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Development and control of an actuated backrest for posture control during neurorehabilitation of paralyzed rats


J. Miehlbradt

Master Thesis, FS13 (10269)

Restoration of motor control over paralysed limbs in spinal cord injured rats has been shown to be most e ective following multi-system rehabilitative therapies combining electrochemical stimulation of the spinal cord with extensive gait training. Yet, while being an important parameter, the general bodily position is adapted manually based on visual observations only, which may result in a suboptimal positioning of the animal and thus negatively impact the training sessions. To address this issue, we developed a robotic system able to control the trunk orientation of a bipedally walking rat based on feedback from kinematic data. We rst investigated the e ects of a set of body positions on the gait pattern. We then developed a method to automatically control and optimize this position. Eventually we examined the potential of this not only to improve the position but also to provide continuous assistance to the animal during the training sessions. Our results con rm that manual placement may be signi cantly distant from an optimal orientation and that the gait pattern is impacted by modi cations in the positioning of the animal. We also present a strategy based on kinematic variables to automatize posture control. We nally show that applying moderate continuous rotations to the trunk in synchrony with the gait cycle can be bene cial to the training.


Type of Publication:

(12)Diploma/Master Thesis

E. Martin Moraud

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2013:IFA_4613
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