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A Pathological Condition Affects Motor Modules in a Bipedal Locomotion Model.

Daisuke Ichimura1,2, Tadashi Yamazaki1

  • 1Graduate School of Informatics and Engineering, The University of Electro-Communications, Tokyo, Japan.

Frontiers in Neurorobotics
|October 17, 2019
PubMed
Summary

Nervous system motor modules control walking. Adapting reflexes recovers locomotion without merging modules, while controller adaptation merges modules, explaining stroke patient differences.

Keywords:
CPGlocomotionmotor moduleneuromusculoskeletal modelpathological locomotion

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Area of Science:

  • Neuroscience
  • Biomechanics
  • Computational modeling

Background:

  • Bipedal locomotion relies on efficient neural control of synergistic muscle activations, organized into motor modules.
  • Merging of these motor modules is associated with neurological impairments like stroke, but not observed in sub-acute patients.

Purpose of the Study:

  • To investigate the conditions under which motor modules merge within the nervous system.
  • To model the effects of simulated stroke on motor module organization and locomotion recovery.

Main Methods:

  • A 2D bipedal locomotion model was developed, incorporating a musculoskeletal system, a hierarchical central pattern generator (CPG) with 5 motor modules, and reflex feedback.
  • A simulated stroke was introduced by weakening neural inputs to one leg, followed by recovery simulations through adaptation of either reflex or CPG parameters.

Main Results:

  • The model successfully achieved stable locomotion using motor modules and reflexes.
  • Both reflex and CPG parameter adaptation successfully recovered locomotion after simulated stroke.
  • Motor module merging occurred exclusively when CPG parameters were adapted for compensation.

Conclusions:

  • Sub-acute stroke patients may not exhibit merged motor modules if locomotion is recovered by adapting reflexes.
  • Severe or chronic stroke patients requiring controller adaptation (CPG) are likely to show merged motor modules.
  • This aligns with experimental observations differentiating motor control in stroke patients at different recovery stages.