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Adaptive load feedback robustly signals force dynamics in robotic model of Carausius morosus stepping

Animals utilize a number of neuronal systems to produce locomotion. One type of sensory organ that contributes in insects is the campaniform sensillum (CS) that measures the load on their legs. Groups of the receptors are found on high stress regions of the leg exoskeleton and they have significant...

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Autores principales: Zyhowski, William P., Zill, Sasha N., Szczecinski, Nicholas S.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9908954/
https://www.ncbi.nlm.nih.gov/pubmed/36776993
http://dx.doi.org/10.3389/fnbot.2023.1125171
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author Zyhowski, William P.
Zill, Sasha N.
Szczecinski, Nicholas S.
author_facet Zyhowski, William P.
Zill, Sasha N.
Szczecinski, Nicholas S.
author_sort Zyhowski, William P.
collection PubMed
description Animals utilize a number of neuronal systems to produce locomotion. One type of sensory organ that contributes in insects is the campaniform sensillum (CS) that measures the load on their legs. Groups of the receptors are found on high stress regions of the leg exoskeleton and they have significant effects in adapting walking behavior. Recording from these sensors in freely moving animals is limited by technical constraints. To better understand the load feedback signaled by CS to the nervous system, we have constructed a dynamically scaled robotic model of the Carausius morosus stick insect middle leg. The leg steps on a treadmill and supports weight during stance to simulate body weight. Strain gauges were mounted in the same positions and orientations as four key CS groups (Groups 3, 4, 6B, and 6A). Continuous data from the strain gauges were processed through a previously published dynamic computational model of CS discharge. Our experiments suggest that under different stepping conditions (e.g., changing “body” weight, phasic load stimuli, slipping foot), the CS sensory discharge robustly signals increases in force, such as at the beginning of stance, and decreases in force, such as at the end of stance or when the foot slips. Such signals would be crucial for an insect or robot to maintain intra- and inter-leg coordination while walking over extreme terrain.
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spelling pubmed-99089542023-02-10 Adaptive load feedback robustly signals force dynamics in robotic model of Carausius morosus stepping Zyhowski, William P. Zill, Sasha N. Szczecinski, Nicholas S. Front Neurorobot Neurorobotics Animals utilize a number of neuronal systems to produce locomotion. One type of sensory organ that contributes in insects is the campaniform sensillum (CS) that measures the load on their legs. Groups of the receptors are found on high stress regions of the leg exoskeleton and they have significant effects in adapting walking behavior. Recording from these sensors in freely moving animals is limited by technical constraints. To better understand the load feedback signaled by CS to the nervous system, we have constructed a dynamically scaled robotic model of the Carausius morosus stick insect middle leg. The leg steps on a treadmill and supports weight during stance to simulate body weight. Strain gauges were mounted in the same positions and orientations as four key CS groups (Groups 3, 4, 6B, and 6A). Continuous data from the strain gauges were processed through a previously published dynamic computational model of CS discharge. Our experiments suggest that under different stepping conditions (e.g., changing “body” weight, phasic load stimuli, slipping foot), the CS sensory discharge robustly signals increases in force, such as at the beginning of stance, and decreases in force, such as at the end of stance or when the foot slips. Such signals would be crucial for an insect or robot to maintain intra- and inter-leg coordination while walking over extreme terrain. Frontiers Media S.A. 2023-01-26 /pmc/articles/PMC9908954/ /pubmed/36776993 http://dx.doi.org/10.3389/fnbot.2023.1125171 Text en Copyright © 2023 Zyhowski, Zill and Szczecinski. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Neurorobotics
Zyhowski, William P.
Zill, Sasha N.
Szczecinski, Nicholas S.
Adaptive load feedback robustly signals force dynamics in robotic model of Carausius morosus stepping
title Adaptive load feedback robustly signals force dynamics in robotic model of Carausius morosus stepping
title_full Adaptive load feedback robustly signals force dynamics in robotic model of Carausius morosus stepping
title_fullStr Adaptive load feedback robustly signals force dynamics in robotic model of Carausius morosus stepping
title_full_unstemmed Adaptive load feedback robustly signals force dynamics in robotic model of Carausius morosus stepping
title_short Adaptive load feedback robustly signals force dynamics in robotic model of Carausius morosus stepping
title_sort adaptive load feedback robustly signals force dynamics in robotic model of carausius morosus stepping
topic Neurorobotics
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9908954/
https://www.ncbi.nlm.nih.gov/pubmed/36776993
http://dx.doi.org/10.3389/fnbot.2023.1125171
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