Neurorobotics, modularity and function in SCI and Normal Rats

描述（由申请人提供）：本提案的最终目标是利用神经机器人范式，通过在正常和受伤大鼠的运动过程中对骨盆施加力来辅助躯干和肢体控制。我们还将使用更多的标准生理学。这两种方法共同提供了检查正常和损伤后皮质脊髓组织以及躯干和后肢控制的工具。我们试图了解和改善脊髓损伤后的躯干控制，并研究其在完整和脊髓损伤（SCI）大鼠中的发展、模块化和可塑性。我们有三个具体目标：目标1：我们将确定(1)有重量支撑的新生儿脊髓横断的成年大鼠和(2)没有重量支撑的新生儿脊髓横断的成年大鼠以及(3)正常大鼠之间躯干和腿部肌肉使用和相关运动皮质活动的生理和生物力学差异。目的2：我们将研究正常大鼠如何改变神经和运动活动，以响应神经机器人干预产生腰椎动作。我们将测试(1)机器人的弹性力场作用是外在的或内在的，但不取决于神经活动，以及(2)力场作用直接取决于神经活动的特征（神经机器人控制）。目的3：我们将比较新生儿损伤脊髓大鼠在良好或部分体重支持下如何改变神经和运动活动，以响应神经机器人干预产生的腰椎动作。我们将测试(1)机器人的弹性力场作用是外在的或内在的，但不取决于神经活动，以及(2)力场作用直接取决于神经活动的特征（神经机器人控制）。这里的研究可以通过多种方式为脊髓损伤和其他创伤提供治疗的临床使命做出贡献。首先，通过进一步了解皮质和脊柱整合，在正常和新生脊髓损伤大鼠中，有或没有体重支持（目的1），我们将提供关于如何最好地评估和优化损伤大鼠模型的恢复的信息。其次，通过开发骨盆相互作用康复的动物模型（目标2和目标3），我们将提供基本数据，说明该框架在更具侵入性记录可行性的模型中可能具有的优势或额外益处。这可能与临床上正在开发的盆腔辅助装置有相当直接的关系。第三，如果完整的新生受伤大鼠或成年受伤大鼠能够学会使用神经机器人控制骨盆，我们将展示躯干和腿部的神经旁路策略，该策略可能扩展到脊髓内刺激，FES或其他更高自由度的控制方法，用于人类脊髓损伤的肌肉骨骼和脊柱系统。未来，脑机接口和新型假肢将需要控制躯干和四肢，以治疗脊髓损伤导致的截瘫或四肢瘫痪。目前还没有关于躯干康复和神经机器人的动物模型。躯干对协调运动和行动至关重要。建立了躯干机器人康复与脑机接口控制的动物模型。

DESCRIPTION (provided by applicant): The ultimate goal of this proposal is to utilize a neurobotics paradigm to assist trunk and limb controls by applying force at the pelvis during locomotion in normal and injured rats. We will also use more standard physiology. Together these two approaches provide tools to examine normal and post- injury corticospinal organization, and the control of trunk and hind-limbs. We seek to understand and improve trunk control after SCI, and to examine its development, modularity and its plasticity in intact and spinal cord injured (SCI) rats. We have three Specific Aims: Aim 1 : We will identify physiological and biomechanical differences in the use of trunk and leg muscles and the associated motor cortical activity between (1) adult rats with neonatal spinal transections with weight support and (2) adult rats with neonatal spinal transections without weight support and (3) normal rats. Aim 2: We will examine how normal rats alter neural and motor activity in response to neurorobotic interventions which generate lumbar actions. We will test (1) robot elastic force-field actions that are extrinsic or intrinsic but not contingent on neural activity, and (2) force-field actions directly contingent on features of neural activity (neurorobotic control). Aim 3: We will compare how neonatal injured SCI rats with good or partial weight support alter neural and motor activity in response to neurorobotic interventions which generate lumbar actions. We will test (1) robot elastic force-field actions that are extrinsic or intrinsic but not contingent on neural activity, and (2) force-field actions directly contingent on features of neural activity (neurorobotic control). The research here can contribute to the clinical mission of providing therapies for SCI and other trauma in a range of ways. First, by furthering our understanding of cortical and spinal integration, in normal and neonatal SCI rats with and without weight support (Aim 1) we will provide information on how best to assess and optimize recovery in rat models of injury and perhaps beyond. Second, by developing an animal model of pelvis interaction rehabilitation (Aim 2 and 3), we will provide basic data on what advantages or additional benefits this framework may have in a model where more invasive recording is feasible. This may be of fairly direct relevance to pelvic assistive devices under development for the clinic. Third, if the intact neonatal injured rat or the adult injured rats can learn to use a neurorobotic control of pelvis, we will have demonstrated a neural bypass strategy for trunk and legs which may be extended to intraspinal stimulation, FES or other higher degree of freedom control methods for the musculoskeletal and spinal systems in human SCI. PUBLIC HEALTH RELEVANCE Brain Machine Interfaces and novel prosthetics will in future require controls of the trunk as well as the limbs for injuries of spinal cord causing paraplegia or tetraplegia. Currently there is no animal model of rehabilitation and neurorobotics of the trunk. Trunk is essential for coordinated locomotion and action. We develop an animal model of trunk robotic rehabilitation and brain machine interface control.