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Dynamic control of the central pattern generator for locomotion

Biological Cybernetics volume 95, pages 555–566 (2006)Cite this article

Abstract

We show that an ongoing locomotor pattern can be dynamically controlled by applying discrete pulses of electrical stimulation to the central pattern generator (CPG) for locomotion. Data are presented from a pair of experiments on biological (wetware) and electrical (hardware) models of the CPG demonstrating that stimulation causes brief deviations from the CPG’s limit cycle activity. The exact characteristics of the deviation depend strongly on the phase of stimulation. Applications of this work are illustrated by examples showing how locomotion can be controlled by using a feedback loop to monitor CPG activity and applying stimuli at the appropriate times to modulate motor output. Eventually, this approach could lead to development of a neuroprosthetic device for restoring locomotion after paralysis.

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Abbreviations

CPG:

Central pattern generator

DAC:

Digital-to-analog converter

HCO:

Half-center oscillator

LCO:

Limit cycle oscillator

LHE:

Left hip extensor

LHF:

Left hip flexor

PCB:

Printed circuit board

PDR:

Phase-dependent response

RHE:

Right hip extensor

RHF:

Right hip flexor

SFA:

Spike-frequency adaptation

ZPM:

Zero-phase marker

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Authors and Affiliations

  1. Department of Biomedical Engineering, Johns Hopkins University, Baltimore, MD, 21218, USA

    R. Jacob Vogelstein

  2. Department of Electrical and Computer Engineering, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD, 21218, USA

    Francesco Tenore & Ralph Etienne-Cummings

  3. Iguana Robotics, Inc., Urbana, IL, 61803, USA

    M. Anthony Lewis

  4. Department of Biology and Institute for Systems Research, University of Maryland, College Park, MD, 20742, USA

    Avis H. Cohen

Authors
  1. R. Jacob Vogelstein
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  2. Francesco Tenore
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  3. Ralph Etienne-Cummings
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  4. M. Anthony Lewis
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  5. Avis H. Cohen
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Corresponding author

Correspondence to R. Jacob Vogelstein.

Additional information

R. J. Vogelstein and F. Tenore contributed equally to this work.

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Vogelstein, R.J., Tenore, F., Etienne-Cummings, R. et al. Dynamic control of the central pattern generator for locomotion. Biol Cybern 95, 555–566 (2006). https://doi.org/10.1007/s00422-006-0119-z

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  • DOI: https://doi.org/10.1007/s00422-006-0119-z

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