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A Developmental Rehabilitation Robotic System for a Rat With Complete Thoracic Spinal Cord Injury in Quadruped Posture
- Source :
- IEEE Robotics and Automation Letters. 3:2109-2115
- Publication Year :
- 2018
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2018.
-
Abstract
- Spinal cord injury (SCI) leads to the impairment of impulse conduction and subsequently to an abnormality of limbs function. To regain locomotor performance in SCI cases, we establish a robust combinatorial regenerative and rehabilitative approach to enhance axonal regeneration in the Sprague-Dawley rat with complete thoracic SCI. This system consists of a body weight support system, five-bar linkage for driving the rat's ankles, and treadmill for training motor functions. This system is tested in a rat which is totally transected at T9 and T10 of the spinal cord. A nanofiber scaffold is implanted in a gap between T9 and T10 of the spinal cord in a spinalized rat for stimulating axonal regrowth. The position errors are quantified under five static load conditions (no load, 10, 30, 60, and 100 g) and dynamic load condition. Average root mean square (RMS) position errors in x - and y- axes of the manipulator are 2.1% and 5.3%, respectively. According to a preliminary test, this system can provide the constant force to support the body weight and can drive the rat's hindlimbs without inducing anxiety or irritation. From our experiment, average RMS position errors in x - and y- axes of the manipulator are 10% and 11.7%, respectively. The contribution of this research is the developmental rehabilitation robotic system for a rat with complete thoracic SCI in quadruped posture which can provide more natural walking posture. The scope of this letter is a developmental rehabilitation robotic system.
- Subjects :
- medicine.medical_specialty
Control and Optimization
medicine.medical_treatment
Biomedical Engineering
02 engineering and technology
010402 general chemistry
Body weight
01 natural sciences
Physical medicine and rehabilitation
Artificial Intelligence
medicine
Treadmill
Spinal cord injury
Rehabilitation
business.industry
Mechanical Engineering
Nanofiber scaffold
021001 nanoscience & nanotechnology
Spinal cord
medicine.disease
0104 chemical sciences
Computer Science Applications
Human-Computer Interaction
Robotic systems
medicine.anatomical_structure
Control and Systems Engineering
Computer Vision and Pattern Recognition
0210 nano-technology
business
Thoracic spinal cord injury
Subjects
Details
- ISSN :
- 23773774
- Volume :
- 3
- Database :
- OpenAIRE
- Journal :
- IEEE Robotics and Automation Letters
- Accession number :
- edsair.doi...........8bf997d04a4a07173320db6b85464d51