A controller perspective on biological gait control: Reflexes and central pattern generators

Duysens, Jaak; Forner-Cordero, Arturo

doi:10.1016/j.arcontrol.2019.04.004

Cited by 17 publications

(10 citation statements)

References 121 publications

(143 reference statements)

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“…The autonomously generated signal can be combined with the control signal from the higher centre to generate gait movements. 12,13 In a previous study, 14 we found a specific CPG site on the right side of the rat spinal cord. In particular, rats can be induced to move the left hindlimb flexion and the right hindlimb extension by stimulating this site with positive pulses, while negative-pulse stimulation induces the opposite motion.…”

Section: Introductionmentioning

confidence: 71%

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

Shen

Lou

Shao

et al. 2022

Proc Inst Mech Eng H

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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.

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Section: Introductionmentioning

confidence: 71%

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

Shen

Lou

Shao

et al. 2022

Proc Inst Mech Eng H

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“…A central pattern generator (Torrealba et al 2012;Torrealba et al 2010;Guo et al 2010;Duysens and Forner-Cordero 2019) uses biologic neural grid. They are modulated by basic sensory signals which are being modeled and extensively studied.…”

Section: Resultsmentioning

confidence: 99%

“…Impedance control algorithm (Varol and Goldfarb 2007;Herr and Wilkenfeld 2003;Duysens and Forner-Cordero 2019) is the most commonly used control strategy (El-Sayed et al 2014) within which the torque generated is tailored to the produced knee angle. It ensures that the knee joint produces sufficient torque that is worthy for every phase of gait (Martinez-Villalpando and Herr 2009).…”

Section: Resultsmentioning

confidence: 99%

Application of control strategies and machine learning techniques in prosthetic knee: a systematic review

Mohanty

Sabut

2022

Adv. in Comp. Int.

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This systematic review focuses on control strategies and machine learning techniques used in prosthetic knees for restoring mobility of individuals with trans-femoral amputations. Review and classification of control strategies that determine how these prosthetic knees interact with the user and gait strategy inspired algorithms for phase identification, locomotion mode, and motion intention recognition were studied. Relevant studies were identified using electronic databases such as PubMed, EMBASE, SCOPUS, and the Cochrane Controlled Trials Register (Rehabilitation and Related Therapies) up to April 2021. Abstracts were screened and inclusion and exclusion criteria were applied. Out of 278 potentially relevant studies, 65 articles were included. The specific variables on control approach, control modes, gait control, hardware level, machine learning algorithm, and measured signals mechanism were extracted and added to summary table. The results indicate that advanced methods for adapting position or torque depiction and automatic detection of terrains or gait modes are more commonly utilized, but they are largely limited to laboratory environments. It is concluded that a correct combination of control strategies and machine learning techniques will enable the improvement of prosthetic performance and enhance the standard of amputee's lives.

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“…The correlation between the stimulus signal voltage amplitude and gait angle data is converted into a mapping relationship. The CPG site was stimulated by pressing the button to change the voltage amplitude of the stimulus signal, and the knee joint angle of the unilateral hindlimb was measured to establish the knee joint angle and signal parameter model [21][22][23].…”

Section: Amplitude-angle Modelmentioning

confidence: 99%

Regulation and Rehabilitation of Hindlimb Gait Based on CPG in Rats with Spinal Cord Injury

Shao

Shen

et al. 2021

Preprint

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Background: To reconstruct hindlimb gait movement in patients with spinal cord injury(SCI), a spinal stimulator using a one-port electrode is proposed to regulate bilateral hindlimb movements in rats. Functional electrical stimulation(FES) of rats with spinal cord injury(SCI) was performed, considering the central pattern generator(CPG) in the spinal cord as the target.Methods: Left hindlimb flexion and right hindlimb extension were achieved by stimulating the CPG site with a positive pulse, while negative pulse stimulation induced the opposite motions. Angle sensors were used to track and capture knee joint angle data, and the mapping relationship model between voltage amplitude and gait parameters was established. The hindlimbs were controlled using the reference angle. SCI rats were subjected to stimulation trained for 30 min each day for 28 days with a reference angle range of 96°-128°. Results: Based on CPG site stimulation, the hindlimbs of rats were regulated between 96° and 128° with this system. On the 28th day, a BBB score indicating. A 76% health level was achieved, while the SEP measurement results were close to the normal value.Conclusion: Compared with traditional spinal stimulators, the proposed spinal stimulator has fewer electrodes and a simplified time sequence. The system realizes an improved gait feedback and decreased muscle fatigue. The results of rehabilitation training proved the recovery effect of the system on the hindlimb gait of SCI rats.

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A controller perspective on biological gait control: Reflexes and central pattern generators

Cited by 17 publications

References 121 publications

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

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

Application of control strategies and machine learning techniques in prosthetic knee: a systematic review

Regulation and Rehabilitation of Hindlimb Gait Based on CPG in Rats with Spinal Cord Injury

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