{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,14]],"date-time":"2026-04-14T15:55:24Z","timestamp":1776182124129,"version":"3.50.1"},"reference-count":61,"publisher":"World Scientific Pub Co Pte Ltd","issue":"11","funder":[{"name":"the Neuro4PD project - Royal Society and Newton Fund","award":["NAF\/R2\/180773"],"award-info":[{"award-number":["NAF\/R2\/180773"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Neur. Syst."],"published-print":{"date-parts":[[2023,11]]},"abstract":"<jats:p>This work presents a neurorobotics model of the brain that integrates the cerebellum and the basal ganglia regions to coordinate movements in a humanoid robot. This cerebellar-basal ganglia circuitry is well known for its relevance to the motor control used by most mammals. Other computational models have been designed for similar applications in the robotics field. However, most of them completely ignore the interplay between neurons from the basal ganglia and cerebellum. Recently, neuroscientists indicated that neurons from both regions communicate not only at the level of the cerebral cortex but also at the subcortical level. In this work, we built an integrated neurorobotics model to assess the capacity of the network to predict and adjust the motion of the hands of a robot in real time. Our model was capable of performing different movements in a humanoid robot by respecting the sensorimotor loop of the robot and the biophysical features of the neuronal circuitry. The experiments were executed in simulation and the real world. We believe that our proposed neurorobotics model can be an important tool for new studies on the brain and a reference toward new robot motor controllers.<\/jats:p>","DOI":"10.1142\/s0129065723500594","type":"journal-article","created":{"date-parts":[[2023,9,4]],"date-time":"2023-09-04T13:35:25Z","timestamp":1693834525000},"source":"Crossref","is-referenced-by-count":11,"title":["An Integrated Neurorobotics Model of the Cerebellar-Basal Ganglia Circuitry"],"prefix":"10.1142","volume":"33","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4825-8508","authenticated-orcid":false,"given":"Jhielson M.","family":"Pimentel","sequence":"first","affiliation":[{"name":"Edinburgh Centre for Robotics, Heriot-Watt University, Edinburgh EH14 4AS, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6036-8358","authenticated-orcid":false,"given":"Renan C.","family":"Moioli","sequence":"additional","affiliation":[{"name":"Bioinformatics Multidisciplinary Environment, Digital Metropolis Institute, Federal University of Rio Grande do Norte, Natal, RN, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3016-8475","authenticated-orcid":false,"given":"Mariana F. P.","family":"De Araujo","sequence":"additional","affiliation":[{"name":"Federal University of Espirito Santo, Vit\u00f3ria, ES, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3272-2521","authenticated-orcid":false,"given":"Patricia A.","family":"Vargas","sequence":"additional","affiliation":[{"name":"Edinburgh Centre for Robotics, Heriot-Watt University, Edinburgh EH14 4AS, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2023,10,4]]},"reference":[{"key":"S0129065723500594BIB001","doi-asserted-by":"crossref","DOI":"10.7551\/mitpress\/14411.001.0001","volume-title":"The Brain in Motion: From Microcircuits to Global Brain Function","author":"Grillner S.","year":"2023"},{"key":"S0129065723500594BIB002","doi-asserted-by":"crossref","first-page":"4398","DOI":"10.1109\/TNNLS.2021.3057070","volume":"33","author":"Yang S.","year":"2022","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"issue":"9","key":"S0129065723500594BIB003","doi-asserted-by":"crossref","first-page":"1256","DOI":"10.1038\/s41593-021-00889-3","volume":"24","author":"Dhawale A. K.","year":"2021","journal-title":"Nat. Neurosci."},{"key":"S0129065723500594BIB004","doi-asserted-by":"crossref","first-page":"19","DOI":"10.3389\/fnsys.2020.00019","volume":"14","author":"Tanaka H.","year":"2020","journal-title":"Front. Syst. Neurosci."},{"key":"S0129065723500594BIB005","doi-asserted-by":"crossref","first-page":"109","DOI":"10.1016\/j.neuroscience.2021.05.010","volume":"466","author":"Gilbertson T.","year":"2021","journal-title":"Neuroscience"},{"key":"S0129065723500594BIB006","doi-asserted-by":"crossref","first-page":"338","DOI":"10.1038\/s41583-018-0002-7","volume":"19","author":"Bostan A. C.","year":"2018","journal-title":"Nat. Rev. Neurosci."},{"key":"S0129065723500594BIB007","doi-asserted-by":"crossref","first-page":"e44494","DOI":"10.7554\/eLife.44494","volume":"8","author":"Dura-Bernal S.","year":"2019","journal-title":"eLife"},{"issue":"1","key":"S0129065723500594BIB008","doi-asserted-by":"crossref","first-page":"151","DOI":"10.1007\/s12311-013-0511-x","volume":"13","author":"Koziol L. F.","year":"2014","journal-title":"Cerebellum"},{"key":"S0129065723500594BIB009","doi-asserted-by":"publisher","DOI":"10.1142\/S0219635211002762"},{"key":"S0129065723500594BIB010","doi-asserted-by":"crossref","first-page":"2","DOI":"10.1016\/j.neulet.2018.05.013","volume":"688","author":"Beckinghausen J.","year":"2018","journal-title":"Neurosci. Lett."},{"key":"S0129065723500594BIB011","doi-asserted-by":"crossref","first-page":"14","DOI":"10.3389\/neuro.03.014.2009","volume":"3","author":"Baumel Y.","year":"2009","journal-title":"Front. Cell. Neurosci."},{"issue":"1","key":"S0129065723500594BIB012","doi-asserted-by":"crossref","first-page":"3133","DOI":"10.1038\/s41467-018-05565-y","volume":"9","author":"Xiao L.","year":"2018","journal-title":"Nat. Commun."},{"issue":"12","key":"S0129065723500594BIB013","doi-asserted-by":"crossref","first-page":"1734","DOI":"10.1038\/nn.3576","volume":"16","author":"Nguyen-Vu T. D. B.","year":"2013","journal-title":"Nat. Neurosci."},{"issue":"4","key":"S0129065723500594BIB014","doi-asserted-by":"crossref","first-page":"859","DOI":"10.1016\/j.ncl.2014.07.013","volume":"32","author":"Roostaei T.","year":"2014","journal-title":"Neurol. Clin."},{"key":"S0129065723500594BIB015","doi-asserted-by":"crossref","first-page":"e00400","DOI":"10.7554\/eLife.00400","volume":"2","author":"Huang C.-C.","year":"2013","journal-title":"eLife"},{"key":"S0129065723500594BIB016","doi-asserted-by":"crossref","first-page":"e54073","DOI":"10.7554\/eLife.54073","volume":"9","author":"Hull C.","year":"2020","journal-title":"eLife"},{"key":"S0129065723500594BIB017","first-page":"1","volume":"7","author":"Ito M.","year":"2013","journal-title":"Front. Neural Circuits"},{"key":"S0129065723500594BIB018","doi-asserted-by":"crossref","first-page":"563","DOI":"10.1016\/B978-0-12-397179-1.00019-1","volume-title":"From Molecules to Networks: An Introduction to Cellular and Molecular Neuroscience","author":"Knierim J. J.","year":"2014","edition":"3"},{"key":"S0129065723500594BIB019","doi-asserted-by":"crossref","first-page":"611841","DOI":"10.3389\/fncir.2020.611841","volume":"14","author":"Consalez G. G.","year":"2021","journal-title":"Front. Neural Circuits"},{"issue":"2","key":"S0129065723500594BIB020","doi-asserted-by":"crossref","first-page":"e2015292118","DOI":"10.1073\/pnas.2015292118","volume":"118","author":"Lindeman S.","year":"2021","journal-title":"Proc. Natl. Acad. Sci. USA"},{"issue":"1","key":"S0129065723500594BIB021","doi-asserted-by":"crossref","first-page":"2504","DOI":"10.1038\/s41467-022-30246-2","volume":"13","author":"Okada K.-I.","year":"2022","journal-title":"Nat. Commun."},{"issue":"8","key":"S0129065723500594BIB022","doi-asserted-by":"crossref","first-page":"1022","DOI":"10.1038\/nn.3743","volume":"17","author":"Calabresi P.","year":"2014","journal-title":"Nat. Neurosci."},{"issue":"20","key":"S0129065723500594BIB023","doi-asserted-by":"crossref","first-page":"R1088","DOI":"10.1016\/j.cub.2016.06.041","volume":"26","author":"Grillner S.","year":"2016","journal-title":"Curr. Biol."},{"key":"S0129065723500594BIB024","doi-asserted-by":"crossref","first-page":"640449","DOI":"10.3389\/fnbot.2021.640449","volume":"15","author":"Pimentel J. M.","year":"2021","journal-title":"Front. Neurorobot."},{"key":"S0129065723500594BIB025","doi-asserted-by":"crossref","first-page":"61","DOI":"10.3389\/fnsys.2019.00061","volume":"13","author":"Milardi D.","year":"2019","journal-title":"Front. Syst. Neurosci."},{"issue":"5","key":"S0129065723500594BIB026","doi-asserted-by":"crossref","first-page":"241","DOI":"10.1016\/j.tics.2013.03.003","volume":"17","author":"Bostan A. C.","year":"2013","journal-title":"Trends Cogn. Sci."},{"issue":"18","key":"S0129065723500594BIB027","doi-asserted-by":"crossref","first-page":"8452","DOI":"10.1073\/pnas.1000496107","volume":"107","author":"Bostan A. C.","year":"2010","journal-title":"Proc. Natl. Acad. Sci. USA"},{"issue":"4","key":"S0129065723500594BIB028","doi-asserted-by":"crossref","first-page":"128","DOI":"10.1109\/MRA.2016.2535081","volume":"23","author":"Richter C.","year":"2016","journal-title":"IEEE Robot. Autom. Mag."},{"key":"S0129065723500594BIB029","doi-asserted-by":"crossref","first-page":"622870","DOI":"10.3389\/fncel.2021.622870","volume":"15","author":"Bogdan P. A.","year":"2021","journal-title":"Front. Cell. Neurosci."},{"key":"S0129065723500594BIB030","doi-asserted-by":"crossref","DOI":"10.1561\/9781680836523","volume-title":"SpiNNaker: A Spiking Neural Network Architecture","author":"Furber S.","year":"2020"},{"issue":"31","key":"S0129065723500594BIB031","doi-asserted-by":"crossref","first-page":"1750238","DOI":"10.1142\/S0217979217502381","volume":"31","author":"Su F.","year":"2017","journal-title":"Int. J. Mod. Phys. B"},{"issue":"58","key":"S0129065723500594BIB032","doi-asserted-by":"crossref","first-page":"eabf2756","DOI":"10.1126\/scirobotics.abf2756","volume":"6","author":"Abada I.","year":"2021","journal-title":"Sci. Robot."},{"key":"S0129065723500594BIB033","doi-asserted-by":"crossref","first-page":"2959","DOI":"10.1162\/neco.2006.18.12.2959","volume":"18","author":"Ros E.","year":"2006","journal-title":"Neural Comput."},{"key":"S0129065723500594BIB034","doi-asserted-by":"publisher","DOI":"10.1142\/S0129065711002900"},{"key":"S0129065723500594BIB035","doi-asserted-by":"crossref","first-page":"4862157","DOI":"10.1155\/2019\/4862157","volume":"2019","author":"Antonietti A.","year":"2019","journal-title":"Comput. Intell. Neurosci."},{"issue":"05","key":"S0129065723500594BIB036","first-page":"2150028","volume":"32","author":"Zahra O.","year":"2021","journal-title":"Int. J. Neural Syst."},{"issue":"6","key":"S0129065723500594BIB037","doi-asserted-by":"crossref","first-page":"1569","DOI":"10.1109\/TNN.2003.820440","volume":"14","author":"Izhikevich E.","year":"2003","journal-title":"IEEE Trans. Neural Netw."},{"issue":"2","key":"S0129065723500594BIB038","doi-asserted-by":"crossref","first-page":"179","DOI":"10.1142\/S0219635203000299","volume":"2","author":"Girard B.","year":"2003","journal-title":"J. Integr. Neurosci."},{"issue":"8","key":"S0129065723500594BIB039","doi-asserted-by":"crossref","first-page":"453","DOI":"10.1016\/j.tins.2004.06.003","volume":"27","author":"Gurney K.","year":"2004","journal-title":"Trends Neurosci."},{"key":"S0129065723500594BIB040","doi-asserted-by":"crossref","first-page":"4","DOI":"10.3389\/fnbot.2013.00004","volume":"7","author":"Bolado-Gomez R.","year":"2013","journal-title":"Front. Neurorobot."},{"issue":"7","key":"S0129065723500594BIB041","doi-asserted-by":"crossref","first-page":"1850056","DOI":"10.1142\/S0129065718500569","volume":"29","author":"Guang H.","year":"2019","journal-title":"Int. J. Neural Syst."},{"issue":"3","key":"S0129065723500594BIB042","doi-asserted-by":"crossref","first-page":"297","DOI":"10.1037\/a0023575","volume":"125","author":"Kennerley S. W.","year":"2011","journal-title":"Behav. Neurosci."},{"issue":"45","key":"S0129065723500594BIB043","doi-asserted-by":"crossref","first-page":"8406","DOI":"10.1523\/JNEUROSCI.1535-22.2022","volume":"42","author":"Yoshida J.","year":"2022","journal-title":"J. Neurosci."},{"issue":"1","key":"S0129065723500594BIB044","doi-asserted-by":"crossref","first-page":"8","DOI":"10.5772\/5761","volume":"3","author":"Metta G.","year":"2006","journal-title":"Int. J. Adv. Robot. Syst."},{"issue":"1","key":"S0129065723500594BIB045","doi-asserted-by":"crossref","first-page":"13","DOI":"10.1109\/MRA.2010.935808","volume":"17","author":"Cousins S.","year":"2010","journal-title":"IEEE Robot. Autom. Mag."},{"key":"S0129065723500594BIB046","doi-asserted-by":"crossref","first-page":"122548","DOI":"10.1109\/ACCESS.2021.3108682","volume":"9","author":"Ranieri C. M.","year":"2021","journal-title":"IEEE Access"},{"key":"S0129065723500594BIB047","doi-asserted-by":"crossref","first-page":"207","DOI":"10.1007\/s10827-016-0593-9","volume":"40","author":"Kumaravelu K.","year":"2016","journal-title":"J. Comput. Neurosci."},{"issue":"5","key":"S0129065723500594BIB048","doi-asserted-by":"crossref","first-page":"2476","DOI":"10.1109\/TCYB.2019.2945498","volume":"51","author":"Abada I.","year":"2021","journal-title":"IEEE Trans. Cybern."},{"issue":"4","key":"S0129065723500594BIB049","doi-asserted-by":"crossref","first-page":"903","DOI":"10.1162\/0899766053429453","volume":"17","author":"Lytton W. W.","year":"2005","journal-title":"Neural Comput."},{"key":"S0129065723500594BIB050","series-title":"Springer Series in Information Sciences","doi-asserted-by":"crossref","first-page":"40","DOI":"10.1007\/978-3-642-81929-2_3","volume-title":"Digital Picture Processing: An Introduction","volume":"9","author":"Yaroslavsky L. P.","year":"1985"},{"key":"S0129065723500594BIB051","doi-asserted-by":"crossref","first-page":"176","DOI":"10.3389\/fncel.2016.00176","volume":"10","author":"D\u2019Angelo E.","year":"2016","journal-title":"Front. Cell. Neurosci."},{"issue":"3","key":"S0129065723500594BIB052","doi-asserted-by":"crossref","first-page":"633","DOI":"10.1523\/JNEUROSCI.3388-07.2008","volume":"28","author":"Rivlin-Etzion M.","year":"2008","journal-title":"J. Neurosci."},{"issue":"3","key":"S0129065723500594BIB053","doi-asserted-by":"crossref","first-page":"669","DOI":"10.1016\/j.cell.2019.02.019","volume":"177","author":"Wagner M. J.","year":"2019","journal-title":"Cell"},{"key":"S0129065723500594BIB054","first-page":"455","volume-title":"Proc. 2016 13th Int. Scientific-Technical Conf. Actual Problems of Electronics Instrument Engineering (APEIE)","volume":"2","author":"Gavrilov A. V.","year":"2016"},{"issue":"1","key":"S0129065723500594BIB055","doi-asserted-by":"crossref","first-page":"203","DOI":"10.1007\/s12311-016-0763-3","volume":"16","author":"Caligiore D.","year":"2017","journal-title":"Cerebellum"},{"key":"S0129065723500594BIB056","first-page":"137","volume-title":"Proc. 2009 20th IEEE Int. Conf. Application-Specific Systems, Architectures and Processors","author":"Fidjeland A.","year":"2009"},{"issue":"1","key":"S0129065723500594BIB057","doi-asserted-by":"crossref","first-page":"35","DOI":"10.3389\/neuro.01.008.2008","volume":"2","author":"D\u2019Angelo E.","year":"2008","journal-title":"Front. Neurosci."},{"key":"S0129065723500594BIB058","doi-asserted-by":"crossref","first-page":"285","DOI":"10.3389\/fpsyg.2013.00285","volume":"4","author":"Buhrmann T.","year":"2013","journal-title":"Front. Psychol."},{"issue":"1","key":"S0129065723500594BIB059","doi-asserted-by":"crossref","first-page":"31378","DOI":"10.1038\/srep31378","volume":"6","author":"Fermin A. S. R.","year":"2016","journal-title":"Sci. Rep."},{"issue":"4","key":"S0129065723500594BIB060","doi-asserted-by":"crossref","first-page":"e0214926","DOI":"10.1371\/journal.pone.0214926","volume":"14","author":"Todorov D. I.","year":"2019","journal-title":"PLoS ONE"},{"issue":"6","key":"S0129065723500594BIB061","doi-asserted-by":"crossref","first-page":"639","DOI":"10.1177\/1073858414549015","volume":"20","author":"Burns A.","year":"2014","journal-title":"Neuroscientist"}],"container-title":["International Journal of Neural Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0129065723500594","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,12,20]],"date-time":"2023-12-20T23:53:46Z","timestamp":1703116426000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/10.1142\/S0129065723500594"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,10,4]]},"references-count":61,"journal-issue":{"issue":"11","published-print":{"date-parts":[[2023,11]]}},"alternative-id":["10.1142\/S0129065723500594"],"URL":"https:\/\/doi.org\/10.1142\/s0129065723500594","relation":{},"ISSN":["0129-0657","1793-6462"],"issn-type":[{"value":"0129-0657","type":"print"},{"value":"1793-6462","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,10,4]]},"article-number":"2350059"}}