Neurorobotics
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Neurorobotics is the combined study of
neuroscience Neuroscience is the scientific study of the nervous system (the brain, spinal cord, and peripheral nervous system), its functions and disorders. It is a multidisciplinary science that combines physiology, anatomy, molecular biology, development ...
,
robotics Robotics is an interdisciplinary branch of computer science and engineering. Robotics involves design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrat ...
, and
artificial intelligence Artificial intelligence (AI) is intelligence—perceiving, synthesizing, and inferring information—demonstrated by machines, as opposed to intelligence displayed by animals and humans. Example tasks in which this is done include speech re ...
. It is the science and technology of embodied autonomous neural systems. Neural systems include brain-inspired algorithms (e.g. connectionist networks), computational models of biological neural networks (e.g. artificial
spiking neural network Spiking neural networks (SNNs) are artificial neural networks that more closely mimic natural neural networks. In addition to neuronal and synaptic state, SNNs incorporate the concept of time into their operating model. The idea is that neuro ...
s, large-scale simulations of neural microcircuits) and actual biological systems (e.g. ''in vivo'' and ''in vitro'' neural nets). Such neural systems can be embodied in machines with mechanic or any other forms of physical actuation. This includes
robot A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be c ...
s,
prosthetic In medicine, a prosthesis (plural: prostheses; from grc, πρόσθεσις, prósthesis, addition, application, attachment), or a prosthetic implant, is an artificial device that replaces a missing body part, which may be lost through trau ...
or wearable systems but also, at smaller scale, micro-machines and, at the larger scales, furniture and infrastructures. Neurorobotics is that branch of neuroscience with robotics, which deals with the study and application of science and technology of embodied autonomous neural systems like brain-inspired algorithms. It is based on the idea that the brain is embodied and the body is embedded in the environment. Therefore, most neurorobots are required to function in the real world, as opposed to a simulated environment. Beyond brain-inspired algorithms for robots neurorobotics may also involve the design of brain-controlled robot systems.


Major classes of models

Neurorobots can be divided into various major classes based on the robot's purpose. Each class is designed to implement a specific mechanism of interest for study. Common types of neurorobots are those used to study motor control, memory,
action selection Action selection is a way of characterizing the most basic problem of intelligent systems: what to do next. In artificial intelligence and computational cognitive science, "the action selection problem" is typically associated with intelligent agen ...
, and perception.


Locomotion and motor control

Neurorobots are often used to study motor
feedback Feedback occurs when outputs of a system are routed back as inputs as part of a chain of cause-and-effect that forms a circuit or loop. The system can then be said to ''feed back'' into itself. The notion of cause-and-effect has to be handled ...
and control systems, and have proved their merit in developing controllers for robots.
Locomotion Locomotion means the act or ability of something to transport or move itself from place to place. Locomotion may refer to: Motion * Motion (physics) * Robot locomotion, of man-made devices By environment * Aquatic locomotion * Flight * Locomo ...
is modeled by a number of neurologically inspired theories on the action of motor systems. Locomotion control has been mimicked using models or
central pattern generator Central pattern generators (CPGs) are self-organizing biological neural circuits that produce rhythmic outputs in the absence of rhythmic input. They are the source of the tightly-coupled patterns of neural activity that drive rhythmic and stereot ...
s, clumps of neurons capable of driving repetitive behavior, to make four-legged walking robots. Other groups have expanded the idea of combining rudimentary control systems into a hierarchical set of simple autonomous systems. These systems can formulate complex movements from a combination of these rudimentary subsets. This theory of motor action is based on the organization of
cortical column A cortical column is a group of neurons forming a cylindrical structure through the cerebral cortex of the brain perpendicular to the cortical surface. The structure was first identified by Mountcastle in 1957. He later identified cortical minicolu ...
s, which progressively integrate from simple sensory input into a complex afferent signals, or from complex motor programs to simple controls for each
muscle fiber A muscle cell is also known as a myocyte when referring to either a cardiac muscle cell (cardiomyocyte), or a smooth muscle cell as these are both small cells. A skeletal muscle cell is long and threadlike with many nuclei and is called a muscl ...
in efferent signals, forming a similar hierarchical structure. Another method for motor control uses learned error correction and predictive controls to form a sort of simulated
muscle memory Muscle memory is a form of procedural memory that involves consolidating a specific motor task into memory through repetition, which has been used synonymously with motor learning. When a movement is repeated over time, the brain creates a long-t ...
. In this model, awkward, random, and error-prone movements are corrected for using error feedback to produce smooth and accurate movements over time. The controller learns to create the correct control signal by predicting the error. Using these ideas, robots have been designed which can learn to produce adaptive arm movements or to avoid obstacles in a course.


Learning and memory systems

Robots designed to test theories of animal
memory Memory is the faculty of the mind by which data or information is encoded, stored, and retrieved when needed. It is the retention of information over time for the purpose of influencing future action. If past events could not be remembered, ...
systems. Many studies examine the memory system of rats, particularly the rat
hippocampus The hippocampus (via Latin from Greek , 'seahorse') is a major component of the brain of humans and other vertebrates. Humans and other mammals have two hippocampi, one in each side of the brain. The hippocampus is part of the limbic system, a ...
, dealing with
place cells A place cell is a kind of pyramidal neuron in the hippocampus that becomes active when an animal enters a particular place in its environment, which is known as the place field. Place cells are thought to act collectively as a cognitive repres ...
, which fire for a specific location that has been learned. Systems modeled after the rat hippocampus are generally able to learn
mental maps Mental may refer to: * of or relating to the mind Films * ''Mental'' (2012 film), an Australian comedy-drama * ''Mental'' (2016 film), a Bangladeshi romantic-action movie * ''Mental'', a 2008 documentary by Kazuhiro Soda * ''Mental'', a 2014 O ...
of the environment, including recognizing landmarks and associating behaviors with them, allowing them to predict the upcoming obstacles and landmarks. Another study has produced a robot based on the proposed learning paradigm of barn owls for orientation and localization based on primarily auditory, but also visual stimuli. The hypothesized method involves synaptic plasticity and
neuromodulation Neuromodulation is the physiological process by which a given neuron uses one or more chemicals to regulate diverse populations of neurons. Neuromodulators typically bind to metabotropic, G-protein coupled receptors (GPCRs) to initiate a second ...
, a mostly chemical effect in which reward
neurotransmitters A neurotransmitter is a signaling molecule secreted by a neuron to affect another cell across a synapse. The cell receiving the signal, any main body part or target cell, may be another neuron, but could also be a gland or muscle cell. Neur ...
such as dopamine or serotonin affect the firing sensitivity of a neuron to be sharper. The robot used in the study adequately matched the behavior of barn owls. Furthermore, the close interaction between motor output and auditory feedback proved to be vital in the learning process, supporting active sensing theories that are involved in many of the learning models. Neurorobots in these studies are presented with simple mazes or patterns to learn. Some of the problems presented to the neurorobot include recognition of symbols, colors, or other patterns and execute simple actions based on the pattern. In the case of the barn owl simulation, the robot had to determine its location and direction to navigate in its environment.


Action selection and value systems

Action selection studies deal with negative or positive weighting to an action and its outcome. Neurorobots can and have been used to study simple ethical interactions, such as the classical thought experiment where there are more people than a life raft can hold, and someone must leave the boat to save the rest. However, more neurorobots used in the study of action selection contend with much simpler persuasions such as self-preservation or perpetuation of the population of robots in the study. These neurorobots are modeled after the neuromodulation of synapses to encourage circuits with positive results. In biological systems, neurotransmitters such as dopamine or acetylcholine positively reinforce neural signals that are beneficial. One study of such interaction involved the robot Darwin VII, which used visual, auditory, and a simulated taste input to "eat" conductive metal blocks. The arbitrarily chosen good blocks had a striped pattern on them while the bad blocks had a circular shape on them. The taste sense was simulated by conductivity of the blocks. The robot had positive and negative feedbacks to the taste based on its level of conductivity. The researchers observed the robot to see how it learned its action selection behaviors based on the inputs it had. Other studies have used herds of small robots which feed on batteries strewn about the room, and communicate its findings to other robots.


Sensory perception

Neurorobots have also been used to study sensory perception, particularly vision. These are primarily systems that result from embedding neural models of sensory pathways in automatas. This approach gives exposure to the sensory signals that occur during behavior and also enables a more realistic assessment of the degree of robustness of the neural model. It is well known that changes in the sensory signals produced by motor activity provide useful perceptual cues that are used extensively by organisms. For example, researchers have used the depth information that emerges during replication of human head and eye movements to establish robust representations of the visual scene.


Biological robots

Biological robot Biorobotics is an interdisciplinary science that combines the fields of biomedical engineering, cybernetics, and robotics to develop new technologies that integrate biology with mechanical systems to develop more efficient communication, alter g ...
s are not officially neurorobots in that they are not neurologically inspired AI systems, but actual neuron tissue wired to a robot. This employs the use of cultured neural networks to study brain development or neural interactions. These typically consist of a neural culture raised on a
multielectrode array Microelectrode arrays (MEAs) (also referred to as multielectrode arrays) are devices that contain multiple (tens to thousands) microelectrodes through which neural signals are obtained or delivered, essentially serving as neural interfaces that co ...
(MEA), which is capable of both recording the neural activity and stimulating the tissue. In some cases, the MEA is connected to a computer which presents a simulated environment to the brain tissue and translates brain activity into actions in the simulation, as well as providing sensory feedback The ability to record neural activity gives researchers a window into a brain, which they can use to learn about a number of the same issues neurorobots are used for. An area of concern with the biological robots is ethics. Many questions are raised about how to treat such experiments. The central question concerns
consciousness Consciousness, at its simplest, is sentience and awareness of internal and external existence. However, the lack of definitions has led to millennia of analyses, explanations and debates by philosophers, theologians, linguisticians, and scien ...
and whether or not the rat brain experiences it. There are many theories about how to define consciousness.


Implications for neuroscience

Neuroscientists benefit from neurorobotics because it provides a blank slate to test various possible methods of brain function in a controlled and testable environment. While robots are more simplified versions of the systems they emulate, they are more specific, allowing more direct testing of the issue at hand. They also have the benefit of being accessible at all times, while it is more difficult to monitor large portions of a brain while the human or animal is active, especially individual neurons. The development of neuroscience has produced neural treatments. These include pharmaceuticals and neural rehabilitation. Progress is dependent on an intricate understanding of the brain and how exactly it functions. It is difficult to study the brain, especially in humans, due to the danger associated with cranial surgeries. Neurorobots can improved the range of tests and experiments that can be performed in the study of neural processes.


See also

*
Brain–computer interface A brain–computer interface (BCI), sometimes called a brain–machine interface (BMI) or smartbrain, is a direct communication pathway between the brain, brain's electrical activity and an external device, most commonly a computer or robotic l ...
*
Neuromorphic engineering Neuromorphic engineering, also known as neuromorphic computing, is the use of electronic circuits to mimic neuro-biological architectures present in the nervous system. A neuromorphic computer/chip is any device that uses physical artificial ne ...


References


External links


Neurorobotics on Scholarpedia (Jeff Krichmar (2008), Scholarpedia, 3(3):1365)A lab that focuses on neurorobotics at Northwestern University.Frontiers in Neurorobotics.Neurorobotics: an experimental science of embodiment by Frederic KaplanNeurorobotics Lab, Control Systems Lab, NTUn of Athens (Prof. Kostas J. Kyriakopoulos)Neurorobotics in the Human Brain Project
{{Robotics Artificial intelligence Interdisciplinary branches of neuroscience Robotics