检索结果-内蒙古大学图书馆

central pattern generator network model for the alternating hind limb gait of rats based on the modified Van der Pol equation

引用

MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING 2023年第2期61卷 555-566页

作者： Shen, Xiaoyan Wu, Yan Lou, Xiongjie Li, Zhiling Ma, Lei Bian, Xiongheng Nantong Univ Sch Informat Sci & Technol 9 Seyuan Rd Nantong 226019 Jiangsu Peoples R China Nantong Res Inst Adv Commun Technol Nantong Jiangsu Peoples R China Nantong Univ Coinnovat Ctr Neuroregenerat Nantong Jiangsu Peoples R China

Herein, we employed a central pattern generator (CPG), a spinal cord neural network that regulates lower-limb gait during intra-spinal micro-stimulation (ISMS). Particularly, ISMS was used to determine the spatial distribution pattern of CPG sites in the spinal cord and the signal regulation pattern that induced the CPG network to produce coordinated actions. Based on the oscillation phenomenon of the single CPG neurons of Van der Pol (VDP) oscillators, a double-cell CPG neural network model was constructed to realise double lower limbs, six-joint modelling, the simulation of 12 neural circuits, the CPG loci characterising stimuli-inducing alternating movements and changes in polarity stimulation signals in rat hindlimbs, and leg-state change movements. The feasibility and effectiveness of the CPG neural network were verified by recording the electromyographic burst-release mode of the flexor and extensor muscles of the knee joints during CPG electrical stimulation. The results revealed that the output pattern of the CPG presented stable rhythm and coordination characteristics. The 12-neuron CPG model based on the improved VDP equation realised single-point control while significantly reducing the number of stimulation electrodes in the gait training of spinal cord injury patients. We believe that this study advances motor function recovery in rehabilitation medicine.

关键词： central pattern generator Intra-spinal micro-stimulation Van der Pol oscillation model Alternating movement Spinal cord injury

来源：评论

学校读者我要写书评

暂无评论

SYNLOCO-VE: Synthesizing central pattern generator with reinforcement learning and velocity estimator for quadruped locomotion

引用

OPTIMAL CONTROL APPLICATIONS & METHODS 2025年第2期46卷 493-511页

作者： Zhang, Xinyu Xiao, Zhiyuan Zhou, Xiang Zhang, Qingrui Sun Yat sen Univ Sch Aeronaut & Astronaut Shenzhen Campus Shenzhen 518107 Peoples R China

It is a challenging task to learn a robust and natural locomotion controller for quadruped robots at different terrains and velocities. In particular, the locomotion learning task will be even more difficult for the case with no exteroceptive sensors. In this article, the learning-based locomotion control is, therefore, investigated for quadruped robots only using proprioceptive sensors. A new framework called SYNLOCO-VE is proposed by synthesizing a feedforward gait planner, a trunk velocity estimator, and reinforcement learning (RL). The feedforward gait planner is developed based on the well-known central pattern generator, but it can change the foot length for improved velocity tracking performance. The trunk velocity estimator is designed based on deep learning, which estimates the trunk velocity using historical data from proprioceptive sensors. The introduction of the trunk velocity estimator can mitigate the influence of the partial observation issue due to the lack of exteroceptive sensors. RL is employed to learn a feedback controller to regulate the robot gaits using feedback from proprioceptive sensors and the trunk velocity estimation. In the proposed framework, the feedforward gait planner can also guide the training process of RL, thus resulting in more stable and faster policy learning. Ablation studies are provided to demonstrate the efficiency of different modules in the proposed design. Extensive experiments are performed using a quadruped robot Go1, which only has proprioceptive sensors. The proposed framework is able to learn robust and stable locomotion at different terrains and tasks. Experimental comparisons are also conducted to illustrate the advantages of the proposed design over the state-of-the-art methods. SYNLOCO-VE is a novel framework for learning robust locomotion in quadruped robots using only proprioceptive sensors. By integrating a feedforward gait planner, a trunk velocity estimator, and reinforcement learning, our approach achi

关键词： central pattern generator deep learning quadruped locomotion reinforcement learning velocity estimation

来源：评论

学校读者我要写书评

暂无评论

Control strategy for intraspinal microstimulation based on central pattern generator

引用

COMPUTER METHODS IN BIOMECHANICS AND BIOMEDICAL ENGINEERING 2023年第3期26卷 305-314页

作者： Lou, Xiongjie Wu, Yan Lu, Song Shen, Xiaoyan Nantong Univ Sch Informat Sci & Technol Nantong 226019 Peoples R China Nantong Univ Collaborat Innovat Ctr Nerve Regenerat Nantong Peoples R China

Intraspinal microstimulation (ISMS) is considered as a special functional electrical stimulation (FES) method. This method can restore the movement of paralyzed limbs in patients with spinal cord injury (SCI) using electrical stimulation of spinal cord. There is a special site for central pattern generator (CPG) in the spinal cord. The ISMS acts on the CPG site, and single electrode stimulation produces alternating motion in the hindlimbs of SCI rats. Based on the long short-term memory network (LSTM), a mapping model was established between the stimulation intensity of specific CPG sites and the angle of the knee joint to reflect the motor characteristics of the rat hindlimb. We proposed an LSTM-iterative learning control (ILC) strategy to form a closed-loop control to accurately control hindlimb movement. The proposed LSTM model fits the actual joint angle curve well, and the LSTM-ILC strategy can accurately regulate the hindlimb movement, allowing rats to perform rehabilitation training based on pre-set knee trajectories.

关键词： intraspinal microstimulation central pattern generator spinal cord injury functional electrical stimulation

来源：评论

学校读者我要写书评

暂无评论

Intersegmental coordination of the central pattern generator via interleaved electrical and chemical synapses in zebrafish spinal cord

引用

JOURNAL OF COMPUTATIONAL NEUROSCIENCE 2023年第1期51卷 129-147页

作者： Kim, Lae Un Riecke, Hermann Northwestern Univ Dept Engn Sci & Appl Math Evanston IL 60208 USA

A significant component of the repetitive dynamics during locomotion in vertebrates is generated within the spinal cord. The legged locomotion of mammals is most likely controled by a hierarchical, multi-layer spinal network structure, while the axial circuitry generating the undulatory swimming motion of animals like lamprey is thought to have only a single layer in each segment. Recent experiments have suggested a hybrid network structure in zebrafish larvae in which two types of excitatory interneurons (V2a-I and V2a-II) both make first-order connections to the brain and last-order connections to the motor pool. These neurons are connected by electrical and chemical synapses across segments. Through computational modeling and an asymptotic perturbation approach we show that this interleaved interaction between the two neuron populations allows the spinal network to quickly establish the correct activation sequence of the segments when starting from random initial conditions, as needed for a swimming spurt, and to reduce the dependence of the intersegmental phase difference (ISPD) of the oscillations on the swimming frequency. The latter reduces the frequency dependence of the waveform of the swimming motion. In the model the reduced frequency dependence is largely due to the different impact of chemical and electrical synapses on the ISPD and to the significant spike-frequency adaptation that has been observed experimentally in V2a-II neurons, but not in V2a-I neurons. Our model makes experimentally testable predictions and points to a benefit of the hybrid structure for undulatory locomotion that may not be relevant for legged locomotion.

关键词： central pattern generator Spinal cord Waves Gap junctions Neuronal networks Zebrafish Computational model

来源：评论

学校读者我要写书评

暂无评论

Computational modeling predicts regulation of central pattern generator oscillations by size and density of the underlying heterogenous network

引用

JOURNAL OF COMPUTATIONAL NEUROSCIENCE 2023年第1期51卷 87-105页

作者： Ilies, Iulian Zupanc, Gunther K. H. Northeastern Univ Dept Biol Lab Neurobiol Boston MA 02115 USA

central pattern generators are characterized by a heterogeneous cellular composition, with different cell types playing distinct roles in the production and transmission of rhythmic signals. However, little is known about the functional implications of individual variation in the relative distributions of cells and their connectivity patterns. Here, we addressed this question through a combination of morphological data analysis and computational modeling, using the pacemaker nucleus of the weakly electric fish Apteronotus leptorhynchus as case study. A neural network comprised of 60-110 interconnected pacemaker cells and 15-30 relay cells conveying its output to electromotoneurons in the spinal cord, this nucleus continuously generates neural signals at frequencies of up to 1 kHz with high temporal precision. We systematically explored the impact of network size and density on oscillation frequencies and their variation within and across cells. To accurately determine effect sizes, we minimized the likelihood of complex dynamics using a simplified setup precluding differential delays. To identify natural constraints, parameter ranges were extended beyond experimentally recorded numbers of cells and connections. Simulations revealed that pacemaker cells have higher frequencies and lower within-population variability than relay cells. Within-cell precision and between-cells frequency synchronization increased with the number of pacemaker cells and of connections of either type, and decreased with relay cell count in both populations. Network-level frequency-synchronized oscillations occurred in roughly half of simulations, with maximized likelihood and firing precision within biologically observed parameter ranges. These findings suggest the structure of the biological pacemaker nucleus is optimized for generating synchronized sustained oscillations.

关键词： Apteronotus leptorhynchus central pattern generator Computational modeling Neural network Pacemaker nucleus Weakly electric fish

来源：评论

学校读者我要写书评

暂无评论

A Novel Ergodic Discrete Difference Equation Model of central pattern generator: Theoretical Analysis and Efficient Implementation

引用

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2022年第3期69卷 1767-1771页

作者： Komaki, Sho Takeda, Kentaro Torikai, Hiroyuki Hosei Univ Dept Elect & Elect Engn Tokyo 1848584 Japan

A novel ergodic discrete difference equation (DDE) oscillator and its theoretical analysis method are presented. Theoretical analyses reveal the oscillator is more suitable to build a central pattern generator (CPG) compared to a standard non-ergodic DDE oscillator. Further, it is shown the ergodic DDE CPG can generate rhythmic signals suitable for realizing fundamental gaits of a quadruped robot. Then a prototype of the ergodic DDE CPG is implemented by a field programmable gate array and experiments show it can realize the fundamental gaits of the quadruped robot. Further, it is shown the ergodic DDE CPG consumes much lower power and much fewer circuit elements compared to a typical conventional CPG implemented as a customized digital signal processor.

关键词： Oscillators Clocks Switches Robots Mathematical model generators Difference equations central pattern generator ergodic discrete difference equation ergodic sequential logic FPGA

来源：评论

学校读者我要写书评

暂无评论

Trajectory Planning for a Fully Parallel Manipulator Using a Bio-inspired Model Based on central pattern generator

Trajectory Planning for a Fully Parallel Manipulator Using a...

引用

Annual IEEE Canadian Conference on Electrical and Computer Engineering (CCECE)

作者： Mobasher, Ismail Farzaneh, Yadollah Uninnettuno Univ Rome Italy Islamic Azad Univ Mashhad Branch Mashhad Razavi Khorasan Iran

ISBN: (纸本)9798350323979

Moving gracefully while being efficient is an ability which animals possess. Many characteristics of animals' central nervous systems are shaped on basis of locomotion features. For robots, producing satisfactory locomotion skills, which allow them to perform more efficiently is also of primary importance. In this study, central pattern generator (CPG) is utilized for the first time in trajectory planning on a parallel manipulator. Conventional methods have long been used to devise trajectory planning methods, most of which are highly passive and offline. In this paper, a method is proposed to enable a Parallel Manipulator to switch one trajectory to another one online which was absolutely impossible in more conventional methods. The trajectory planning for industrial manipulators are often cyclic, for instance machining, and the ultimate goal of manipulator's application in industry is to pass a trajectory as smoothly as possible with a negligible rate of acceleration and jerk rate. When a manipulator is to switch from one trajectory to another, it is expected to stop and start the second trajectory. Inevitably though, the switch between trajectories causes the whole system to tolerate a high rate of acceleration and consequently jerk due to its halt and start which gradually leads to the system' breakdown. In this paper, the technique proposed allows the system to eliminate the jerk as a result of the resumption of the movement and due to the fact, the jerk no longer exists. This method lets the whole system survive longer. In this study, the manipulator switches form one trajectory to another and it never stops during the travel which is an undeniable advantage over previous trajectory method in which the resumption of motion was an indispensable part of it.

关键词： Trajectory planning central pattern generator harmonic oscillator

来源：评论

学校读者我要写书评

暂无评论

Analyses of nonlinear transient phenomena of ergodic cellular automaton central pattern generator 20

Analyses of nonlinear transient phenomena of ergodic cellula...

引用

20th International SoC Design Conference (ISOCC)

作者： Sato, Shoma Torikai, Hiroyuki Hosei Univ Fac Sci & Engn 3-7-2 Kajino Cho Koganei Tokyo 1848584 Japan

ISBN: (纸本)9798350327038

In this study, we design an ergodic cellular automaton central pattern generator (CPG) model. We show that the designed model exhibits a variety of patterns of synchronization to enable gaits of a hexapod robot. Here, we make an analysis of transient phenomena of synchronization patterns induced by time-varying coupling weights, which determine the gaits of a hexapod robot. And we show that the designed model realizes safe transitions. The model is implemented by a field-programmable gate array (FPGA). The designed model is shown to be able to realize basic gaits of hexapod robots.

关键词： central pattern generator Multi legged robot FPGA

来源：评论

学校读者我要写书评

暂无评论

Gait regulation of hindlimb based on central pattern generator in rats with a spinal cord injury

引用

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE 2022年第7期236卷 979-987页

作者： Shen, Xiaoyan Lou, Xiongjie Shao, Wei Li, Zhiling Wu, Yan Lu, Song Nantong Univ Sch Informat Sci & Technol 9 Seyuan Rd Nantong 226019 Jiangsu Peoples R China Nantong Res Inst Adv Commun Technol Nantong Jiangsu Peoples R China

A spinal stimulator that can regulate hindlimb movements using monopolar stimulation has not been developed yet. Nevertheless, in a previous study, we found a specific central pattern generator site on the right side of the rat spinal cord. By stimulating these sites with certain pulse signals, the alternating movement of the hindlimb can be obtained using fewer electrodes. Therefore, in this research, considering the specific central pattern generator site as the target, functional electrical stimulation was performed on rats with spinal cord injury using monopolar stimulation. Angle sensors were used to track and capture the knee joint angle data of the right hindlimb;thus, the mapping relationship between the voltage amplitude and the knee angle parameters was established. Based on this relationship, the rats' hindlimb were controlled. Compared with the traditional spinal stimulator, the proposed approach increases the gait feedback, requires fewer electrodes, and simplifies the timing of stimulation. The rats with spinal cord injury were subjected to stimulation training for half an hour every day for 28 consecutive days. The Basso, Beattie and Bresnahan score showed that 76% of the health level could be achieved on the 28th day. Finally, somatosensory evoked potential analysis showed that the measurement results were close to the standard value on the 28th day. This study lays a foundation for future rehabilitation research on the hindlimb.

关键词： central pattern generator monopolar stimulation functional electrical stimulation gait feedback and control

来源：评论

学校读者我要写书评

暂无评论

A chopper-type mixed gait controller based on ergodic cellular automaton central pattern generator 20

A chopper-type mixed gait controller based on ergodic cellul...

引用

20th International SoC Design Conference (ISOCC)

作者： Kamitoko, Jumpei Torikai, Hiroyuki Hosei Univ Grad Sch Sci & Engn Tokyo Japan

ISBN: (纸本)9798350327038

Here, we designed an extended ergodic cellular automaton model of a central pattern generator. The designed model is able to synthesize the phenomena of synchronization, which is able to realize standard gaits of a quadruped robot. We show that the mixing of the coupling matrices on the basis of the chopper-like method has the following properties, the designed model is able to achieve mixed gaits for the quadruped robot based on the matrix ratios in the chopper.

关键词： central pattern generator quadruped robot FPGA

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：