Testing models of cerebellar ataxia via dynamic simulation

Abstract

Patients with damage to the cerebellum make reaching movements that are uncoordinated or "ataxic." One prevailing hypothesis is that the cerebellum functions as an internal model for planning movements, and that damage to the cerebellum results in movements that do not properly account for arm dynamics. An exoskeleton robot was used to record multi-joint reaching movements. Subsequently, joint-torque trajectories were calculated and a gradient descent algorithm found optimal, patient-specific perturbations to actual limb dynamics predicted to reduce directional reaching errors by an average of 41%, elucidating a promising form of robotic intervention and adding support to the internal model hypothesis.

Editorial: Foreword for special issue on rehabilitation robotics and human–robot interaction – ROBOTICA

“…On the other hand, the control of the physical interaction of the therapeutic device with the subject to effectively accelerate recovery is of paramount importance. This special issue focuses on the current state of knowledge about sensorimotor control and brain plasticity, models of sensorimotor functional recovery, and use of intelligent robot controllers to provide robotic-assisted therapy for motor rehabilitation.This special issue includes studies that describe the development, optimization and testing of robotic devices and exoskeletons used for both upper 1,2,9,10,11,12,14,15 and lower limbs. 4,6,8 Methods for quantifying and improving sensorimotor control are also discussed.…”

“…This special issue includes studies that describe the development, optimization and testing of robotic devices and exoskeletons used for both upper 1,2,9,10,11,12,14,15 and lower limbs. 4,6,8 Methods for quantifying and improving sensorimotor control are also discussed.…”