Optimal estimator models for spatial orientation and vestibular nystagmus

Mathematical models have played an important role in research on the vestibular system over the past century, from the torsion pendulum analogies of the semicircular canal to the optimal estimator "observer" models of multisensory interaction and adaptation. This short review is limited to our own contributions in bringing the technology of feedback control theory to bear on the understanding of human spatial orientation, eye movements, and nystagmus, both on Earth and in space. It points to the importance of the "internal model" concept for treatment of the manner in which the brain constantly makes predictions about future sensory feedback, adjusts the weightings of sensors according to their signal-to-noise ratios, and adapts control according to the motion environment, and availability of sensory cues.