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例，通过在正常和受伤大鼠运动期间在骨盆处施加力来辅助躯干和肢体控制。我们还将使用更标准的生理学。这两种方法一起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，并检查其发展，模块化和可塑性在完整和脊髓损伤（SCI）大鼠。我们有三个具体目标：目标1：我们将确定（1）新生儿脊髓横断伴负重支撑的成年大鼠和（2）新生儿脊髓横断不伴负重支撑的成年大鼠以及（3）正常大鼠之间躯干和腿部肌肉使用以及相关运动皮质活动的生理和生物力学差异。目的2：我们将研究如何正常大鼠改变神经和运动活动的神经机器人干预，产生腰部行动。我们将测试（1）机器人弹性力场动作，这些动作是外在的或内在的，但不依赖于神经活动，以及（2）力场动作直接依赖于神经活动的特征（神经机器人控制）。目标3：我们将比较新生儿受伤的SCI大鼠与良好的或部分重量支持改变神经和运动活动的神经机器人干预产生的腰椎行动。我们将测试（1）机器人弹性力场动作，这些动作是外在的或内在的，但不依赖于神经活动，以及（2）力场动作直接依赖于神经活动的特征（神经机器人控制）。这里的研究可以为SCI和其他创伤提供多种治疗方法的临床使命做出贡献。首先，通过进一步了解皮质和脊髓整合，在正常和新生儿SCI大鼠有和没有重量支持（目标1），我们将提供如何最好地评估和优化恢复大鼠模型的损伤，也许超越的信息。其次，通过开发骨盆互动康复的动物模型（目标2和3），我们将提供关于该框架在更具侵入性记录可行的模型中可能具有的优势或额外益处的基本数据。这可能与正在为临床开发的骨盆辅助装置有相当直接的关系。第三，如果完整的新生儿受伤大鼠或成年受伤大鼠可以学会使用神经机器人控制骨盆，我们将证明躯干和腿部的神经旁路策略，可以扩展到脊柱内刺激，FES或其他更高自由度的控制方法，用于人类SCI的肌肉骨骼和脊柱系统。公共卫生相关性脑机接口和新型假肢将来需要控制躯干以及四肢，以治疗脊髓损伤导致的截瘫或四肢瘫痪。目前还没有躯干康复和神经机器人的动物模型。躯干对于协调的运动和行动是必不可少的。我们建立了一个躯干机器人康复和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.