title: A neurorobotic platform for locomotor prosthetic development in rats and mice.
abstract: OBJECTIVE
  We aimed to develop a robotic interface capable of providing finely-tuned, multidirectional trunk assistance adjusted in real-time during unconstrained locomotion in rats and mice.
  
  
  METHODS
  We interfaced a large-scale robotic structure actuated in four degrees of freedom to exchangeable attachment modules exhibiting selective compliance along distinct directions. This combination allowed high-precision force and torque control in multiple directions over a large workspace. We next designed a neurorobotic platform wherein real-time kinematics and physiological signals directly adjust robotic actuation and prosthetic actions. We tested the performance of this platform in both rats and mice with spinal cord injury.
  
  
  RESULTS
  Kinematic analyses showed that the robotic interface did not impede locomotor movements of lightweight mice that walked freely along paths with changing directions and height profiles. Personalized trunk assistance instantly enabled coordinated locomotion in mice and rats with severe hindlimb motor deficits. Closed-loop control of robotic actuation based on ongoing movement features enabled real-time control of electromyographic activity in anti-gravity muscles during locomotion.
  
  
  CONCLUSIONS
  This neurorobotic platform will support the study of the mechanisms underlying the therapeutic effects of locomotor prosthetics and rehabilitation using high-resolution genetic tools in rodent models.
authors: International Paraplegic Foundation Chair in Spinal Cord Repair, Center for Neuroprosthetics and Brain-Mind Institute, Swiss Federal Institute of Technology (EPFL), Lausanne, Switzerland.
authors: Joachim
authors: J
authors: von Zitzewitz
authors: Leonie
authors: L
authors: Asboth
authors: Nicolas
authors: N
authors: Fumeaux
authors: Alexander
authors: A
authors: Hasse
authors: Laetitia
authors: L
authors: Baud
authors: Heike
authors: H
authors: Vallery
authors: Grégoire
authors: G
authors: Courtine
mesh_terms: D000818:Animals; D004867:Equipment Design / Q000379:methods*; D005260:Female; D006614:Hindlimb / Q000294:innervation / Q000503:physiopathology / Q000601:surgery; D008124:Locomotion / Q000502:physiology*; D051379:Mice; D008810:Mice, Inbred C57BL; D058117:Neural Prostheses / Q000639:trends; D051381:Rats; D011917:Rats, Inbred Lew; D012371:Robotics / Q000379:methods* / Q000639:trends; D013119:Spinal Cord Injuries / Q000503:physiopathology / Q000534:rehabilitation / Q000601:surgery