A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties
Cyborg control of insect movement is promising for developing miniature, high-mobility, and efficient biohybrid robots. However, considering the inter-individual variation of the insect neuromuscular apparatus and its neural control is challenging. We propose a hierarchical model including inter-ind...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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eLife Sciences Publications Ltd
2023-09-01
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| Series: | eLife |
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| Online Access: | https://elifesciences.org/articles/85275 |
| _version_ | 1797687228061712384 |
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| author | Dai Owaki Volker Dürr Josef Schmitz |
| author_facet | Dai Owaki Volker Dürr Josef Schmitz |
| author_sort | Dai Owaki |
| collection | DOAJ |
| description | Cyborg control of insect movement is promising for developing miniature, high-mobility, and efficient biohybrid robots. However, considering the inter-individual variation of the insect neuromuscular apparatus and its neural control is challenging. We propose a hierarchical model including inter-individual variation of muscle properties of three leg muscles involved in propulsion (retractor coxae), joint stiffness (pro- and retractor coxae), and stance-swing transition (protractor coxae and levator trochanteris) in the stick insect Carausius morosus. To estimate mechanical effects induced by external muscle stimulation, the model is based on the systematic evaluation of joint torques as functions of electrical stimulation parameters. A nearly linear relationship between the stimulus burst duration and generated torque was observed. This stimulus-torque characteristic holds for burst durations of up to 500ms, corresponding to the stance and swing phase durations of medium to fast walking stick insects. Hierarchical Bayesian modeling revealed that linearity of the stimulus-torque characteristic was invariant, with individually varying slopes. Individual prediction of joint torques provides significant benefits for precise cyborg control. |
| first_indexed | 2024-03-12T01:15:15Z |
| format | Article |
| id | doaj.art-fdab5fd6bb5f4ca99f94a9580e9b44ef |
| institution | Directory Open Access Journal |
| issn | 2050-084X |
| language | English |
| last_indexed | 2024-03-12T01:15:15Z |
| publishDate | 2023-09-01 |
| publisher | eLife Sciences Publications Ltd |
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| series | eLife |
| spelling | doaj.art-fdab5fd6bb5f4ca99f94a9580e9b44ef2023-09-13T16:53:00ZengeLife Sciences Publications LtdeLife2050-084X2023-09-011210.7554/eLife.85275A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force propertiesDai Owaki0https://orcid.org/0000-0003-1217-3892Volker Dürr1Josef Schmitz2Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, JapanDepartment of Biological Cybernetics, Faculty of Biology, Bielefeld University, Bielefeld, Germany; Centre for Cognitive Interaction Technology, Bielefeld University, Bielefeld, GermanyDepartment of Biological Cybernetics, Faculty of Biology, Bielefeld University, Bielefeld, Germany; Centre for Cognitive Interaction Technology, Bielefeld University, Bielefeld, GermanyCyborg control of insect movement is promising for developing miniature, high-mobility, and efficient biohybrid robots. However, considering the inter-individual variation of the insect neuromuscular apparatus and its neural control is challenging. We propose a hierarchical model including inter-individual variation of muscle properties of three leg muscles involved in propulsion (retractor coxae), joint stiffness (pro- and retractor coxae), and stance-swing transition (protractor coxae and levator trochanteris) in the stick insect Carausius morosus. To estimate mechanical effects induced by external muscle stimulation, the model is based on the systematic evaluation of joint torques as functions of electrical stimulation parameters. A nearly linear relationship between the stimulus burst duration and generated torque was observed. This stimulus-torque characteristic holds for burst durations of up to 500ms, corresponding to the stance and swing phase durations of medium to fast walking stick insects. Hierarchical Bayesian modeling revealed that linearity of the stimulus-torque characteristic was invariant, with individually varying slopes. Individual prediction of joint torques provides significant benefits for precise cyborg control.https://elifesciences.org/articles/85275Carausius morosusstick insectmuscle force propertyexternal electrical controlinter-individual variationhierarchical Bayesian model |
| spellingShingle | Dai Owaki Volker Dürr Josef Schmitz A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties eLife Carausius morosus stick insect muscle force property external electrical control inter-individual variation hierarchical Bayesian model |
| title | A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties |
| title_full | A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties |
| title_fullStr | A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties |
| title_full_unstemmed | A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties |
| title_short | A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties |
| title_sort | hierarchical model for external electrical control of an insect accounting for inter individual variation of muscle force properties |
| topic | Carausius morosus stick insect muscle force property external electrical control inter-individual variation hierarchical Bayesian model |
| url | https://elifesciences.org/articles/85275 |
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