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Collaborative Research: Elucidating the contributions of nonlinearities in musculotendon properties to enabling locomotion in unpredictable environments.

合作研究：阐明肌肉腱特性中的非线性对在不可预测的环境中实现运动的贡献。

基本信息

批准号：
2128546
负责人：
Craig McGowan
金额：
$ 33.4万
依托单位：
University of Southern California
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2022
资助国家：
美国
起止时间：
2022-04-01 至 2025-03-31
项目状态：
未结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=2128546&HistoricalAwards=false
关键词：
Collaborative Research Elucidating contributions nonlinearities

项目摘要

For animals that locomote on uneven and diverse terrains, the ability to negotiate obstacles that can impede their forward progression and can cause instability is critical to survival. In many cases, the musculoskeletal system handles these obstacles by itself, independent of control by the nervous system, but the exact mechanisms by which this occurs are not thoroughly understood. The overall objective of this proposal is to elucidate how specific features within the musculoskeletal system achieve the appropriate locomotor behaviors without needing reflex interventions from the nervous system. To achieve this objective, the researchers will study bipedal hopping by kangaroo rats within the context of abrupt changes in slope that can disrupt forward velocity and/or cause unwanted rotational pitch of the body. Novel experiments using a specially designed rotational treadmill will make it possible to expose kangaroo rats to controlled perturbations that mimic ecologically relevant obstacles. The conceptual framework of the studies is that the components of the musculoskeletal system represent an embedded intelligence that can ease the computational burden of centralized controllers for complex dynamic systems. We advance this idea by investigating specific examples in which specialized properties link functional demands, conditional properties, and system state. Translation of the findings can solve long-standing challenges for robots moving stably over variable terrains. Furthermore, the project will involve local high school teachers, who will develop, test, implement, and assess teaching modules based upon the ongoing research to encourage pre-college students to appreciate how the study of basic biology and engineering applications are complementary. The objective of this project is to elucidate how nonlinearities within the musculoskeletal system express contextually appropriate system properties to achieve desired motor function without needing neural feedback. The approach is to study bipedal hopping by kangaroo rats with abrupt changes in slope that can disrupt forward velocity and/or cause unwanted pitch. More specifically, the research will examine how the actions of ankle extensors are coupled to the mechanics of the feet, and how this coupling is modulated by the nonlinear features of tendon. This coupling is hypothesized to provide the functional benefit of automatically making the foot compliant upon landing to mediate perturbations and then stiff at takeoff to enable propulsion. To test this hypothesis, the research team will use an integrated framework of in vivo, in situ, and in silico methods to obtain behavioral data, test mechanistic hypotheses, and manipulate component properties, respectively. A novel custom-designed rotational treadmill will make it possible to have controlled perturbations that mimic ecologically relevant obstacles. More generally, nonlinearities expressed by a system’s components can expand a system’s range of operating conditions and contexts. The findings will provide guidance for the design of nonlinearities, namely, their type and parameterization, so that the nonlinearities will be advantageous for achieving function while interacting with unpredictable environments. By collaborating with local high school teachers, the PIs will build a network of STEM teachers who will develop, test, implement, and assess teaching modules based upon the research. In addition, the project will provide interdisciplinary research training and mentoring for two graduate students and one postdoctoral fellow.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.

对于在不平坦和多样化的地形上移动的动物来说，穿越可能阻碍它们前进并可能导致不稳定的障碍的能力对生存至关重要。在许多情况下，肌肉骨骼系统独自处理这些障碍，独立于神经系统的控制，但发生这种情况的确切机制尚未完全了解。这项建议的总体目标是阐明肌肉骨骼系统中的特定特征如何在不需要神经系统反射干预的情况下实现适当的运动行为。为了实现这一目标，研究人员将在坡度突然变化的背景下研究袋鼠的两足跳跃，这种变化可能会扰乱前进速度和/或导致身体不必要的旋转俯仰。使用特别设计的旋转跑步机进行的新颖实验将使袋鼠有可能受到模仿生态相关障碍的受控扰动。这些研究的概念框架是，肌肉骨骼系统的组件代表了一种嵌入式智能，可以减轻复杂动态系统的集中式控制器的计算负担。我们通过研究专门化属性将功能需求、条件属性和系统状态链接起来的特定示例来提出这一想法。这些发现的翻译可以解决机器人在不同地形上稳定移动的长期挑战。此外，该项目将有当地高中教师参与，他们将根据正在进行的研究开发、测试、实施和评估教学模块，以鼓励大学预科学生认识到基础生物学和工程应用的学习是如何相辅相成的。这个项目的目的是阐明肌肉骨骼系统中的非线性如何表达与背景相适应的系统特性，以实现所需的运动功能，而不需要神经反馈。方法是研究袋鼠的两足跳跃，斜率的突然变化可能会扰乱前进速度和/或造成不必要的俯仰。更具体地说，这项研究将研究脚踝伸展肌的动作如何与脚的力学相耦合，以及这种耦合是如何被肌腱的非线性特征所调制的。这种耦合被认为是为了提供功能上的好处，即在着陆时自动使脚部顺应，以调解扰动，然后在起飞时僵硬，以实现推进。为了验证这一假说，研究小组将使用体内、原位和电子方法的综合框架来分别获取行为数据、测试机械假说和操纵组件特性。一种新的定制设计的旋转跑步机将使模仿生态相关障碍的受控扰动成为可能。更广泛地说，由系统部件表示的非线性可以扩展系统的运行条件和环境的范围。这些结果将为非线性的设计提供指导，即非线性的类型和参数化，从而使非线性有利于在与不可预测的环境相互作用的同时实现功能。通过与当地高中教师合作，PIS将建立STEM教师网络，他们将根据研究开发、测试、实施和评估教学模块。此外，该项目将为两名研究生和一名博士后研究员提供跨学科的研究培训和指导。该奖项反映了NSF的法定使命，并通过使用基金会的智力优势和更广泛的影响审查标准进行评估，被认为值得支持。