Neuromechanical Model of Rat Hindlimb Walking with Two-Layer CPGs
This work demonstrates a neuromechanical model of rat hindlimb locomotionundergoing nominal walking with perturbations. In the animal, two types of responses toperturbations are observed: resetting and non-resetting deletions. This suggests that the animallocomotor system contains a memory-like orga...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-03-01
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| Series: | Biomimetics |
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| Online Access: | http://www.mdpi.com/2313-7673/4/1/21 |
| _version_ | 1819229610277076992 |
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| author | Kaiyu Deng Nicholas S. Szczecinski Dirk Arnold Emanuel Andrada Martin S. Fischer Roger D. Quinn Alexander J. Hunt |
| author_facet | Kaiyu Deng Nicholas S. Szczecinski Dirk Arnold Emanuel Andrada Martin S. Fischer Roger D. Quinn Alexander J. Hunt |
| author_sort | Kaiyu Deng |
| collection | DOAJ |
| description | This work demonstrates a neuromechanical model of rat hindlimb locomotionundergoing nominal walking with perturbations. In the animal, two types of responses toperturbations are observed: resetting and non-resetting deletions. This suggests that the animallocomotor system contains a memory-like organization. To model this phenomenon, we built asynthetic nervous system that uses separate rhythm generator and pattern formation layers toactivate antagonistic muscle pairs about each joint in the sagittal plane. Our model replicates theresetting and non-resetting deletions observed in the animal. In addition, in the intact (i.e., fullyafferented) rat walking simulation, we observe slower recovery after perturbation, which isdifferent from the deafferented animal experiment. These results demonstrate that our model is abiologically feasible description of some of the neural circuits in the mammalian spinal cord thatcontrol locomotion, and the difference between our simulation and fictive motion shows theimportance of sensory feedback on motor output. This model also demonstrates how the patternformation network can activate muscle synergies in a coordinated way to produce stable walking,which motivates the use of more complex synergies activating more muscles in the legs for threedimensionallimb motion. |
| first_indexed | 2024-12-23T11:15:54Z |
| format | Article |
| id | doaj.art-0ec1337c94fb451bbb2604b6998fcd8e |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-12-23T11:15:54Z |
| publishDate | 2019-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-0ec1337c94fb451bbb2604b6998fcd8e2022-12-21T17:49:13ZengMDPI AGBiomimetics2313-76732019-03-01412110.3390/biomimetics4010021biomimetics4010021Neuromechanical Model of Rat Hindlimb Walking with Two-Layer CPGsKaiyu Deng0Nicholas S. Szczecinski1Dirk Arnold2Emanuel Andrada3Martin S. Fischer4Roger D. Quinn5Alexander J. Hunt6Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH 44106, USADepartment of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH 44106, USAInstitute of Zoology and Evolutionary Research, Friedrich-Schiller University Jena, Erbertstr. 1, 07743 Jena, GermanyInstitute of Zoology and Evolutionary Research, Friedrich-Schiller University Jena, Erbertstr. 1, 07743 Jena, GermanyInstitute of Zoology and Evolutionary Research, Friedrich-Schiller University Jena, Erbertstr. 1, 07743 Jena, GermanyDepartment of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH 44106, USADepartment of Mechanical and Materials Engineering, Portland State University, Portland, OR 97207, USAThis work demonstrates a neuromechanical model of rat hindlimb locomotionundergoing nominal walking with perturbations. In the animal, two types of responses toperturbations are observed: resetting and non-resetting deletions. This suggests that the animallocomotor system contains a memory-like organization. To model this phenomenon, we built asynthetic nervous system that uses separate rhythm generator and pattern formation layers toactivate antagonistic muscle pairs about each joint in the sagittal plane. Our model replicates theresetting and non-resetting deletions observed in the animal. In addition, in the intact (i.e., fullyafferented) rat walking simulation, we observe slower recovery after perturbation, which isdifferent from the deafferented animal experiment. These results demonstrate that our model is abiologically feasible description of some of the neural circuits in the mammalian spinal cord thatcontrol locomotion, and the difference between our simulation and fictive motion shows theimportance of sensory feedback on motor output. This model also demonstrates how the patternformation network can activate muscle synergies in a coordinated way to produce stable walking,which motivates the use of more complex synergies activating more muscles in the legs for threedimensionallimb motion.http://www.mdpi.com/2313-7673/4/1/21synthetic nervous systemratrhythm generatorpattern formationmuscle synergies |
| spellingShingle | Kaiyu Deng Nicholas S. Szczecinski Dirk Arnold Emanuel Andrada Martin S. Fischer Roger D. Quinn Alexander J. Hunt Neuromechanical Model of Rat Hindlimb Walking with Two-Layer CPGs Biomimetics synthetic nervous system rat rhythm generator pattern formation muscle synergies |
| title | Neuromechanical Model of Rat Hindlimb Walking with Two-Layer CPGs |
| title_full | Neuromechanical Model of Rat Hindlimb Walking with Two-Layer CPGs |
| title_fullStr | Neuromechanical Model of Rat Hindlimb Walking with Two-Layer CPGs |
| title_full_unstemmed | Neuromechanical Model of Rat Hindlimb Walking with Two-Layer CPGs |
| title_short | Neuromechanical Model of Rat Hindlimb Walking with Two-Layer CPGs |
| title_sort | neuromechanical model of rat hindlimb walking with two layer cpgs |
| topic | synthetic nervous system rat rhythm generator pattern formation muscle synergies |
| url | http://www.mdpi.com/2313-7673/4/1/21 |
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