求心性刺激を含む二段型中枢パターン発生器の電子回路モデル設計

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  • Designing an Electronic Circuit Model of the CPG with the Afferent Stimulation
  • キュウシンセイ シゲキ オ フクム ニダンガタ チュウスウ パターン ハッセイキ ノ デンシ カイロ モデル セッケイ

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Rhythm in biology such as walking patterns (gait) is thought as being controlled by a neural network called central pattern generator, or CPG. However, its mechanism from a viewpoint of physiology has not been clear. Rybak et al. (2006) proposed a neural network model of the CPG using Hodgkin-Huxley type equations, and showed that the dynamics calculated by their model reproduced the experimental results using the decerebrate cat. Furthermore, they made several improvements on their model by means of adding the afferent stimulations from the extensor and flexor sites. In this paper, we constructed a similar network model from the viewpoint of the electronic circuit design, and, as such, reproduce completely the dynamics obtained from Rybak's mathematical model. Using such hardware simulations, one can design and control walking patterns of the locomotion robot without using software program, and implement its real-time simulation.

収録刊行物

  • 生体医工学

    生体医工学 50 (6), 620-628, 2012

    公益社団法人 日本生体医工学会

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