Response of a Neuromechanical Insect Joint Model to Inhibition of fCO Sensory Afferents

摘要

This work details the development of a neuromechanical model of the stick insect femur-tibia joint control network in order to replicate and explore the "reflex reversal" phenomenon in insect limbs. We believe that understanding this phenomenon will lead to improved robotic joint control. We describe the development of this model using data taken from the extensor half of the network in the insect. To build a plausible model of the complete joint control network, we additionally mirrored the connectivity of the extensor control networks for the flexor. We present the results of experiments performed on the network by selectively inhibiting the system's sensory afferents in an asymmetrical manner and observing the behavior of the simulated joint in open and closed loop scenarios. By inhibiting the network's flexion position and velocity afferents, we are able to demonstrate changeover in the joint from a resistance reflex (RR) to an active reaction (AR) in response to joint flexion. We discuss why the nervous system might modulate joint behavior in this manner, as well as how to apply these findings to improve robotic control.