shifts.

Animals move their head and eyes as they explore the visual scene. Neural correlates of these movements have been found in rodent primary visual cortex (V1), but their sources and computational roles are unclear. We addressed this by combining head and eye movement measurements with neural recordings in freely moving mice. V1 neurons responded primarily to gaze shifts, where head movements are accompanied by saccadic eye movements, rather than to head movements where compensatory eye movements stabilize gaze. A variety of activity patterns followed gaze shifts and together these formed a temporal sequence that was absent in darkness. Gaze-shift responses resembled those evoked by sequentially flashed stimuli, suggesting a large component corresponds to onset of new visual input. Notably, neurons responded in a sequence that matches their spatial frequency bias, consistent with coarse-to-fine processing. Recordings in freely gazing marmosets revealed a similar sequence following saccades, also aligned to spatial frequency preference. Our results demonstrate that active vision in both mice and marmosets consists of a dynamic temporal sequence of neural activity associated with visual sampling.

Angular Head Velocity Cells within Brainstem Nuclei Projecting to the Head Direction Circuit.

The sense of orientation of an animal is derived from the head direction (HD) system found in several limbic structures and depends on an intact vestibular labyrinth. However, how the vestibular system influences the generation and updating of the HD signal remains poorly understood. Anatomical and lesion studies point toward three key brainstem nuclei as key components for generating the HD signal-nucleus prepositus hypoglossi, supragenual nucleus, and dorsal paragigantocellularis reticular nuclei. Collectively, these nuclei are situated between the vestibular nuclei and the dorsal tegmental and lateral mammillary nuclei, which are thought to serve as the origin of the HD signal. To determine the types of information these brain areas convey to the HD network, we recorded neurons from these regions while female rats actively foraged in a cylindrical enclosure or were restrained and rotated passively. During foraging, a large subset of cells in all three nuclei exhibited activity that correlated with the angular head velocity (AHV) of the rat. Two fundamental types of AHV cells were observed; (1) symmetrical AHV cells increased or decreased their firing with increases in AHV regardless of the direction of rotation, and (2) asymmetrical AHV cells responded differentially to clockwise and counterclockwise head rotations. When rats were passively rotated, some AHV cells remained sensitive to AHV, whereas firing was attenuated in other cells. In addition, a large number of AHV cells were modulated by linear head velocity. These results indicate the types of information conveyed from the vestibular nuclei that are responsible for generating the HD signal.SIGNIFICANCE STATEMENT Extracellular recording of brainstem nuclei (nucleus prepositus hypoglossi, supragenual nucleus, and dorsal paragigantocellularis reticular nucleus) that project to the head direction circuit identified different types of AHV cells while rats freely foraged in a cylindrical environment. The firing of many cells was also modulated by linear velocity. When rats were restrained and passively rotated, some cells remained sensitive to AHV, whereas others had attenuated firing. These brainstem nuclei provide critical information about the rotational movement of the head of the rat in the azimuthal plane.

Long-term dance training modifies eye-head coordination in response to passive head impulse.

Long-term dance training is known to improve postural control, especially in challenging postural tasks. However, the effect of dance training on the vestibulo-ocular reflex (VOR) has yet to be properly assessed. This study directly investigated whether VOR parameters are influenced by long-term dance training by testing dancers and controls using the video head impulse test. VOR gains using two of the most common methods (area ratio and instantaneous gains), latency and amplitude of the first saccade, if applicable, were computed. Results revealed a larger VOR gain as measured by area gain and instantaneous gain at 40 ms specifically for left-head impulses, but not right-head impulses. No significant differences in saccade frequency, amplitude, or latency were observed between groups. These differences appear to stem from a modified eye-to-head relationship during high-velocity head impulses in dancers. More specifically, the dancers' eyes lead head movement during passively applied head impulses, which result in higher VOR gain.NEW & NOTEWORTHY This study demonstrates, for the first time, that long-term dance training results in a nonlinear relationship between eye and head velocity within the first milliseconds following passive head impulse. The data also suggest a larger VOR gain in dancers. This finding suggests that dance training may modify eye-head relationship in passive high-frequency head movements. This is of particular interest for vestibular rehabilitation.

OperatorEYEVP: Operator Dataset for Fatigue Detection Based on Eye Movements, Heart Rate Data, and Video Information.

Detection of fatigue is extremely important in the development of different kinds of preventive systems (such as driver monitoring or operator monitoring for accident prevention). The presence of fatigue for this task should be determined with physiological and objective behavioral indicators. To develop an effective model of fatigue detection, it is important to record a dataset with people in a state of fatigue as well as in a normal state. We carried out data collection using an eye tracker, a video camera, a stage camera, and a heart rate monitor to record a different kind of signal to analyze them. In our proposed dataset, 10 participants took part in the experiment and recorded data 3 times a day for 8 days. They performed different types of activity (choice reaction time, reading, correction test Landolt rings, playing Tetris), imitating everyday tasks. Our dataset is useful for studying fatigue and finding indicators of its manifestation. We have analyzed datasets that have public access to find the best for this task. Each of them contains data of eye movements and other types of data. We evaluated each of them to determine their suitability for fatigue studies, but none of them fully fit the fatigue detection task. We evaluated the recorded dataset by calculating the correspondences between eye-tracking data and CRT (choice reaction time) that show the presence of fatigue.

Hindbrain modules differentially transform activity of single collicular neurons to coordinate movements.

Seemingly simple behaviors such as swatting a mosquito or glancing at a signpost involve the precise coordination of multiple body parts. Neural control of coordinated movements is widely thought to entail transforming a desired overall displacement into displacements for each body part. Here we reveal a different logic implemented in the mouse gaze system. Stimulating superior colliculus (SC) elicits head movements with stereotyped displacements but eye movements with stereotyped endpoints. This is achieved by individual SC neurons whose branched axons innervate modules in medulla and pons that drive head movements with stereotyped displacements and eye movements with stereotyped endpoints, respectively. Thus, single neurons specify a mixture of endpoints and displacements for different body parts, not overall displacement, with displacements for different body parts computed at distinct anatomical stages. Our study establishes an approach for unraveling motor hierarchies and identifies a logic for coordinating movements and the resulting pose.

A change in behavioral state switches the pattern of motor output that underlies rhythmic head and orofacial movements.

The breathing rhythm serves as a reference that paces orofacial motor actions and orchestrates active sensing. Past work has reported that pacing occurs solely at a fixed phase relative to sniffing. We re-evaluated this constraint as a function of exploratory behavior. Allocentric and egocentric rotations of the head and the electromyogenic activity of the motoneurons for head and orofacial movements were recorded in free-ranging rats as they searched for food. We found that a change in state from foraging to rearing is accompanied by a large phase shift in muscular activation relative to sniffing, and a concurrent change in the frequency of sniffing, so that pacing now occurs at one of the two phases. Further, head turning is biased such that an animal gathers a novel sample of its environment upon inhalation. In total, the coordination of active sensing has a previously unrealized computational complexity. This can emerge from hindbrain circuits with fixed architecture and credible synaptic time delays.

Effect of a differential training paradigm with varying frequencies and amplitudes on adaptation of vestibulo-ocular reflex in mice.

The vestibulo-ocular reflex (VOR) functions to maintain eye stability during head movement, and VOR gain can be dynamically increased or decreased by gain-up or gain-down adaptation. In this study, we investigated the impact of a differential training paradigm with varying frequencies and amplitudes on the level of VOR adaptation in mice. Training for gain-up (out of phase) or gain-down (in phase) VOR adaptation was applied for 60 min using two protocols: (1) oscillation of a drum and turntable with fixed frequency and differing amplitudes (0.5 Hz/2.5°, 0.5 Hz/5° and 0.5 Hz/10°). (2) Oscillation of a drum and turntable with fixed amplitude and a differing frequency (0.25 Hz/5°, 0.5 Hz/5° and 1 Hz/5°). VOR adaptation occurred distinctively in gain-up and gain-down learning. In gain-up VOR adaptation, the learned increase in VOR gain was greatest when trained with the same frequency and amplitude as the test stimulation, and VOR gain decreased after gain-up training with too high a frequency or amplitude. In gain-down VOR adaptation, the decrease in VOR gain increased as the training frequency or amplitude increased. These results suggest that different mechanisms are, at least in part, involved in gain-up and gain-down VOR adaptation.

Volitional Head Movement Deficits and Alterations in Gait Speed Following Mild Traumatic Brain Injury.

OBJECTIVE: Unconstrained head motion is necessary to scan for visual cues during navigation, for minimizing threats, and to allow regulation of balance. Following mild traumatic brain injury (mTBI) people may experience alterations in head movement kinematics, which may be pronounced during gait tasks. Gait speed may also be impacted by the need to turn the head while walking in these individuals. The aim of this study was to examine head kinematics during dynamic gait tasks and the interaction between kinematics and gait speed in people with persistent symptoms after mTBI. SETTING: A clinical assessment laboratory. DESIGN: A cross-sectional, matched-cohort study. PARTICIPANTS: Forty-five individuals with a history of mTBI and 46 age-matched control individuals. MAIN MEASURES: All participants were tested at a single time point and completed the Functional Gait Assessment (FGA) while wearing a suite of body-mounted inertial measurement units (IMUs). Data collected from the IMUs were gait speed, and peak head rotation speed and amplitude in the yaw and pitch planes during the FGA-1, -3, and -4 tasks. RESULTS: Participants with mTBI demonstrated significantly slower head rotations in the yaw ( P = .0008) and pitch ( P = .002) planes. They also demonstrated significantly reduced amplitude of yaw plane head rotations ( P < .0001), but not pitch plane head rotations ( P = .84). Participants with mTBI had significantly slower gait speed during normal gait (FGA-1) ( P < .001) and experienced a significantly greater percent decrease in gait speed than healthy controls when walking with yaw plane head rotations (FGA-3) ( P = .02), but not pitch plane head rotations (FGA-4) ( P = .11). CONCLUSIONS: Participants with mTBI demonstrated smaller amplitudes and slower speeds of yaw plane head rotations and slower speeds of pitch plane head rotations during gait. Additionally, people with mTBI walked slower during normal gait and demonstrated a greater reduction in gait speed while walking with yaw plane head rotations compared with healthy controls.

Cerebellar control of a unitary head direction sense.

The head-direction (HD) system, a key neural circuit for navigation, consists of several anatomical structures containing neurons selective to the animal's head direction. HD cells exhibit ubiquitous temporal coordination across brain regions, independently of the animal's behavioral state or sensory inputs. Such temporal coordination mediates a single, stable, and persistent HD signal, which is essential for intact orientation. However, the mechanistic processes behind the temporal organization of HD cells are unknown. By manipulating the cerebellum, we identify pairs of HD cells recorded from two brain structures (anterodorsal thalamus and retrosplenial cortex) that lose their temporal coordination, specifically during the removal of the external sensory inputs. Further, we identify distinct cerebellar mechanisms that participate in the spatial stability of the HD signal depending on sensory signals. We show that while cerebellar protein phosphatase 2B-dependent mechanisms facilitate the anchoring of the HD signal on the external cues, the cerebellar protein kinase C-dependent mechanisms are required for the stability of the HD signal by self-motion cues. These results indicate that the cerebellum contributes to the preservation of a single and stable sense of direction.

Offline Calibration for Infant Gaze and Head Tracking across a Wide Horizontal Visual Field.

Most well-established eye-tracking research paradigms adopt remote systems, which typically feature regular flat screens of limited width. Limitations of current eye-tracking methods over a wide area include calibration, the significant loss of data due to head movements, and the reduction of data quality over the course of an experimental session. Here, we introduced a novel method of tracking gaze and head movements that combines the possibility of investigating a wide field of view and an offline calibration procedure to enhance the accuracy of measurements. A 4-camera Smart Eye Pro system was adapted for infant research to detect gaze movements across 126° of the horizontal meridian. To accurately track this visual area, an online system calibration was combined with a new offline gaze calibration procedure. Results revealed that the proposed system successfully tracked infants' head and gaze beyond the average screen size. The implementation of an offline calibration procedure improved the validity and spatial accuracy of measures by correcting a systematic top-right error (1.38° mean horizontal error and 1.46° mean vertical error). This approach could be critical for deriving accurate physiological measures from the eye and represents a substantial methodological advance for tracking looking behaviour across both central and peripheral regions. The offline calibration is particularly useful for work with developing populations, such as infants, and for people who may have difficulties in following instructions.

Tiltable objective microscope visualizes selectivity for head motion direction and dynamics in zebrafish vestibular system.

Spatio-temporal information about head orientation and movement is fundamental to the sense of balance and motion. Hair cells (HCs) in otolith organs of the vestibular system transduce linear acceleration, including head tilt and vibration. Here, we build a tiltable objective microscope in which an objective lens and specimen tilt together. With in vivo Ca2+ imaging of all utricular HCs and ganglion neurons during 360° static tilt and vibration in pitch and roll axes, we reveal the direction- and static/dynamic stimulus-selective topographic responses in larval zebrafish. We find that head vibration is preferentially received by striolar HCs, whereas static tilt is preferentially transduced by extrastriolar HCs. Spatially ordered direction preference in HCs is consistent with hair-bundle polarity and is preserved in ganglion neurons through topographic innervation. Together, these results demonstrate topographically organized selectivity for direction and dynamics of head orientation/movement in the vestibular periphery.

Ventral premotor cortex encodes task relevant features during eye and head movements.

Visual exploration of the environment is achieved through gaze shifts or coordinated movements of the eyes and the head. The kinematics and contributions of each component can be decoupled to fit the context of the required behavior, such as redirecting the visual axis without moving the head or rotating the head without changing the line of sight. A neural controller of these effectors, therefore, must show code relating to multiple muscle groups, and it must also differentiate its code based on context. In this study we tested whether the ventral premotor cortex (PMv) in monkey exhibits a population code relating to various features of eye and head movements. We constructed three different behavioral tasks or contexts, each with four variables to explore whether PMv modulates its activity in accordance with these factors. We found that task related population code in PMv differentiates between all task related features and conclude that PMv carries information about task relevant features during eye and head movements. Furthermore, this code represents both lower-level (effector and movement direction) and higher-level (context) information.

Flexible cue anchoring strategies enable stable head direction coding in both sighted and blind animals.

Vision plays a crucial role in instructing the brain's spatial navigation systems. However, little is known about how vision loss affects the neuronal encoding of spatial information. Here, recording from head direction (HD) cells in the anterior dorsal nucleus of the thalamus in mice, we find stable and robust HD tuning in rd1 mice, a model of photoreceptor degeneration, that go blind by approximately one month of age. In contrast, placing sighted animals in darkness significantly impairs HD cell tuning. We find that blind mice use olfactory cues to maintain stable HD tuning and that prior visual experience leads to refined HD cell tuning in blind rd1 adult mice compared to congenitally blind animals. Finally, in the absence of both visual and olfactory cues, the HD attractor network remains intact but the preferred firing direction of HD cells drifts over time. These findings demonstrate flexibility in how the brain uses diverse sensory information to generate a stable directional representation of space.

Neck muscle activity reflects neural patterns of sequential saccade planning in head-restrained primates.

Goal-directed behavior involves the transformation of neural movement plans into appropriate muscle activity patterns. Studies involving single saccades have shown that a rapid pathway links saccade planning in frontal eye fields (FEFs) to neck muscle activity. However, it is unknown if the rapid connection between FEF and neck muscle is also maintained during sequential saccade planning. Using neural recordings from FEF, and electromyographic (EMG) recordings from the dorsal neck muscles of head-restrained monkeys, we show that neural sequence planning signals are largely preserved in the neck EMG response. Like FEF movement neurons, we found that neck motor unit activity displayed an accumulation-to-threshold response before saccade onset. Responses of both neck motor units and FEF neurons displayed similar trends during saccade sequencing; multiple saccadic eye movements could be programmed in parallel, while processing bottlenecks, indexed by reduced accumulation rates, limited the extent of parallel programming. These results suggest that even without the need for overt head movements, neck muscle activity shows signatures of central gaze planning. We propose that multiple upcoming gaze plans are rapidly passed down from the FEF to the neck muscles to initiate recruitment for anticipated gaze movements. Similarities in neural and neck motor activity may enable synchronous yet controlled eye-head responses to sequential gaze shifts.NEW & NOTEWORTHY Gaze shifts, brought about by coordinated eye-head movements through the eye and neck muscle system, are a part of everyday behavior, yet the neuromuscular underpinnings of gaze sequences are unclear. Using a combination of behavioral analyses, neural recordings, and electromyographic recordings, we show that sequential saccade plans developing in neural oculomotor centers can be extracted from the neck muscle activity of head-restrained macaques. Neck motor units, thus provide a readout of central sequence planning signals.

Complementary feedback control enables effective gaze stabilization in animals.

Visually active animals coordinate vision and movement to achieve spectacular tasks. An essential prerequisite to guide agile locomotion is to keep gaze level and stable. Since the eyes, head and body can move independently to control gaze, how does the brain effectively coordinate these distinct motor outputs? Furthermore, since the eyes, head, and body have distinct mechanical constraints (e.g., inertia), how does the nervous system adapt its control to these constraints? To address these questions, we studied gaze control in flying fruit flies (Drosophila) using a paradigm which permitted direct measurement of head and body movements. By combining experiments with mathematical modeling, we show that body movements are sensitive to the speed of visual motion whereas head movements are sensitive to its acceleration. This complementary tuning of the head and body permitted flies to stabilize a broader range of visual motion frequencies. We discovered that flies implement proportional-derivative (PD) control, but unlike classical engineering control systems, relay the proportional and derivative signals in parallel to two distinct motor outputs. This scheme, although derived from flies, recapitulated classic primate vision responses thus suggesting convergent mechanisms across phyla. By applying scaling laws, we quantify that animals as diverse as flies, mice, and humans as well as bio-inspired robots can benefit energetically by having a high ratio between head, body, and eye inertias. Our results provide insights into the mechanical constraints that may have shaped the evolution of active vision and present testable neural control hypotheses for visually guided behavior across phyla.

A descriptive study of eye and head movements in versive seizures.

BACKGROUND: Versive seizures, consisting of forced, involuntary, sustained and unnatural turning of eyes and head toward one side, lateralize to the hemisphere contralateral to the direction of the eye and head turn. The characteristics of eye and head movements in version have been rarely and incompletely studied in spontaneous epileptic seizures as opposed to direct cortical stimulation studies. METHODS: We performed a single center retrospective analysis of a cohort of 28 patients with 43 seizures, who had been admitted to the adult epilepsy monitoring unit at University Hospitals Cleveland Medical Center between January 2009 and August 2020. We only included patients with clear, high-resolution seizure videos and interpretable EEG. RESULTS: The eye movements were conjugate and contralateral to the hemisphere of seizure onset in 100% of the focal-onset seizures. The eye movements were saccadic in 89.3% with a predominant vector in oblique upward direction in 86.8% of the seizures. Head deviation was present in 100% of the seizures and the eyes and head deviated in the same direction in 97.6% of the seizures. In addition to deviation along the horizontal meridian, there was a vertical component to the head deviation as well, as evidenced by movement of the chin upward along the vertical axis in 93% of the seizures, thus indicating strong activation of the sternocleidomastoid muscle ipsilateral to the hemisphere of seizure onset. Concomitant facial motor activity ipsilateral to the direction of version was seen in 93% of the seizures. The most common pattern was a clonic superimposed on tonic facial contraction. DISCUSSION: Version remains a reliable and highly lateralizing sign. The majority of the eye movements during version occur in a saccadic fashion rather than one smooth movement, mostly in an oblique upward direction. Head deviation is very closely associated with eye deviation, thus indicating a common symptomatogenic zone for both, which is most likely the frontal eye field. A high concurrence of ipsilateral facial motor activity with version is likely because of close proximity of the frontal eye field to the face area in the primary motor cortex.

Distinct representations of body and head motion are dynamically encoded by Purkinje cell populations in the macaque cerebellum.

The ability to accurately control our posture and perceive our spatial orientation during self-motion requires knowledge of the motion of both the head and body. However, while the vestibular sensors and nuclei directly encode head motion, no sensors directly encode body motion. Instead, the integration of vestibular and neck proprioceptive inputs is necessary to transform vestibular information into the body-centric reference frame required for postural control. The anterior vermis of the cerebellum is thought to play a key role in this transformation, yet how its Purkinje cells transform multiple streams of sensory information into an estimate of body motion remains unknown. Here, we recorded the activity of individual anterior vermis Purkinje cells in alert monkeys during passively applied whole-body, body-under-head, and head-on-body rotations. Most Purkinje cells dynamically encoded an intermediate representation of self-motion between head and body motion. Notably, Purkinje cells responded to both vestibular and neck proprioceptive stimulation with considerable heterogeneity in their response dynamics. Furthermore, their vestibular responses were tuned to head-on-body position. In contrast, targeted neurons in the deep cerebellar nuclei are known to unambiguously encode either head or body motion across conditions. Using a simple population model, we established that combining responses of~40-50 Purkinje cells could explain the responses of these deep cerebellar nuclei neurons across all self-motion conditions. We propose that the observed heterogeneity in Purkinje cell response dynamics underlies the cerebellum's capacity to compute the dynamic representation of body motion required to ensure accurate postural control and perceptual stability in our daily lives.