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Intraspinal microstimulation A novel technique for the functional recovery of spinal cord injury

Neural Regeneration Research 2010年第16期5卷 1249-1255页

作者： Hua Zhang Liqun Feng Yuping Wang Department of Neurology Xuanwu Hospital Capital Medical University Beijing 100053 China Department of Neurology Anzhen Hospital Capital Medical University Beijing 100029 China

Nonspecific neuronal activity elicited by intraspinal microstimulation in the intermediate and ventral gray matter of thoracic spinal segments caudal to a complete spinal cord transection significantly increased the rat hindlimb Basso, Beattie, Bresnahan locomotor score by activating the central pattem generator located in the lumbar spinal cord. However, the best region for intraspinal microstimulation is unclear. Using an incomplete spinal cord injury model at T8, we compared the use of intraspinal microstimulation to activate the spinal cord in rats with a spontaneous recovery group. The intraspinal microstimulation group recovered sooner and showed three kinds of movement： the left hindlimb, the left hindlimb toes, and the paraspinal muscles and tails. These had different microstimulation thresholds. There was mild hyperplasia of the astrocytes surrounding the tips of the microelectrodes and slight inflammatory reactions nearby. These results indicate that implantation of microelectrodes was relatively safe and induced minimal damage to the lumbar-sacral spinal cord. Intraspinal microstimulation in the lumbar sacral spinal cord may improve leg movements after spinal cord injury. Non-specific intraspinal microstimulation may be a novel technique for the recovery of spinal cord injuries.

关键词： intraspinal microstimulation spinal cord injury central pattern generator propriospinal neurons neural regeneration

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Foot-ground Contact Force during Quadruped Locomotion Using CPG Control

Foot-ground Contact Force during Quadruped Locomotion Using ...

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第37届中国控制会议

作者： Xiaoqi Li Yanbo Wang Wei Wang Jianqiang Yi Beijing Institute of Precise Mechatronics and Controls China Academy of Launch Vehicle Technology Institute of Automation Chinese Academy of Sciences IEEE

central pattern generator（CPG） is able to produce rnytnmic signals witnout sensory teedback or any rhytnmic inputs,and is becoming popular for locomotion of quadruped robots.However,due to the lack of foot-ground contact force information,the swing phase and the stance phase of control signals generated by CPG are not consistent with the actual phase of the quadruped limb,so that the dynamic performance of quadruped robots controlled by CPG is not satisfying.Therefore,in this paper,force sensor is attached on the quadruped limb to detect the real-time contact force of foot with the substrate,and the actual contact-lift state of the limb.In addition,we analyze the characteristic of ground reaction force（GRF）,and the relationship between GRF and the detected foot-ground contact force.Moreover,we discuss the effect of different CPG parameters on the foot-ground contact force,so as to lay basis for improving the dynamic performance of quadruped robots.

关键词： Quadruped robot central pattern generator ground reaction force

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CPG’s Parameters and Topology Co-Evolution for Walking Control of Biped Robots

CPG’s Parameters and Topology Co-Evolution for Walking Cont...

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作者： XIAO Hui CHEN Qijun LIU Chengju Department of Electronic and Information Engineering Institute of Control Theory and Control EngineeringTongji University

In this paper,we focus on the bipedal walking that can be achieved by using a bio-inspired controller based on central pattern generator（CPG）.The challenge of this work is to determine the topology of neural network and the setting of the parameters.For this,by using neural oscillators to generate joint position control signals directly,a proper distributed oscillator network which consists of a body network and a leg network is constructed.To realize stable biped walking,the sensory feedback loop is designed and the parameters of the system are evolved by multi-objective genetic algorithm（MOGA）.The presented control method is validated through an ODE-based physically simulated environment.Under the controller,NAO can realize basic walking pattern,which demonstrate the effectiveness of the presented bio-inspired control method.

关键词： central pattern generator biped robot walking control evolutionary algorithm

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Back-Propagation Neural Network Based Predictive Control for Biomimetic Robotic Fish

Back-Propagation Neural Network Based Predictive Control for...

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第二十七届中国控制会议

作者： Wang Ming1,2,Yu Junzhi1,Tan Min1,Yang Qinghai1 1.Laboratory of Complex Systems and Intelligence Science Institute of Automation,Chinese Academy of Sciences,Beijing 100080,P.R.China 2.School of Information and Electric Engineering Shandong Jianzhu University,Jinan 250101,P.R.China

This paper presents a practical swimming data prediction method for a free-swimming,three-link robotic fish.Since a full hydrodynamic model for fish swimming is very complex and intractable,the primitive swimming data generated by a central pattern generator controller is fed into a Back-Propagation Neural Network（BPNN） for trimming.After the process of training,the BPNN is able to predict the actual swimming data for various swimming patterns without dynamic modeling.Preliminary simulation and experimental results on swimming control show the effectiveness of the proposed prediction method as well as its potential for other flexible link-based robots.

关键词： Biomimetic robotic fish central pattern generator Back-propagation neural network Predictive control Motion control

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