A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties

Owaki D, Dürr V, Schmitz J (2023)
eLife 12: e85275.

Zeitschriftenaufsatz | Veröffentlicht | Englisch
 
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Abstract / Bemerkung
Cyborg control of insect movement is promising for developing miniature, high-mobility, and efficient biohybrid robots. However, considering the inter-individual variation of the insect neuromuscular apparatus and its neural control is challenging. We propose a hierarchical model including inter-individual variation of muscle properties of three leg muscles involved in propulsion (retractor coxae), joint stiffness (pro- and retractor coxae), and stance-swing transition (protractor coxae and levator trochanteris) in the stick insect Carausius morosus. To estimate mechanical effects induced by external muscle stimulation, the model is based on the systematic evaluation of joint torques as functions of electrical stimulation parameters. A nearly linear relationship between the stimulus burst duration and generated torque was observed. This stimulus-torque characteristic holds for burst durations of up to 500ms, corresponding to the stance and swing phase durations of medium to fast walking stick insects. Hierarchical Bayesian modeling revealed that linearity of the stimulus-torque characteristic was invariant, with individually varying slopes. Individual prediction of joint torques provides significant benefits for precise cyborg control.
Erscheinungsjahr
2023
Zeitschriftentitel
eLife
Band
12
Art.-Nr.
e85275
eISSN
2050-084X
Page URI
https://pub.uni-bielefeld.de/record/2967773

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Owaki D, Dürr V, Schmitz J. A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties. eLife. 2023;12: e85275.
Owaki, D., Dürr, V., & Schmitz, J. (2023). A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties. eLife, 12, e85275. https://doi.org/10.7554/eLife.85275
Owaki, Dai, Dürr, Volker, and Schmitz, Josef. 2023. “A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties”. eLife 12: e85275.
Owaki, D., Dürr, V., and Schmitz, J. (2023). A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties. eLife 12:e85275.
Owaki, D., Dürr, V., & Schmitz, J., 2023. A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties. eLife, 12: e85275.
D. Owaki, V. Dürr, and J. Schmitz, “A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties”, eLife, vol. 12, 2023, : e85275.
Owaki, D., Dürr, V., Schmitz, J.: A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties. eLife. 12, : e85275 (2023).
Owaki, Dai, Dürr, Volker, and Schmitz, Josef. “A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties”. eLife 12 (2023): e85275.

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PMID: 37703327
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Preprint: 10.1101/2022.12.19.521014

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