Computational neurorehabilitation: modeling plasticity and learning to predict recovery

Despite progress in using computational approaches to inform medicine and neuroscience in the last 30 years, there have been few attempts to model the mechanisms underlying sensorimotor rehabilitation. We argue that a fundamental understanding of neurologic recovery, and as a result accurate predictions at the individual level, will be facilitated by developing computational models of the salient neural processes, including plasticity and learning systems of the brain, and integrating them into a context specific to rehabilitation. Here, we therefore discuss Computational Neurorehabilitation, a newly emerging field aimed at modeling plasticity and motor learning to understand and improve movement recovery of individuals with neurologic impairment. We first explain how the emergence of robotics and wearable sensors for rehabilitation is providing data that make development and testing of such models increasingly feasible. We then review key aspects of plasticity and motor learning that such models will incorporate. We proceed by discussing how computational neurorehabilitation models relate to the current benchmark in rehabilitation modeling – regression-based, prognostic modeling. We then critically discuss the first computational neurorehabilitation models, which have primarily focused on modeling rehabilitation of the upper extremity after stroke, and show how even simple models have produced novel ideas for future investigation. Finally, we conclude with key directions for future research, anticipating that soon we will see the emergence of mechanistic models of motor recovery that are informed by clinical imaging results and driven by the actual movement content of rehabilitation therapy as well as wearable sensor-based records of daily activity

Remembering Forward: Neural Correlates of Memory and Prediction in Human Motor Adaptation

We used functional MR imaging (FMRI), a robotic manipulandum and systems identification techniques to examine neural correlates of predictive compensation for spring-like loads during goal-directed wrist movements in neurologically-intact humans. Although load changed unpredictably from one trial to the next, subjects nevertheless used sensorimotor memories from recent movements to predict and compensate upcoming loads. Prediction enabled subjects to adapt performance so that the task was accomplished with minimum effort. Population analyses of functional images revealed a distributed, bilateral network of cortical and subcortical activity supporting predictive load compensation during visual target capture. Cortical regions – including prefrontal, parietal and hippocampal cortices – exhibited trial-by-trial fluctuations in BOLD signal consistent with the storage and recall of sensorimotor memories or “states” important for spatial working memory. Bilateral activations in associative regions of the striatum demonstrated temporal correlation with the magnitude of kinematic performance error (a signal that could drive reward-optimizing reinforcement learning and the prospective scaling of previously learned motor programs). BOLD signal correlations with load prediction were observed in the cerebellar cortex and red nuclei (consistent with the idea that these structures generate adaptive fusimotor signals facilitating cancelation of expected proprioceptive feedback, as required for conditional feedback adjustments to ongoing motor commands and feedback error learning). Analysis of single subject images revealed that predictive activity was at least as likely to be observed in more than one of these neural systems as in just one. We conclude therefore that motor adaptation is mediated by predictive compensations supported by multiple, distributed, cortical and subcortical structures

Maximizing the Effects of Passive Training on Visuomotor Adaptation By Incorporating Other Motor Learning Strategies

Passive training has been shown to be an effective rehabilitation approach for stroke survivors, especially for those who suffer from severe control loss or complete paralysis. However, the effectiveness of the treatments that utilize passive assist training is still low. The goal of this dissertation was to develop a training condition that can maximize the effects of passive training on motor learning by combining its effect with other motor learning strategies. To achieve this goal, two specific aims were pursued: one aim was to determine the effects of passive training on learning a visuomotor adaptation task; and the other aim was to determine the effects of passive training in combination with other strategies on learning a visuomotor adaptation task. Experimental results indicated that passive training has a positive effect on visuomotor learning. Furthermore, it was confirmed that a training condition consisting of action observation and passive training leads to significant performance gains beyond what either intervention alone can do. This suggests that passive training could elicit motor representational changes, inducing instance-reliant learning process (use-dependent plasticity) that encodes motor instances associated with specific effectors and task conditions. The findings from this study show great potential for developing specific rehabilitation protocols that utilize passive training and action observation together for severely impaired stroke patients in the future

Computational models and motor learning paradigms: Could they provide insights for neuroplasticity after stroke? An overview

Computational approaches for modelling the central nervous system (CNS) aim to develop theories on processes occurring in the brain that allow the transformation of all information needed for the execution of motor acts. Computational models have been proposed in several fields, to interpret not only the CNS functioning, but also its efferent behaviour. Computational model theories can provide insights into neuromuscular and brain function allowing us to reach a deeper understanding of neuroplasticity. Neuroplasticity is the process occurring in the CNS that is able to permanently change both structure and function due to interaction with the external environment. To understand such a complex process several paradigms related to motor learning and computational modeling have been put forward. These paradigms have been explained through several internal model concepts, and supported by neurophysiological and neuroimaging studies. Therefore, it has been possible to make theories about the basis of different learning paradigms according to known computational models. Here we review the computational models and motor learning paradigms used to describe the CNS and neuromuscular functions, as well as their role in the recovery process. These theories have the potential to provide a way to rigorously explain all the potential of CNS learning, providing a basis for future clinical studies

Sensorimotor representation learning for an "active self" in robots: A model survey

Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment, rather than being provided a rigid set of rules for operations. In humans, these capabilities are thought to be related to our ability to perceive our body in space, sensing the location of our limbs during movement, being aware of other objects and agents, and controlling our body parts to interact with them intentionally. Toward the next generation of robots with bio-inspired capacities, in this paper, we first review the developmental processes of underlying mechanisms of these abilities: The sensory representations of body schema, peripersonal space, and the active self in humans. Second, we provide a survey of robotics models of these sensory representations and robotics models of the self; and we compare these models with the human counterparts. Finally, we analyse what is missing from these robotics models and propose a theoretical computational framework, which aims to allow the emergence of the sense of self in artificial agents by developing sensory representations through self-exploration

Sensorimotor Representation Learning for an “Active Self” in Robots: A Model Survey

Safe human-robot interactions require robots to be able to learn how to behave appropriately in spaces populated by people and thus to cope with the challenges posed by our dynamic and unstructured environment, rather than being provided a rigid set of rules for operations. In humans, these capabilities are thought to be related to our ability to perceive our body in space, sensing the location of our limbs during movement, being aware of other objects and agents, and controlling our body parts to interact with them intentionally. Toward the next generation of robots with bio-inspired capacities, in this paper, we first review the developmental processes of underlying mechanisms of these abilities: The sensory representations of body schema, peripersonal space, and the active self in humans. Second, we provide a survey of robotics models of these sensory representations and robotics models of the self; and we compare these models with the human counterparts. Finally, we analyze what is missing from these robotics models and propose a theoretical computational framework, which aims to allow the emergence of the sense of self in artificial agents by developing sensory representations through self-exploration.Deutsche Forschungsgemeinschaft http://dx.doi.org/10.13039/501100001659Deutsche Forschungsgemeinschaft http://dx.doi.org/10.13039/501100001659Deutsche Forschungsgemeinschaft http://dx.doi.org/10.13039/501100001659Deutsche Forschungsgemeinschaft http://dx.doi.org/10.13039/501100001659Deutsche Forschungsgemeinschaft http://dx.doi.org/10.13039/501100001659Deutsche Forschungsgemeinschaft http://dx.doi.org/10.13039/501100001659Projekt DEALPeer Reviewe

Investigating the Contribution of Instance-Reliant Learning in Visuomotor Adaptation and Its Generalization

Motor adaptation has been of great interest in the past two decades as it reflects how movement skills are acquired and consolidated by the nervous system. In our recent studies, instance-reliant learning is considered as an essential component of visuomotor adaptation, since it plays a unique role in fast and automatized control of movement output. The goal of this dissertation is to investigate the nature of instance-reliant learning on two aspects: to determine the differential contributions of algorithmic learning and instance-reliant learning to visuomotor adaptation; and to determine the nature of movement instance involved in visuomotor adaptation and its generalization across different situations that involve magnitude, workspace, and limb configuration. Experimental results show that both algorithmic and instance-reliant learnings are positively associated with the improvements in the subsequent performance, which is compatible with our expectation. However, compared to algorithmic learning, which has been intensively studied before, instance-reliant learning exhibits different characteristics in terms of both visuomotor adaptation and its generalization. In Experiment 1 and 2, we found that algorithmic and instance-reliant learning led to substantial improvements in movement errors; but the learning rate in the subsequent test was only sensitive to algorithmic learning. In Experiment 3, 4, and 5, the movement instances associated with the reaching performance were magnitude, workspace, and limb configuration specific, although it could still generalize to a certain degree. Thus, the distinct contributions of instance-reliant learning to motor adaptation are elucidated in this dissertation. We expect that findings from this dissertation would prove valuable for developing rehabilitation strategies for patients who suffer from neuromotor impairments