Robotic device for locomotor training
AssigneeThe Regents of the University of California
InventorsDavid J. Reinkensmeyer, Wojciech Timoszyk, Nikolas London, Ray D. de Leon, V. Reggie Edgerton
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Abstract
A robotic system and method for locomotion assessment and training of a mammal, exemplified by a rodent. A neurologically impaired animal is suspended over a moving surface in a harness, and the animal's hindlimbs are connected to robotic arms that apply force to the hindlimbs or measure limb movement characteristics. The moving surface can be a physical or virtual surface. A single robotic mechanism comprising two robotic arms can simultaneously apply force, measure limb movement, and provide a virtual surface. Manual or automatic adjustment of load support allows the mammal to step at varying body weight loads.
Claims32
A system for locomotion assessment and training of a rodent-sized mammal, comprising:
- (a) a moving surface;
- (b) a suspension assembly for suspending the mammal over the moving surface so that one or more limbs of the mammal contact the moving surface;
- and
- (c) a robotic force applicator for connecting to and applying force to the one or more limbs that contact the moving surface.
A system for locomotion assessment and training of a rodent-sized mammal, comprising:
- (a) a moving surface;
- (b) a suspension assembly for suspending the mammal over the moving surface so that one or more limbs of the mammal contact the moving surface;
- and
- (c) a robotic measuring assembly for connecting to the one or more limbs of the mammal and for measuring limb movement characteristics of the mammal suspended over the moving surface.
A system for locomotion assessment and training of a laboratory rodent, comprising:
- (a) a moving surface;
- (b) a suspension assembly for suspending the rodent over the moving surface so that both rodent hindlimbs contact the moving surface;
- and
- (c) a robotic mechanism for applying force to the hindlimbs and for measuring limb movement characteristics of the rodent suspended over the moving surface, the robotic mechanism comprising two robotic arms, one arm for each hindlimb, each arm having at least two degrees of freedom.
A method of locomotion assessment and training of a rodent-sized mammal, comprising the steps of:
- (a) providing a moving surface;
- (b) suspending the mammal over the moving surface so that one or more limbs of the mammal contact the moving surface;
- (c) connecting a robotic force applicator to the one or more limbs that contact the moving surface;
- and
- (d) applying robotically produced force to the one or more limbs that contact the moving surface.
A method of locomotion assessment and training of a rodent-sized mammal, comprising the steps of:
- (a) providing a moving surface;
- (b) suspending the mammal over the moving surface so that one or more limbs of the mammal contact the moving surface;
- (c) connecting a robotic measuring assembly to the one or more limbs that contact the moving surface;
- and
- (d) robotically measuring limb movement characteristics of the mammal suspended over the moving surface.
A method of locomotion assessment and training of a laboratory rodent, comprising the steps of:
- (a) providing a moving surface;
- (b) suspending the rodent over the moving surface so that one or both rodent hindlimbs contact the moving surface;
- (c) connecting a robotic force applicator to the one or both hindlimbs that contact the moving surface;
- and
- (d) applying robotically produced force to the one or both hindlimbs that contact the moving surface.
A method of locomotion assessment and training of a laboratory rodent, comprising the steps of:
- (a) providing a moving surface;
- (b) suspending the rodent over the moving surface so that both rodent hindlimbs contact the moving surface;
- (c) connecting a robotic measuring assembly to the one or both hindlimbs that contact the moving surface;
- and
- (c) robotically measuring limb movement characteristics of the rodent suspended over the moving surface.
Dependencies are inferred from the claim text.