A biologically based neural system coordinates the joints and legs of a tetrapod
A biologically based neural system coordinates the joints and legs of a tetrapod
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DOI：
10.1088/1748-3190/10/5/055004
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发表时间：
2015-10-01
影响因子：
3.4
通讯作者：
Quinn, Roger
中科院分区：
文献类型：
--
作者：
Hunt, Alexander;Schmidt, Manuela;Quinn, Roger
一个生物启发的神经控制系统已经开发出来，协调四足动物小跑步态在矢状面。发达的神经机械系统被用来探索腿间和腿内协调连接的属性。神经控制器由基于生物学的神经元和突触构建，并且连接基于文献中可用的数据。将其应用于具有14个关节的大鼠的平面生物力学模型，每个关节由一对拮抗性Hill肌肉模型驱动。控制器通过激活模拟的运动神经元在肌肉中产生张力。后腿和腿间的控制网络是基于猫的研究中发现的路径调整到大鼠的运动学运动。前腿网络是通过从后腿推断类似的通路而开发的。制定腿内和腿间网络适当协调关节，并产生类似于步行大鼠的运动。改变单个腿间连接的强度足以解释不同小跑大鼠中相位定时的差异。
A biologically inspired neural control system has been developed that coordinates a tetrapod trotting gait in the sagittal plane. The developed neuromechanical system is used to explore properties of connections in inter-leg and intra-leg coordination. The neural controller is built with biologically based neurons and synapses, and connections are based on data from literature where available. It is applied to a planar biomechanical model of a rat with 14 joints, each actuated by a pair of antagonistic Hill muscle models. The controller generates tension in the muscles through activation of simulated motoneurons. The hind leg and inter-leg control networks are based on pathways discovered in cat research tuned to the kinematic motions of a rat. The foreleg network was developed by extrapolating analogous pathways from the hind legs. The formulated intra-leg and inter-leg networks properly coordinate the joints and produce motions similar to those of a walking rat. Changing the strength of a single inter-leg connection is sufficient to account for differences in phase timing in different trotting rats.