emo todorov - university of washingtontodorov/courses/amath533/cereb… · emo todorov applied...
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Cerebellum
Emo Todorov
Applied MathematicsApplied MathematicsComputer Science and Engineering
University of Washingtony g
Loops with cortex 2
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Recurrent loops with specific cortical areas 3
(St i k)(Strick)
Divisions of the cerebellum 4
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Inputs and outputs 5
Output tracts from spinocerebellum 6
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Repeated semi-topographic maps 7
Circuit diagram 8
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More circuits 9
Simple and complex spikes in Purkinje cells 10
Parallel fibers Climbing fibers
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Movement disorders 11
Directional tuning of Purkinje cells 12
Summary data from 5 cells:(Ebner)
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Purkinje cell activity for grasping different objects 13
(Ebner)
Role in active sensing 14
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Basic model of learning 15
(Marr and Albus many subsequent variations)(Marr and Albus, many subsequent variations)
• mossy/parallel fibers carry information about everything (“context”)mossy/parallel fibers carry information about everything ( context )
• climbing fibers carry error/mismatch/surprise information
l ik ( d b li bi fib ) d th t th f• complex spikes (caused by climbing fibers) reduce the strengths ofparallel fiber -> Purkinje cell synapses, but only for parallel fibersthat are active
• as a result, “punished” parallel fibers have less effect on the Purkinje cells
Lesions/inactivation abolish classical conditioning and reflex adaptation
Role in prism adaptation 16
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Role in force field adaptation 17
(Shadmehr)(Shadmehr)
Learning to use new a “tool” (weird mouse) 18
(Imamizu et al)(Imamizu et al)
Rotated mouseVelocity mouse
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Learning internal models 19
(K )(Kawato)