{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T21:53:42Z","timestamp":1777499622753,"version":"3.51.4"},"reference-count":53,"publisher":"Springer Science and Business Media LLC","issue":"5-6","license":[{"start":{"date-parts":[[2024,9,9]],"date-time":"2024-09-09T00:00:00Z","timestamp":1725840000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2024,9,9]],"date-time":"2024-09-09T00:00:00Z","timestamp":1725840000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"name":"National Institutes of Health BRAIN Initiative","award":["RF1 NS118606-01"],"award-info":[{"award-number":["RF1 NS118606-01"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Biol Cybern"],"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Although the raison d\u2019etre of the brain is the survival of the body, there are relatively few theoretical studies of closed-loop rhythmic motor control systems. In this paper we provide a unified framework, based on variational analysis, for investigating the dual goals of performance and robustness in powerstroke\u2013recovery systems. To demonstrate our variational method, we augment two previously published closed-loop motor control models by equipping each model with a performance measure based on the rate of progress of the system relative to a spatially extended external substrate\u2014such as a long strip of seaweed for a feeding task, or progress relative to the ground for a locomotor task. The sensitivity measure quantifies the ability of the system to maintain performance in response to external perturbations, such as an applied load. Motivated by a search for optimal design principles for feedback control achieving the complementary requirements of efficiency and robustness, we discuss the performance\u2013sensitivity patterns of the systems featuring different sensory feedback architectures. In a paradigmatic half-center oscillator-motor system, we observe that the excitation\u2013inhibition property of feedback mechanisms determines the sensitivity pattern while the activation\u2013inactivation property determines the performance pattern. Moreover, we show that the nonlinearity of the sigmoid activation of feedback signals allows the existence of optimal combinations of performance and sensitivity. In a detailed hindlimb locomotor system, we find that a force-dependent feedback can simultaneously optimize both performance and robustness, while length-dependent feedback variations result in significant performance-versus-sensitivity tradeoffs. Thus, this work provides an analytical framework for studying feedback control of oscillations in nonlinear dynamical systems, leading to several insights that have the potential to inform the design of control or rehabilitation systems.<\/jats:p>","DOI":"10.1007\/s00422-024-00996-x","type":"journal-article","created":{"date-parts":[[2024,9,9]],"date-time":"2024-09-09T14:02:48Z","timestamp":1725890568000},"page":"277-309","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Variational analysis of sensory feedback mechanisms in powerstroke\u2013recovery systems"],"prefix":"10.1007","volume":"118","author":[{"given":"Zhuojun","family":"Yu","sequence":"first","affiliation":[]},{"given":"Peter J.","family":"Thomas","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,9,9]]},"reference":[{"key":"996_CR1","doi-asserted-by":"crossref","unstructured":"Alfaro V, Vilanova R, M\u00e9ndez V, Lafuente J (2010) Performance\/robustness tradeoff analysis of PI\/PID servo and regulatory control systems. In: 2010 IEEE international conference on industrial technology. IEEE, pp 111\u2013116","DOI":"10.1109\/ICIT.2010.5472662"},{"key":"996_CR2","unstructured":"Baylis LE (1966) Living control systems. Freeman"},{"issue":"3","key":"996_CR3","doi-asserted-by":"publisher","first-page":"30","DOI":"10.1109\/MCS.2007.365002","volume":"27","author":"B Boulet","year":"2007","unstructured":"Boulet B, Duan Y (2007) The fundamental tradeoff between performance and robustness-a new perspective on loop shaping-classic control revisited part II. IEEE Control Syst Mag 27(3):30\u201344","journal-title":"IEEE Control Syst Mag"},{"issue":"4","key":"996_CR4","doi-asserted-by":"publisher","first-page":"673","DOI":"10.1162\/089976604322860668","volume":"16","author":"E Brown","year":"2004","unstructured":"Brown E, Moehlis J, Holmes P (2004) On the phase reduction and response dynamics of neural oscillator populations. Neural Comput 16(4):673\u2013715","journal-title":"Neural Comput"},{"issue":"572","key":"996_CR5","first-page":"308","volume":"84","author":"TG Brown","year":"1911","unstructured":"Brown TG (1911) The intrinsic factors in the act of progression in the mammal. Proc R Soc Lond Ser B Contain Pap Biol Character 84(572):308\u2013319","journal-title":"Proc R Soc Lond Ser B Contain Pap Biol Character"},{"issue":"1","key":"996_CR6","doi-asserted-by":"publisher","first-page":"18","DOI":"10.1113\/jphysiol.1914.sp001646","volume":"48","author":"TG Brown","year":"1914","unstructured":"Brown TG (1914) On the nature of the fundamental activity of the nervous centres; together with an analysis of the conditioning of rhythmic activity in progression, and a theory of the evolution of function in the nervous system. J Physiol 48(1):18","journal-title":"J Physiol"},{"key":"996_CR7","doi-asserted-by":"publisher","first-page":"171","DOI":"10.1007\/s42235-021-0008-0","volume":"18","author":"J Chen","year":"2021","unstructured":"Chen J, Yin B, Wang C, Xie F, Du R, Zhong Y (2021) Bioinspired closed-loop CPG-based control of a robot fish for obstacle avoidance and direction tracking. J Bionic Eng 18:171\u2013183","journal-title":"J Bionic Eng"},{"issue":"12","key":"996_CR8","doi-asserted-by":"publisher","first-page":"553","DOI":"10.1016\/S0166-2236(97)01149-1","volume":"20","author":"HJ Chiel","year":"1997","unstructured":"Chiel HJ, Beer RD (1997) The brain has a body: adaptive behavior emerges from interactions of nervous system, body and environment. Trends Neurosci 20(12):553\u2013557","journal-title":"Trends Neurosci"},{"issue":"4","key":"996_CR9","doi-asserted-by":"publisher","first-page":"2194","DOI":"10.1152\/jn.00170.2017","volume":"118","author":"CO Diekman","year":"2017","unstructured":"Diekman CO, Thomas PJ, Wilson CG (2017) Eupnea, tachypnea, and autoresuscitation in a closed-loop respiratory control model. J Neurophysiol 118(4):2194\u20132215","journal-title":"J Neurophysiol"},{"key":"996_CR10","doi-asserted-by":"crossref","DOI":"10.1007\/978-0-387-87708-2","volume-title":"Mathematical foundations of neuroscience","author":"B Ermentrout","year":"2010","unstructured":"Ermentrout B, Terman DH (2010) Mathematical foundations of neuroscience, vol 35. Springer, Berlin"},{"key":"996_CR11","doi-asserted-by":"publisher","first-page":"337","DOI":"10.1023\/A:1004741715733","volume":"34","author":"U Galvanetto","year":"1999","unstructured":"Galvanetto U, Bishop SR (1999) Dynamics of a simple damped oscillator undergoing stick-slip vibrations. Meccanica 34:337\u2013347","journal-title":"Meccanica"},{"key":"996_CR12","doi-asserted-by":"publisher","first-page":"387","DOI":"10.1007\/s00285-016-1024-2","volume":"74","author":"M Golubitsky","year":"2017","unstructured":"Golubitsky M, Stewart I (2017) Homeostasis, singularities, and networks. J Math Biol 74:387\u2013407","journal-title":"J Math Biol"},{"issue":"2","key":"996_CR13","doi-asserted-by":"publisher","first-page":"1816","DOI":"10.1137\/17M115147X","volume":"17","author":"M Golubitsky","year":"2018","unstructured":"Golubitsky M, Stewart I (2018) Homeostasis with multiple inputs. SIAM J Appl Dyn Syst 17(2):1816\u20131832","journal-title":"SIAM J Appl Dyn Syst"},{"issue":"4","key":"996_CR14","doi-asserted-by":"publisher","first-page":"1163","DOI":"10.1007\/s00285-019-01457-x","volume":"80","author":"M Golubitsky","year":"2020","unstructured":"Golubitsky M, Wang Y (2020) Infinitesimal homeostasis in three-node input\u2013output networks. J Math Biol 80(4):1163\u20131185","journal-title":"J Math Biol"},{"issue":"2","key":"996_CR15","doi-asserted-by":"publisher","first-page":"260","DOI":"10.1152\/jappl.1967.22.2.260","volume":"22","author":"FS Grodins","year":"1967","unstructured":"Grodins FS, Buell J, Bart AJ (1967) Mathematical analysis and digital simulation of the respiratory control system. J Appl Physiol 22(2):260\u2013276","journal-title":"J Appl Physiol"},{"issue":"1","key":"996_CR16","doi-asserted-by":"publisher","first-page":"27","DOI":"10.1242\/jeb.116.1.27","volume":"116","author":"RM Harris-Warrick","year":"1985","unstructured":"Harris-Warrick RM, Cohen AH (1985) Serotonin modulates the central pattern generator for locomotion in the isolated lamprey spinal cord. J Exp Biol 116(1):27\u201346","journal-title":"J Exp Biol"},{"issue":"6","key":"996_CR17","doi-asserted-by":"publisher","first-page":"1427","DOI":"10.1109\/TRO.2014.2360493","volume":"30","author":"M Hutter","year":"2014","unstructured":"Hutter M, Gehring C, H\u00f6pflinger MA, Bl\u00f6sch M, Siegwart R (2014) Toward combining speed, efficiency, versatility, and robustness in an autonomous quadruped. IEEE Trans Rob 30(6):1427\u20131440","journal-title":"IEEE Trans Rob"},{"issue":"10","key":"996_CR18","doi-asserted-by":"publisher","first-page":"1487","DOI":"10.4249\/scholarpedia.1487","volume":"3","author":"EM Izhikevich","year":"2008","unstructured":"Izhikevich EM, Ermentrout B (2008) Phase model. Scholarpedia 3(10):1487","journal-title":"Scholarpedia"},{"issue":"1","key":"996_CR19","doi-asserted-by":"publisher","first-page":"93","DOI":"10.1146\/annurev.fl.04.010172.000521","volume":"4","author":"TL Jahn","year":"1972","unstructured":"Jahn TL, Votta JJ (1972) Locomotion of protozoa. Annu Rev Fluid Mech 4(1):93\u2013116","journal-title":"Annu Rev Fluid Mech"},{"issue":"5","key":"996_CR20","doi-asserted-by":"publisher","first-page":"2364","DOI":"10.1088\/1361-6544\/ab6a77","volume":"33","author":"S Jelbart","year":"2020","unstructured":"Jelbart S, Wechselberger M (2020) Two-stroke relaxation oscillators. Nonlinearity 33(5):2364","journal-title":"Nonlinearity"},{"key":"996_CR21","doi-asserted-by":"crossref","unstructured":"Katz PS (2023) Conclusion and perspectives: What convergent evolution of animal forms and functions says about the predictability of evolution. In: Convergent evolution: animal form and function. Springer, pp 581\u2013594","DOI":"10.1007\/978-3-031-11441-0_18"},{"key":"996_CR22","doi-asserted-by":"publisher","DOI":"10.1002\/9781119058786","volume-title":"Physiological control systems: analysis, simulation, and estimation","author":"MC Khoo","year":"2018","unstructured":"Khoo MC (2018) Physiological control systems: analysis, simulation, and estimation. Wiley, Hoboken"},{"issue":"2","key":"996_CR23","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1080\/20464177.2019.1638703","volume":"20","author":"D Korkmaz","year":"2021","unstructured":"Korkmaz D, Ozmen Koca G, Li G, Bal C, Ay M, Akpolat ZH (2021) Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model. J Mar Eng Technol 20(2):125\u2013137","journal-title":"J Mar Eng Technol"},{"issue":"2","key":"996_CR24","doi-asserted-by":"publisher","first-page":"129","DOI":"10.1123\/mcj.6.2.129","volume":"6","author":"AD Kuo","year":"2002","unstructured":"Kuo AD (2002) The relative roles of feedforward and feedback in the control of rhythmic movements. Mot Control 6(2):129\u2013145","journal-title":"Mot Control"},{"issue":"1","key":"996_CR25","doi-asserted-by":"publisher","first-page":"48","DOI":"10.1109\/41.481407","volume":"43","author":"HS Lee","year":"1996","unstructured":"Lee HS, Tomizuka M (1996) Robust motion controller design for high-accuracy positioning systems. IEEE Trans Ind Electron 43(1):48\u201355","journal-title":"IEEE Trans Ind Electron"},{"key":"996_CR26","doi-asserted-by":"publisher","first-page":"25","DOI":"10.1007\/s00422-016-0704-8","volume":"111","author":"DN Lyttle","year":"2017","unstructured":"Lyttle DN, Gill JP, Shaw KM, Thomas PJ, Chiel HJ (2017) Robustness, flexibility, and sensitivity in a multifunctional motor control model. Biol Cybern 111:25\u201347","journal-title":"Biol Cybern"},{"issue":"1","key":"996_CR27","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1111\/j.1749-6632.2010.05435.x","volume":"1198","author":"SN Markin","year":"2010","unstructured":"Markin SN, Klishko AN, Shevtsova NA, Lemay MA, Prilutsky BI, Rybak IA (2010) Afferent control of locomotor CPG: insights from a simple neuromechanical model. Ann N Y Acad Sci 1198(1):21\u201334","journal-title":"Ann N Y Acad Sci"},{"issue":"1","key":"996_CR28","doi-asserted-by":"publisher","first-page":"3290","DOI":"10.1038\/s41598-023-30318-3","volume":"13","author":"A Mo","year":"2023","unstructured":"Mo A, Izzi F, G\u00f6nen EC, Haeufle D, Badri-Spr\u00f6witz A (2023) Slack-based tunable damping leads to a trade-off between robustness and efficiency in legged locomotion. Sci Rep 13(1):3290","journal-title":"Sci Rep"},{"issue":"1","key":"996_CR29","doi-asserted-by":"publisher","first-page":"193","DOI":"10.1016\/S0006-3495(81)84782-0","volume":"35","author":"C Morris","year":"1981","unstructured":"Morris C, Lecar H (1981) Voltage oscillations in the barnacle giant muscle fiber. Biophys J 35(1):193\u2013213","journal-title":"Biophys J"},{"key":"996_CR30","doi-asserted-by":"crossref","unstructured":"Pareto V, Bousquet G, Busino G (1964) Cours d\u2019\u00e9conomie politique. In: Oeuvres completes de Vilfredo Pareto. Librairie Droz, Geneva","DOI":"10.3917\/droz.paret.1964.01"},{"key":"996_CR31","doi-asserted-by":"crossref","unstructured":"Pearson K (1985) Are there central pattern generators for walking and flight in insects? In: Feedback and motor control in invertebrates and vertebrates. Springer, pp 307\u2013315","DOI":"10.1007\/978-94-011-7084-0_20"},{"key":"996_CR32","doi-asserted-by":"publisher","first-page":"133","DOI":"10.1016\/S0079-6123(08)62850-2","volume":"123","author":"A Prochazka","year":"1999","unstructured":"Prochazka A (1999) Quantifying proprioception. Prog Brain Res 123:133\u2013142","journal-title":"Prog Brain Res"},{"issue":"1","key":"996_CR33","doi-asserted-by":"publisher","first-page":"277","DOI":"10.1111\/j.1469-7793.1998.277bu.x","volume":"507","author":"A Prochazka","year":"1998","unstructured":"Prochazka A, Gorassini M (1998) Models of ensemble firing of muscle spindle afferents recorded during normal locomotion in cats. J Physiol 507(1):277\u2013291","journal-title":"J Physiol"},{"key":"996_CR34","doi-asserted-by":"publisher","first-page":"193","DOI":"10.1007\/s00221-008-1297-9","volume":"187","author":"R Ronsse","year":"2008","unstructured":"Ronsse R, Thonnard J-L, Lefevre P, Sepulchre R (2008) Control of bimanual rhythmic movements: trading efficiency for robustness depending on the context. Exp Brain Res 187:193\u2013205","journal-title":"Exp Brain Res"},{"key":"996_CR35","doi-asserted-by":"crossref","unstructured":"Rubin JE, Terman D (2002) Geometric singular perturbation analysis of neuronal dynamics. In: Handbook of dynamical systems, volume\u00a02. Elsevier, pp 93\u2013146","DOI":"10.1016\/S1874-575X(02)80024-8"},{"key":"996_CR36","doi-asserted-by":"crossref","unstructured":"Sariyildiz E, Ohnishi K (2013) Performance and robustness trade-off in disturbance observer design. In: IECON 2013-39th annual conference of the IEEE industrial electronics society. IEEE, pp 3681\u20133686","DOI":"10.1109\/IECON.2013.6699721"},{"key":"996_CR37","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4614-0739-3","volume-title":"Phase response curves in neuroscience","author":"NW Schultheiss","year":"2012","unstructured":"Schultheiss NW, Prinz AA, Butera RJ (2012) Phase response curves in neuroscience. Springer, Berlin"},{"key":"996_CR38","doi-asserted-by":"crossref","unstructured":"Sharbafi MA, Yazdanpanah MJ, Ahmadabadi MN, Seyfarth A (2020) Parallel compliance design for increasing robustness and efficiency in legged locomotion-theoretical background and applications. IEEE\/ASME Trans Mechatron 26(1):335\u2013346","DOI":"10.1109\/TMECH.2020.3019686"},{"key":"996_CR39","doi-asserted-by":"publisher","first-page":"25","DOI":"10.1007\/s10827-014-0519-3","volume":"38","author":"KM Shaw","year":"2015","unstructured":"Shaw KM, Lyttle DN, Gill JP, Cullins MJ, McManus JM, Lu H, Thomas PJ, Chiel HJ (2015) The significance of dynamical architecture for adaptive responses to mechanical loads during rhythmic behavior. J Comput Neurosci 38:25\u201351","journal-title":"J Comput Neurosci"},{"key":"996_CR40","doi-asserted-by":"publisher","first-page":"69","DOI":"10.1007\/BF00962719","volume":"1","author":"FK Skinner","year":"1994","unstructured":"Skinner FK, Kopell N, Marder E (1994) Mechanisms for oscillation and frequency control in reciprocally inhibitory model neural networks. J Comput Neurosci 1:69\u201387","journal-title":"J Comput Neurosci"},{"key":"996_CR41","doi-asserted-by":"crossref","unstructured":"Smith JC, Ellenberger HH, Ballanyi K, Richter DW, Feldman JL (1991) Pre-B\u00f6tzinger complex: a brainstem region that may generate respiratory rhythm in mammals. Science 254(5032):726\u2013729x","DOI":"10.1126\/science.1683005"},{"key":"996_CR42","doi-asserted-by":"crossref","unstructured":"Spardy LE, Markin SN, Shevtsova NA, Prilutsky BI, Rybak IA, Rubin JE (2011) A dynamical systems analysis of afferent control in a neuromechanical model of locomotion: I. Rhythm generation. J Neural Eng 8(6):065003","DOI":"10.1088\/1741-2560\/8\/6\/065003"},{"issue":"10","key":"996_CR43","doi-asserted-by":"publisher","first-page":"pgad298","DOI":"10.1093\/pnasnexus\/pgad298","volume":"2","author":"G Sutton","year":"2023","unstructured":"Sutton G, Szczecinski N, Quinn R, Chiel H (2023) Phase shift between joint rotation and actuation reflects dominant forces and predicts muscle activation patterns. PNAS Nexus 2(10):pgad298","journal-title":"PNAS Nexus"},{"issue":"1\u20134","key":"996_CR44","doi-asserted-by":"publisher","first-page":"241","DOI":"10.1016\/S0167-2789(97)00312-6","volume":"117","author":"D Terman","year":"1998","unstructured":"Terman D, Kopell N, Bose A (1998) Dynamics of two mutually coupled slow inhibitory neurons. Physica D 117(1\u20134):241\u2013275","journal-title":"Physica D"},{"issue":"3","key":"996_CR45","doi-asserted-by":"publisher","first-page":"259","DOI":"10.1002\/rnc.1299","volume":"19","author":"J Vasconcelos","year":"2009","unstructured":"Vasconcelos J, Athans M, Fekri S, Silvestre C, Oliveira P (2009) Stability-and performance-robustness tradeoffs: Mimo mixed-$$\\mu $$ vs complex-$$\\mu $$ design. Int J Robust Nonlinear Control IFAC-Affil J 19(3):259\u2013294","journal-title":"Int J Robust Nonlinear Control IFAC-Affil J"},{"issue":"2","key":"996_CR46","doi-asserted-by":"publisher","first-page":"701","DOI":"10.1137\/20M1344974","volume":"20","author":"Y Wang","year":"2021","unstructured":"Wang Y, Gill JP, Chiel HJ, Thomas PJ (2021) Shape versus timing: linear responses of a limit cycle with hard boundaries under instantaneous and static perturbation. SIAM J Appl Dyn Syst 20(2):701\u2013744","journal-title":"SIAM J Appl Dyn Syst"},{"issue":"5\u20136","key":"996_CR47","doi-asserted-by":"publisher","first-page":"687","DOI":"10.1007\/s00422-022-00951-8","volume":"116","author":"Y Wang","year":"2022","unstructured":"Wang Y, Gill JP, Chiel HJ, Thomas PJ (2022) Variational and phase response analysis for limit cycles with hard boundaries, with applications to neuromechanical control problems. Biol Cybern 116(5\u20136):687\u2013710","journal-title":"Biol Cybern"},{"issue":"2","key":"996_CR48","doi-asserted-by":"publisher","first-page":"63","DOI":"10.1109\/3516.588624","volume":"2","author":"B Yao","year":"1997","unstructured":"Yao B, Al-Majed M, Tomizuka M (1997) High-performance robust motion control of machine tools: an adaptive robust control approach and comparative experiments. IEEE\/ASME Trans Mechatron 2(2):63\u201376","journal-title":"IEEE\/ASME Trans Mechatron"},{"key":"996_CR49","doi-asserted-by":"crossref","unstructured":"Yu S-N, Crago PE, Chiel HJ (1999) Biomechanical properties and a kinetic simulation model of the smooth muscle I2 in the buccal mass of Aplysia. Biol Cybern 81:505\u2013513","DOI":"10.1007\/s004220050579"},{"issue":"6","key":"996_CR50","doi-asserted-by":"publisher","first-page":"1028","DOI":"10.1162\/neco_a_01586","volume":"35","author":"Z Yu","year":"2023","unstructured":"Yu Z, Rubin JE, Thomas PJ (2023) Sensitivity to control signals in triphasic rhythmic neural systems: a comparative mechanistic analysis via infinitesimal local timing response curves. Neural Comput 35(6):1028\u20131085","journal-title":"Neural Comput"},{"issue":"2","key":"996_CR51","doi-asserted-by":"publisher","first-page":"135","DOI":"10.1007\/s00422-021-00864-y","volume":"115","author":"Z Yu","year":"2021","unstructured":"Yu Z, Thomas PJ (2021) Dynamical consequences of sensory feedback in a half-center oscillator coupled to a simple motor system. Biol Cybern 115(2):135\u2013160","journal-title":"Biol Cybern"},{"issue":"4","key":"996_CR52","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s00285-022-01724-4","volume":"84","author":"Z Yu","year":"2022","unstructured":"Yu Z, Thomas PJ (2022) A homeostasis criterion for limit cycle systems based on infinitesimal shape response curves. J Math Biol 84(4):1\u201323","journal-title":"J Math Biol"},{"key":"996_CR53","doi-asserted-by":"publisher","first-page":"55","DOI":"10.1007\/s10827-013-0440-1","volume":"35","author":"C Zhang","year":"2013","unstructured":"Zhang C, Lewis TJ (2013) Phase response properties of half-center oscillators. J Comput Neurosci 35:55\u201374","journal-title":"J Comput Neurosci"}],"container-title":["Biological Cybernetics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00422-024-00996-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s00422-024-00996-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00422-024-00996-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,11,25]],"date-time":"2024-11-25T18:12:06Z","timestamp":1732558326000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s00422-024-00996-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,9,9]]},"references-count":53,"journal-issue":{"issue":"5-6","published-online":{"date-parts":[[2024,12]]}},"alternative-id":["996"],"URL":"https:\/\/doi.org\/10.1007\/s00422-024-00996-x","relation":{},"ISSN":["1432-0770"],"issn-type":[{"value":"1432-0770","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,9,9]]},"assertion":[{"value":"29 March 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"21 August 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 September 2024","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}