von Zitzewitz J, Asboth L, Fumeaux N, Hasse A, Baud L, Vallery H, Courtine G (2016)
Publication Language: English
Publication Type: Journal article
Publication year: 2016
Publisher: Institute of Physics: Hybrid Open Access
Book Volume: 13
Journal Issue: 2
URI: https://www.mfk.uni-erlangen.de/?file=pubmfk_56bb8679ad80c
DOI: 10.1088/1741-2560/13/2/026007
Open Access Link: http://dx.doi.org/10.1088/1741-2560/13/2/026007
Objectives. We aimed to develop a robotic interface capable of providing finely-tuned,
multidirectional trunk assistance adjusted in real-time during unconstrained locomotion in rats
and mice. Approach. We interfaced a large-scale robotic structure actuated in four degrees of
freedom to exchangeable attachment modules exhibiting selective compliance along distinct
directions. This combination allowed high-precision force and torque control in multiple
directions over a large workspace. We next designed a neurorobotic platform wherein real-time
kinematics and physiological signals directly adjust robotic actuation and prosthetic actions. We
tested the performance of this platform in both rats and mice with spinal cord injury. Main
Results. Kinematic analyses showed that the robotic interface did not impede locomotor
movements of lightweight mice that walked freely along paths with changing directions and
height profiles. Personalized trunk assistance instantly enabled coordinated locomotion in mice
and rats with severe hindlimb motor deficits. Closed-loop control of robotic actuation based on
ongoing movement features enabled real-time control of electromyographic activity in antigravity
muscles during locomotion. Significance. This neurorobotic platform will support the
study of the mechanisms underlying the therapeutic effects of locomotor prosthetics and
rehabilitation using high-resolution genetic tools in rodent models.
APA:
von Zitzewitz, J., Asboth, L., Fumeaux, N., Hasse, A., Baud, L., Vallery, H., & Courtine, G. (2016). A neurorobotic platform for locomotor prosthetic development in rats and mice. Journal of Neural Engineering, 13(2). https://dx.doi.org/10.1088/1741-2560/13/2/026007
MLA:
von Zitzewitz, Joachim, et al. "A neurorobotic platform for locomotor prosthetic development in rats and mice." Journal of Neural Engineering 13.2 (2016).
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