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CRCNS Research Project: Collaborative Research: Experimental, Numerical, and Robotic Study of the Role of Dynamic Load Sensing in Legged Locomotion

CRCNS 研究项目：协作研究：动态负载传感在腿式运动中的作用的实验、数值和机器人研究

基本信息

批准号：
2113028
负责人：
Nicholas Szorcinski
金额：
$ 62.98万
依托单位：
West Virginia University Research Corporation
依托单位国家：
美国
项目类别：
Continuing Grant
财政年份：
2021
资助国家：
美国
起止时间：
2021-10-01 至 2025-09-30
项目状态：
未结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=2113028&HistoricalAwards=false
关键词：
CRCNS Research Project Collaborative Experimental

项目摘要

Insects are highly mobile walkers who adapt their muscle output to their ever‐changing environment. Force sensors in their legs detect increasing and decreasing forces, which may help them coordinate their legs and compensate for external forces, for example, when walking on an uneven surface. This Collaborative Research in Computational Neuroscience (CRCNS) project investigates the dynamics of the sensors that enable them to detect force increases and decreases, measuring the differences or similarities in these dynamics across the body, and exploring how these dynamics affect the control of walking. Recordings from stick insect and cockroach legs will inform a neurorobotic model of insect locomotion. The model is a six‐legged robot with force sensors like those in insects. The robot's control system is based on the insect nervous system, enabling the investigators to test how dynamic force sensing affects muscle control. Learning how to integrate dynamic force sensing into the robot's control system may lead to more successful walking robots for agriculture, mining, and exploration, and may shed light onto how humans utilize dynamic force sensing during locomotion. This project will also increase training in STEM through robotics workshops for West Virginia middle- and high-school students, and teaching and mentoring activities focused on women and first-generation college students.To better understand the importance of sensing dynamic load (dF/dt) to the neural control of locomotion, the investigators will study the force sensing of stick insects and cockroaches, which are amenable to experimentation due to their external force sensing organs, campaniform sensilla (CS). Evidence suggests that CS support the synergistic activation of muscles throughout the leg, enhancing them to overcome postural perturbations and regulating them to limit muscle forces. To better understand the organization of such synergies, the investigators will construct a neuromechanical model of the insect leg, whose kinematics and dynamics will provide necessary context for their afferent and efferent recordings. The investigators hypothesize that CS throughout the leg are tuned to rapidly recruit muscle synergies when the stance phase begins, to adapt motor outputs to variations in load during stance, and to support interleg coordination by signaling decreasing forces as the stance phase ends. To immerse the CS model into the mechanical context of a walking body and perform experiments that would be impossible in vivo, the investigators will apply the model to their dynamically‐scaled neuro‐robotic model of an insect, Drosophibot, and record from strain sensors on all legs as it walks. Actuator torques and CS responses will be compared between the robot and animal to refine the investigators' models of dynamic force sensing and synergistic muscle recruitment.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

昆虫是高度移动的步行者，它们的肌肉输出会适应不断变化的环境。他们腿上的力传感器检测力的增加和减少，这可能有助于他们协调腿并补偿外力，例如在不平坦的表面上行走时。这个计算神经科学合作研究（CRCNS）项目研究了传感器的动力学，使它们能够检测力的增加和减少，测量身体中这些动力学的差异或相似性，并探索这些动力学如何影响行走的控制。竹节虫和蟑螂腿的记录将为昆虫运动的神经机器人模型提供信息。该模型是一个六条腿的机器人，带有像昆虫一样的力传感器。机器人的控制系统基于昆虫神经系统，使研究人员能够测试动态力感测如何影响肌肉控制。学习如何将动态力感测集成到机器人的控制系统中可能会导致更成功的农业，采矿和探索行走机器人，并可能揭示人类如何在运动期间利用动态力感测。该项目还将通过面向西弗吉尼亚州初中和高中学生的机器人研讨会，以及针对女性和第一代大学生的教学和指导活动，增加STEM培训。为了更好地了解感知动态负载（dF/dt）对运动神经控制的重要性，研究人员将研究竹节虫和蟑螂的力感知，由于它们的外力感受器官，钟状感受器（CS），它们易于实验。有证据表明，CS支持整个腿部肌肉的协同激活，增强它们以克服姿势扰动并调节它们以限制肌肉力量。为了更好地理解这种协同作用的组织，研究人员将构建昆虫腿的神经力学模型，其运动学和动力学将为其传入和传出记录提供必要的背景。研究人员假设，整个腿部的CS被调整为在站立阶段开始时快速招募肌肉协同作用，使运动输出适应站立期间的负载变化，并通过在站立阶段结束时发出减少力量的信号来支持腿间协调。为了将CS模型沉浸在行走身体的机械环境中并进行在体内不可能进行的实验，研究人员将该模型应用于昆虫Drosophibot的动态缩放神经机器人模型，并记录所有腿上的应变传感器。该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

期刊论文数量（6）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Model Reveals Joint Properties for Which Co-contracting Antagonist Muscles Increases Joint Stiffness.

模型揭示了共同收缩拮抗肌可增加关节刚度的关节特性。

DOI：
发表时间：
2023
期刊：
Biomimetic and Biohybrid Systems. Living Machines 2023.
影响因子：
0
作者：
Kudyba, Isabella M.;Szczecinski, Nicholas S.
通讯作者：
Szczecinski, Nicholas S.

Comparison of Proximal Leg Strain in Locomotor Model Organisms Using Robotic Legs

使用机器人腿的运动模型生物的近端腿应变比较

DOI：
发表时间：
2023
期刊：
Biomimetic and Biohybrid Systems. Living Machines 2023.
影响因子：
0
作者：
Dinges, G.F.;Zyhowski, W.P.;Goldsmith, C.A.;Szczecinski, N.S.
通讯作者：
Szczecinski, N.S.

Direct assembly and tuning of dynamical neural networks for kinematics

运动学动态神经网络的直接组装和调整

DOI：
发表时间：
2022
期刊：
Biomimetic and Biohybrid Systems. Living Machines 2022.
影响因子：
0
作者：
Guie, Chloe K.;Szczecinski, Nicholas S.
通讯作者：
Szczecinski, Nicholas S.

Effects of Tarsal Morphology on Load Feedback During Stepping of a Robotic Stick Insect (Carausius Morosus) Limb

跗骨形态对机器人竹节虫（Carausius Morosus）肢体行走过程中负载反馈的影响

DOI：
发表时间：
2023
期刊：
Biomimetic and Biohybrid Systems. Living Machines 2023.
影响因子：
0
作者：
Goldsmith, C.A.;Zyhowski, W.P.;Büschges, A.;Zill, S.N.;Dinges, G.F.;Szczecinski, N.S.
通讯作者：
Szczecinski, N.S.

Load Feedback from a Dynamically Scaled Robotic Model of Carausius Morosus Middle Leg

Carausius Morosus 中腿动态缩放机器人模型的负载反馈