Abstract
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 anti-gravity 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.
Highlights
Neurorehabilitation is the only common medical practice to improve the recovery of locomotion after neurological disorders
We evaluated whether the robotic interface was capable of providing appropriate vertical and mediolateral trunk assistance in order to facilitate quadrupedal locomotion of injured mice
We have introduced a robotic interface that provides highprecision assistance of trunk movements along four independent degrees of freedom during both bipedal and quadrupedal locomotion in mice and rats
Summary
Neurorehabilitation is the only common medical practice to improve the recovery of locomotion after neurological disorders. These robotic interfaces can be divided into two broad categories. Bodyweight support systems that are designed to provide trunk assistance during treadmill-restricted stepping (Song and Giszter 2011, Oza and Giszter 2015) or overground locomotion in rats (Song and Hogan 2008, Dominici et al 2012, Hamlin et al 2015).
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