What regulates breathing rate and how does the body sense when to breath?

Involuntary respiration is controlled by the respiratory centers of the upper brainstem (sometimes termed the lower brain, along with the cerebellum). This region of the brain controls many involuntary and metabolic functions besides the respiratory system, including certain aspects of cardiovascular function and involuntary muscle movements (in the cerebellum).

Explanation:

The respiratory centers contain chemoreceptors that detect pH levels in the blood and send signals to the respiratory centers of the brain to adjust the ventilation rate to change acidity by increasing or decreasing the removal of carbon dioxide (since carbon dioxide is linked to higher levels of hydrogen ions in blood).

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