[ { "id": "authors:f8p41-wmg07", "collection": "authors", "collection_id": "f8p41-wmg07", "cite_using_url": "https://resolver.caltech.edu/CaltechAUTHORS:20110209-103455742", "type": "book_section", "title": "Assist-as-needed training paradigms for robotic rehabilitation of spinal cord injuries", "book_title": "Proceedings 2006 IEEE International Conference on Robotics and Automation", "author": [ { "family_name": "Cai", "given_name": "Lance L.", "clpid": "Cai-Lance-L" }, { "family_name": "Fong", "given_name": "Andy J.", "clpid": "Fong-Andy-J" }, { "family_name": "Liang", "given_name": "Yongqiang", "clpid": "Liang-Yongqiang" }, { "family_name": "Burdick", "given_name": "Joel", "clpid": "Burdick-J-W" }, { "family_name": "Edgerton", "given_name": "V. Reggie", "clpid": "Edgerton-V-R" } ], "abstract": "This paper introduces a new \"assist-as-needed\" (AAN)\ntraining paradigm for rehabilitation of spinal cord injuries via\nrobotic training devices. In the pilot study reported in this paper,\nnine female adult Swiss-Webster mice were divided into three\ngroups, each experiencing a different robotic training control\nstrategy: a fixed training trajectory (Fixed Group, A), an AAN\ntraining method without interlimb coordination (Band Group, B),\nand an AAN training method with bilateral hindlimb coordination\n(Window Group, C). Fourteen days after complete transection at\nthe mid-thoracic level, the mice were robotically trained to step in\nthe presence of an acutely administered serotonin agonist, quipazine,\nfor a period of six weeks. The mice that received AAN training\n(Groups B and C) show higher levels of recovery than Group\nA mice, as measured by the number, consistency, and periodicity\nof steps realized during testing sessions. Group C displays a\nhigher incidence of alternating stepping than Group B. These\nresults indicate that this training approach may be more effective\nthan fixed trajectory paradigms in promoting robust post-injury\nstepping behavior. Furthermore, the constraint of interlimb coordination\nappears to be an important contribution to successful\ntraining.", "doi": "10.1109/ROBOT.2006.1642237", "isbn": "0-7803-9505-0", "publisher": "IEEE", "place_of_publication": "Piscataway, NJ", "publication_date": "2006-05", "pages": "3504-3511" }, { "id": "authors:gk0c0-5bp89", "collection": "authors", "collection_id": "gk0c0-5bp89", "cite_using_url": "https://resolver.caltech.edu/CaltechAUTHORS:20110216-142339556", "type": "book_section", "title": "A Robotic Training System for Studies of Post-SCI Stand Rehabilitation", "book_title": "Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics BioRob 2006", "author": [ { "family_name": "Liang", "given_name": "Yongqiang", "clpid": "Liang-Yongqiang" }, { "family_name": "Cai", "given_name": "Lance L.", "clpid": "Cai-Lance-L" }, { "family_name": "Burdick", "given_name": "Joel W.", "clpid": "Burdick-J-W" }, { "family_name": "Edgerton", "given_name": "V. Reggie", "clpid": "Edgerton-V-R" } ], "abstract": "This paper describes a robotic training system designed to rehabilitate the standing ability of mice after spinal cord injury(SCI). The system is composed of a 6 Degree-of-Freedom (DOF) parallel mechanism, an active weight support system, and other measuring equipments which can monitor the response of the mouse. Preliminary experiments showed that the mouse could generate a certain degree of weight-support stand response during the training.", "doi": "10.1109/BIOROB.2006.1639059", "isbn": "1-4244-0040-6", "publisher": "IEEE", "place_of_publication": "Piscataway, N.J.", "publication_date": "2006-02", "pages": "51-56" }, { "id": "authors:wedcf-26281", "collection": "authors", "collection_id": "wedcf-26281", "cite_using_url": "https://resolver.caltech.edu/CaltechAUTHORS:20110223-105021175", "type": "book_section", "title": "Effects of Assist-as-needed Robotic Training Paradigms on the Locomotor Recovery of Adult Spinal Mice", "book_title": "Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics BioRob 2006", "author": [ { "family_name": "Cai", "given_name": "Lance L.", "clpid": "Cai-Lance-L" }, { "family_name": "Fong", "given_name": "Andy J.", "clpid": "Fong-Andy-J" }, { "family_name": "Liang", "given_name": "Yongqiang", "clpid": "Liang-Yongqiang" }, { "family_name": "Burdick", "given_name": "Joel", "clpid": "Burdick-J-W" }, { "family_name": "Otoshi", "given_name": "Chad K.", "clpid": "Otoshi-Chad-K" }, { "family_name": "Edgerton", "given_name": "V. Reggie", "clpid": "Edgerton-V-R" } ], "abstract": "This paper introduces a new \"assist-as needed\"\n(AAN) training paradigm for rehabilitation\nof spinal cord injuries via robotic training devices. In\nthe pilot study reported in this paper, nine female\nadult Swiss-Webster mice were divided into three\ngroups, each experiencing a different robotic training\ncontrol strategy: a fixed training trajectory (Fixed\nGroup, A), an AAN training method without inter-limb\ncoordination (Band Group, B), and an AAN\ntraining method with bilateral hindlimb coordination\n(Window Group, C). Fourteen days after complete\ntransection at the mid-thoracic level, the mice were\nrobotically trained to step in the presence of an\nacutely administered serotonin agonist, quipazine, for\na period of six weeks. The mice that received AAN\ntraining (Groups B and C) show higher levels of recovery\nthan Group A mice, as measured by the number,\nconsistency, and periodicity of steps realized during\ntesting sessions. Group C displays a higher incidence\nof alternating stepping than Group B. These\nresults indicate that this training approach may be\nmore effective than fixed trajectory paradigms in promoting\nrobust post-injury stepping behavior. Furthermore,\nthe constraint of inter-limb coordination\nappears to be an important contribution to successful\ntraining. Presented in this paper are also some preliminary\nresults from a recent full-scale study that\ncomplements the conclusions from this pilot study.", "doi": "10.1109/BIOROB.2006.1639061", "isbn": "1-4244-0040-6", "publisher": "IEEE", "place_of_publication": "Piscataway, NJ", "publication_date": "2006-02", "pages": "62-67" }, { "id": "authors:0zm4b-fzg74", "collection": "authors", "collection_id": "0zm4b-fzg74", "cite_using_url": "https://resolver.caltech.edu/CaltechAUTHORS:20140611-081051132", "type": "book_section", "title": "Effects of consistency vs. variability in robotically controlled training of stepping in adult spinal mice", "author": [ { "family_name": "Cai", "given_name": "L. L.", "clpid": "Cai-Lance-L" }, { "family_name": "Fong", "given_name": "A. J.", "clpid": "Fong-Andy-J" }, { "family_name": "Otoshi", "given_name": "C. K.", "clpid": "Otoshi-C-K" }, { "family_name": "Liang", "given_name": "Y. Q.", "clpid": "Liang-Yongqiang" }, { "family_name": "Cham", "given_name": "J. G.", "clpid": "Cham-J-G" }, { "family_name": "Zhong", "given_name": "H.", "clpid": "Zhong-Hui" }, { "family_name": "Roy", "given_name": "R. R.", "clpid": "Roy-R-R" }, { "family_name": "Edgerton", "given_name": "V. R.", "clpid": "Edgerton-V-R" }, { "family_name": "Burdick", "given_name": "J. W.", "clpid": "Burdick-J-W" } ], "abstract": "This paper studies the possible benefit that can be obtained by introducing variability into the robotic control of trajectories used to train hindlimb locomotion in adult spinal mice. The spinal cords of adult female Swiss-Webster mice were completely transected at a mid-thoracic level. Fourteen days post-transection, the spinal mice were robotically trained to step in the presence of a 5-HT agonist, quipazine, for a period of six weeks. In this pilot study nine animals were divided into three groups, each receiving a different control strategy: a fixed training trajectory (Group A), a variable training trajectory without interlimb coordination imposed (Group B) and a variable training trajectory with hindlimb bilateral coordination imposed (Group C). Preliminary results indicate that Group A recovers more slowly than the two groups receiving variable modes of robotic training. Groups B and C show higher levels of recovery than Group A in terms of the number of steps performed during testing sessions, as well as in their step periodicity and shape consistency. Group C displays a higher incidence of alternating stepping than Group B. These results indicate that variable trajectory robotic training paradigms may be more effective than fixed trajectory paradigms in promoting robust post-injury stepping behavior. Furthermore, it appears that the inclusion of interlimb coordination is an important contribution to successful training.", "doi": "10.1109/ICORR.2005.1502028", "publisher": "IEEE", "publication_date": "2005-06" }, { "id": "authors:53sxd-85169", "collection": "authors", "collection_id": "53sxd-85169", "cite_using_url": "https://resolver.caltech.edu/CaltechAUTHORS:BURicra03", "type": "book_section", "title": "Experiments in fixturing mechanics", "book_title": "IEEE International Conference on Robotics and Automation, 2003, Taipei, Taiwan, September 14-19, 2003", "author": [ { "family_name": "Burdick", "given_name": "Joel W.", "clpid": "Burdick-J-W" }, { "family_name": "Liang", "given_name": "Yongqiang", "clpid": "Liang-Yongqiang" }, { "family_name": "Rimon", "given_name": "Elon", "clpid": "Rimon-E" } ], "abstract": "This paper describes an experimental fixturing system wherein fixel reaction forces, workpiece loading, and workpiece displacements are measured during simulated fixturing operations. The system's configuration, its measurement principles, and tests to characterize its performance are summarized. This system is used to experimentally determine the relationship between workpiece displacement and variations in fixed preload force or workpiece loading. We compare the results against standard theories, and conclude that commonly used linear spring models do not accurately predict workpiece displacements, while a non-linear compliance model provides better predictive behavior.", "isbn": "0-7803-7736-2", "publisher": "IEEE", "place_of_publication": "Piscataway, NJ", "publication_date": "2003-11-10", "pages": "2579-2585" } ]