A Novel Interactive Exoskeletal Robot for Overground Locomotion Studies in Rats
This paper introduces a newly developed apparatus, Iron Rat, for locomotion research in rodents. Its main purpose is to allow maximal freedom of voluntary overground movement of the animal while providing forceful interaction to the hindlimbs. Advantages and challenges of the proposed exoskeletal apparatus over other existing designs are discussed. Design and implementation challenges are presented and discussed, emphasizing their implications for free, voluntary movement of the animal. A live-animal experiment was conducted to assess the design. Unconstrained natural movement of the animal was compared with its movement with the exoskeletal module attached. The compact design and back-drivable implementation of this apparatus will allow novel experimental manipulations that may include forceful yet compliant dynamic interaction with the animal's overground locomotion.
Y. S. Song and N. Hogan, "A Novel Interactive Exoskeletal Robot for Overground Locomotion Studies in Rats," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 23, no. 4, pp. 591 - 599, Institute of Electrical and Electronics Engineers (IEEE), Jul 2015.
The definitive version is available at https://doi.org/10.1109/TNSRE.2015.2396852
Mechanical and Aerospace Engineering
Keywords and Phrases
Biped locomotion; Design; Iron research; Mammals; Animal experiments; Design and implementations; Dynamic interaction; Exoskeletal robots; Exoskeleton; Rodent; Spinal cord injuries (SCI); Voluntary movement; Animals; Biomechanics; Devices; Female; Hindlimb; Innervation; Locomotion; Physiology; Prosthesis design; Rats; Robotics; Spinal Cord Injuries; Sprague Dawley rat; Videorecording; Biomechanical Phenomena; Sprague-Dawley; Video Recording
International Standard Serial Number (ISSN)
Article - Journal
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01 Jul 2015