A Fuzzy Controller for Movement Stabilization Using Afferent Control: Controller Synthesis and Simulation
DOI: 10.4103/jmss.JMSS_43_16
Abstract
with spinal cord injury (SCI). More recent evidence suggests that the stimulation increases the level
of excitability in the spinal circuits, activates central pattern generators, and it is also able to recruit
distinctive afferent pathways connected to specifc sensorimotor circuits. In addition, the stimulation
generates well‑defned responses in leg muscles after each pulse. The problem is that in most of the
neuromodulation devices, electrical stimulation parameters are regulated manually and stay constant
during movement. Such a technique is likely suboptimal to intercede maximum therapeutic effects
in patients. Therefore, in this article, a fuzzy controller has been designed to control limb kinematics
during locomotion using the afferent control in a neuromechanical model without supraspinal drive
simulating post‑SCI situation. The proposed controller automatically tunes the weights of group Ia
afferent inputs of the spinal cord to reset the phase appropriately during the reaction to an external
perturbation. The kinematic motion data and weights of group Ia afferent inputs were the input and
output of the controller, respectively. Simulation results showed the acceptable performance of the
controller to establish adaptive locomotion against the perturbing forces based on the phase resetting
of the walking rhythm.
Full Text:
PDFReferences
Barbeau H, McCrea DA, ODonovan MJ, Rossignol S, Grill WM, Lemay MA. Tapping into spinal circuits to restore motor function. Brain Res Rev 1999;30:27-51.
Rossignol S, Bouyer D, Barthelemy C, Langlet H. Recovery of locomotion in the cat following spinal cord lesions. Brain Res Rev 2002;40:257-66.
Roy RR, Harkema SJ, Edgerton VR. Basic concepts of activity-based interventions for improved recovery of motor function after spinal cord injury. Arch Phys Med Rehabil 2012;93:1487-97.
Marsh BC, Astill SL, Utley A, Ichiyama RM. Movement rehabilitation after spinal cord injuries: Emerging concepts and future directions, Brain Res Bull 2011;84:327-36.
Harkema S, Gerasimenko Y, Hodes J, Burdick J, Angeli C, Chen Y, et al. Effect of epidural stimulation of the lumbosacral spinal cord on voluntary movement, standing, and assisted stepping after motor complete paraplegia: A case study. Lancet 2011;377:1938-47.
van den Brand R, Heutschi J, Barraud Q, DiGiovanna J, Bartholdi K, Huerlimann M, et al. Restoring voluntary control of locomotion after paralyzing spinal cord injury. Science 2012;336;1182-5.
Holinski BJ, Everaert DG, Mushahwar VK, Stein RB. Real-time control of walking using recordings from dorsal root ganglia. J Neural Eng 2013;10:056008.
Capogrosso M, Wenger N, Raspopovic S, Musienko P, Beauparlant J, Bassi Luciani L, et al. A computational model for epidural electrical stimulation of spinal sensorimotor circuits., J Neurosci 2013;33:19326-40.
Gad P, Lavrov I, Shah P, Zhong H, Roy RR, Edgerton VR, et al. Neuromodulation of motor-evoked potentials during stepping in spinal rats. J Neurophysiol 2013;110:1311-22.
Lavrov I, Dy CJ, Fong AJ, Gerasimenko Y, Courtine G, Zhong H, et al. Epidural stimulation induced modulation of spinal locomotor networks in adult spinal rats. J Neurosci 2008;28:6022-9.
Lozano M, Lipsman N. Probing and regulating dysfunctional circuits using deep brain stimulation. Neuron 2013;406-24.
Borton D, Micera S, Millan Jdel R, Courtine G. Personalized neuroprosthetics. Sci Transl Med 2013;5:210-2.
Minassian K, Jilge B, Rattay F, Pinter MM, Binder H, Gerstenbrand F, et al. Stepping-like movements in humans with complete spinal cord injury induced by epidural stimulation of the lumbar cord: Electromyographic study of compound muscle action potentials. Spinal Cord 2004;42:401-16.
Lyalka VF, Hsu LJ, Karayannidou A, Zelenin PV, Orlovsky GN, Deliagina TG. Facilitation of postural limb reflexes in spinal rabbits by serotonergic agonist administration, epidural electrical stimulation, and postural training. J Neurophysiol 2011;106:1341-54.
Wenger N, Moraud EM, Raspopovic S, Bonizzato M, DiGiovanna J, Musienko P, et al. Closed-loop neuromodulation of spinal sensorimotor circuits controls refined locomotion after complete spinal cord injury. Sci Transl Med 2014;6:255ra133.
Quevedo J, Stecina K, Gosgnach S, McCrea DA. Stumbling corrective reaction during fictive locomotion in the cat. J Neurophysiol 2005;94:2045-52.
Conway BA, Hultborn H, Kiehn O. Proprioceptive input resets central locomotor rhythm in the spinal cat. Exp Brain Res 1987;68:643-56.
Schomburg ED, Petersen N, Barajon I, Hultborn H. Flexor reflex afferents reset the step cycle during fictive locomotion in the cat. Exp Brain Res 1998;122:339-50.
Duysens J. Fluctuations in sensitivity to rhythm resetting effects during the cats step cycle. Brain Res 1977;133:190-5.
Funato T, Yamamoto Y, Aoi S, Imai T, Aoyagi T, Tomita N, et al. Evaluation of the phase-dependent rhythm control of human walking using phase response curves. PLoS Comput Biol 2016;12:e1004950.
Quevedo J, Stecina K, McCrea DA. Intracellular analysis of reflex pathways underlying the stumbling corrective reaction during fictive locomotion in the cat. J Neurophys 2005;94:2053-62.
Nashner LM. Balance and posture control. In R.S. Larry, ed., Encyclopedia of neuroscience, Academic Press, Oxford 2009; 2010. p. 21-9.
Kawato M. Transient and steady state phase response curves of limit cycle oscillators. J Math Biol 1981;12:13-30.
Nomura T, Kawa K, Suzuki Y, Nakanishi M. Dynamic stability and phase resetting during biped gait. Chaos 2009;19:026103.
Markin SN, Klishko AN, Shevtsova NA, Lemay MA, Prilutsky BI, Rybak IA. Afferent control of locomotor CPG: Insights from a simple neuro-mechanical model. In: Fetcho J, Hochman S, McDermott A, Stein P, Ziskind-Conhaim L, editors. Cellular and Network Functions in the Spinal Cord. Annals of the New York Academy of Sciences. New York Academy of Sciences; 2010.
Refbacks
- There are currently no refbacks.
https://e-rasaneh.ir/Certificate/22728
ISSN : 2228-7477