论文信息 - RatCar: A vehicular neuro-robotic platform for a rat with a sustaining structure of the rat body under the vehicle

RatCar: A vehicular neuro-robotic platform for a rat with a sustaining structure of the rat body under the vehicle

An online neuro-robotic platform in the form of a small vehicle, the “RatCar” has been developed. First, a rat had neural electrodes implanted in the motor cortices to record extracellular potentials. Then, our system combined the rat and its vehicle body by hanging the rat under its floor. In this paper, an experimental platform is proposed to observe and analyze motor commands by correlating neural signals with locomotion states. It was designed to operate in 2 modes; (a) adaptively correlating neural signals and locomotion states to determine motor commands, and (b) applying the estimated motor commands to control the vehicle according to the intention of the rat. As a result, time-varying correlation between neural and locomotion activities has been adaptively visualized in real time to analyze motor commands in various body conditions. In addition, a control of the vehicle has been improved.

Takafumi Suzuki | Kunihiko Mabuchi | Osamu Fukayama

[1] D. Rubin,et al. Maximum likelihood from incomplete data via the EM - algorithm plus discussions on the paper , 1977 .

[2] G. Paxinos,et al. The Rat Brain in Stereotaxic Coordinates , 1983 .

[3] R. Hall,et al. Organization of motor and somatosensory neocortex in the albino rat , 1974 .

[4] Miguel A. L. Nicolelis,et al. Real-time control of a robot arm using simultaneously recorded neurons in the motor cortex , 1999, Nature Neuroscience.

[5] John P. Donoghue,et al. Motor Cortex of Rodents , 1986 .

[6] Jerald D. Kralik,et al. Real-time prediction of hand trajectory by ensembles of cortical neurons in primates , 2000, Nature.

[7] Takafumi Suzuki,et al. RatCar system for estimating locomotion states using neural signals with parameter monitoring: Vehicle-formed brain-machine interfaces for rat , 2008, 2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.