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Mosberger AC, Sibener LJ, Chen TX, Rodrigues HFM, Hormigo R, Ingram JN, Athalye VR, Tabachnik T, Wolpert DM, Murray JM, Costa RM. Exploration biases forelimb reaching strategies. Cell Rep 2024; 43:113958. [PMID: 38520691 PMCID: PMC11097405 DOI: 10.1016/j.celrep.2024.113958] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/10/2023] [Revised: 12/05/2023] [Accepted: 02/28/2024] [Indexed: 03/25/2024] Open
Abstract
The brain can generate actions, such as reaching to a target, using different movement strategies. We investigate how such strategies are learned in a task where perched head-fixed mice learn to reach to an invisible target area from a set start position using a joystick. This can be achieved by learning to move in a specific direction or to a specific endpoint location. As mice learn to reach the target, they refine their variable joystick trajectories into controlled reaches, which depend on the sensorimotor cortex. We show that individual mice learned strategies biased to either direction- or endpoint-based movements. This endpoint/direction bias correlates with spatial directional variability with which the workspace was explored during training. Model-free reinforcement learning agents can generate both strategies with similar correlation between variability during training and learning bias. These results provide evidence that reinforcement of individual exploratory behavior during training biases the reaching strategies that mice learn.
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Affiliation(s)
- Alice C Mosberger
- Departments of Neuroscience and Neurology, Mortimer B. Zuckerman Mind Brain Behavior Institute, Columbia University, New York, NY 10027, USA.
| | - Leslie J Sibener
- Departments of Neuroscience and Neurology, Mortimer B. Zuckerman Mind Brain Behavior Institute, Columbia University, New York, NY 10027, USA
| | - Tiffany X Chen
- Departments of Neuroscience and Neurology, Mortimer B. Zuckerman Mind Brain Behavior Institute, Columbia University, New York, NY 10027, USA
| | - Helio F M Rodrigues
- Departments of Neuroscience and Neurology, Mortimer B. Zuckerman Mind Brain Behavior Institute, Columbia University, New York, NY 10027, USA; Allen Institute, Seattle, WA 98109, USA
| | - Richard Hormigo
- Department of Neuroscience, Mortimer B. Zuckerman Mind Brain Behavior Institute, Columbia University, New York, NY 10027, USA
| | - James N Ingram
- Department of Neuroscience, Mortimer B. Zuckerman Mind Brain Behavior Institute, Columbia University, New York, NY 10027, USA
| | - Vivek R Athalye
- Departments of Neuroscience and Neurology, Mortimer B. Zuckerman Mind Brain Behavior Institute, Columbia University, New York, NY 10027, USA
| | - Tanya Tabachnik
- Department of Neuroscience, Mortimer B. Zuckerman Mind Brain Behavior Institute, Columbia University, New York, NY 10027, USA
| | - Daniel M Wolpert
- Department of Neuroscience, Mortimer B. Zuckerman Mind Brain Behavior Institute, Columbia University, New York, NY 10027, USA
| | - James M Murray
- Institute of Neuroscience, University of Oregon, Eugene, OR 97403, USA
| | - Rui M Costa
- Departments of Neuroscience and Neurology, Mortimer B. Zuckerman Mind Brain Behavior Institute, Columbia University, New York, NY 10027, USA; Allen Institute, Seattle, WA 98109, USA.
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2
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Mosberger AC, Sibener LJ, Chen TX, Rodrigues H, Hormigo R, Ingram JN, Athalye VR, Tabachnik T, Wolpert DM, Murray JM, Costa RM. Exploration biases how forelimb reaches to a spatial target are learned. BIORXIV : THE PREPRINT SERVER FOR BIOLOGY 2023:2023.05.08.539291. [PMID: 37214823 PMCID: PMC10197595 DOI: 10.1101/2023.05.08.539291] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/24/2023]
Abstract
The brain can learn to generate actions, such as reaching to a target, using different movement strategies. Understanding how different variables bias which strategies are learned to produce such a reach is important for our understanding of the neural bases of movement. Here we introduce a novel spatial forelimb target task in which perched head-fixed mice learn to reach to a circular target area from a set start position using a joystick. These reaches can be achieved by learning to move into a specific direction or to a specific endpoint location. We find that mice gradually learn to successfully reach the covert target. With time, they refine their initially exploratory complex joystick trajectories into controlled targeted reaches. The execution of these controlled reaches depends on the sensorimotor cortex. Using a probe test with shifting start positions, we show that individual mice learned to use strategies biased to either direction or endpoint-based movements. The degree of endpoint learning bias was correlated with the spatial directional variability with which the workspace was explored early in training. Furthermore, we demonstrate that reinforcement learning model agents exhibit a similar correlation between directional variability during training and learned strategy. These results provide evidence that individual exploratory behavior during training biases the control strategies that mice use to perform forelimb covert target reaches.
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3
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Alonso I, Scheer I, Palacio-Manzano M, Frézel-Jacob N, Philippides A, Prsa M. Peripersonal encoding of forelimb proprioception in the mouse somatosensory cortex. Nat Commun 2023; 14:1866. [PMID: 37045825 PMCID: PMC10097678 DOI: 10.1038/s41467-023-37575-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/27/2022] [Accepted: 03/23/2023] [Indexed: 04/14/2023] Open
Abstract
Conscious perception of limb movements depends on proprioceptive neural responses in the somatosensory cortex. In contrast to tactile sensations, proprioceptive cortical coding is barely studied in the mammalian brain and practically non-existent in rodent research. To understand the cortical representation of this important sensory modality we developed a passive forelimb displacement paradigm in behaving mice and also trained them to perceptually discriminate where their limb is moved in space. We delineated the rodent proprioceptive cortex with wide-field calcium imaging and optogenetic silencing experiments during behavior. Our results reveal that proprioception is represented in both sensory and motor cortical areas. In addition, behavioral measurements and responses of layer 2/3 neurons imaged with two-photon microscopy reveal that passive limb movements are both perceived and encoded in the mouse cortex as a spatial direction vector that interfaces the limb with the body's peripersonal space.
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Affiliation(s)
- Ignacio Alonso
- Department of Neuroscience and Movement Science, University of Fribourg, Fribourg, Switzerland
| | - Irina Scheer
- Department of Neuroscience and Movement Science, University of Fribourg, Fribourg, Switzerland
| | - Mélanie Palacio-Manzano
- Department of Neuroscience and Movement Science, University of Fribourg, Fribourg, Switzerland
| | - Noémie Frézel-Jacob
- Department of Neuroscience and Movement Science, University of Fribourg, Fribourg, Switzerland
| | - Antoine Philippides
- Department of Basic Neurosciences, University of Geneva, Geneva, Switzerland
| | - Mario Prsa
- Department of Neuroscience and Movement Science, University of Fribourg, Fribourg, Switzerland.
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4
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Forghani R, Goodnight B, Latchoumane CFV, Karumbaiah L. AutoRG: An automatized reach-to-grasp platform technology for assessing forelimb motor function, neural circuit activation, and cognition in rodents. J Neurosci Methods 2023; 387:109798. [PMID: 36682731 PMCID: PMC10071513 DOI: 10.1016/j.jneumeth.2023.109798] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/21/2022] [Revised: 01/13/2023] [Accepted: 01/18/2023] [Indexed: 01/21/2023]
Abstract
BACKGROUND Rodent reach-to-grasp function assessment is a translationally powerful model for evaluating neurological function impairments and recovery responses. Existing assessment platforms are experimenter-dependent, costly, or low-throughput with limited output measures. Further, a direct histologic comparison of neural activation has never been conducted between any novel, automated platform and the well-established single pellet skilled reach task (SRT). NEW METHOD To address these technological and knowledge gaps, we designed an open-source, low-cost Automatized Reach-to-Grasp (AutoRG) pull platform that reduces experimenter interventions and variability. We assessed reach-to-grasp function in rats across seven progressively difficult stages using AutoRG. We mapped AutoRG and SRT-activated motor circuitries in the rat brain using volumetric imaging of the immediate early gene-encoded Arc (activity-regulated cytoskeleton-associated) protein. RESULTS Rats demonstrated robust forelimb reaching and pulling behavior after training in AutoRG. Reliable force versus time responses were recorded for individual reach events in real time, which were used to derive several secondary functional measures of performance. Moreover, we provide the first demonstration that for a training period of 30 min, AutoRG and SRT both engage similar neural responses in the caudal forelimb area (CFA), rostral forelimb area (RFA), and sensorimotor area (S1). CONCLUSION AutoRG is the first low-cost, open-source pull system designed for the scale-up of volitional forelimb motor function testing and characterization of rodent reaching behavior. The similarities in neuronal activation patterns observed in the rat motor cortex after SRT and AutoRG assessments validate the AutoRG as a rigorously characterized, scalable alternative to the conventional SRT and expensive commercial systems.
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Affiliation(s)
- Rameen Forghani
- Regenerative Bioscience Center, University of Georgia, 425 River Road, Athens, GA 30602, USA
| | - Braxton Goodnight
- Regenerative Bioscience Center, University of Georgia, 425 River Road, Athens, GA 30602, USA
| | - Charles-Francois Vincent Latchoumane
- Regenerative Bioscience Center, University of Georgia, 425 River Road, Athens, GA 30602, USA; Department of Animal and Dairy Science, College of Agricultural and Environmental Science, University of Georgia, 425, River Road, Athens, GA 30602, USA.
| | - Lohitash Karumbaiah
- Regenerative Bioscience Center, University of Georgia, 425 River Road, Athens, GA 30602, USA; Department of Animal and Dairy Science, College of Agricultural and Environmental Science, University of Georgia, 425, River Road, Athens, GA 30602, USA; Division of Neuroscience, Biomedical and Translational Sciences Institute, University of Georgia, 203 Pound Hall, 105 Foster Rd, Athens, GA 30602, USA.
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5
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Pasquini M, James ND, Dewany I, Coen FV, Cho N, Lai S, Anil S, Carpaneto J, Barraud Q, Lacour SP, Micera S, Courtine G. Preclinical upper limb neurorobotic platform to assess, rehabilitate, and develop therapies. Sci Robot 2022; 7:eabk2378. [PMID: 35353601 DOI: 10.1126/scirobotics.abk2378] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/12/2022]
Abstract
Numerous neurorehabilitative, neuroprosthetic, and repair interventions aim to address the consequences of upper limb impairments after neurological disorders. Although these therapies target widely different mechanisms, they share the common need for a preclinical platform that supports the development, assessment, and understanding of the therapy. Here, we introduce a neurorobotic platform for rats that meets these requirements. A four-degree-of-freedom end effector is interfaced with the rat's wrist, enabling unassisted to fully assisted execution of natural reaching and retrieval movements covering the entire body workspace. Multimodal recording capabilities permit precise quantification of upper limb movement recovery after spinal cord injury (SCI), which allowed us to uncover adaptations in corticospinal tract neuron dynamics underlying this recovery. Personalized movement assistance supported early neurorehabilitation that improved recovery after SCI. Last, the platform provided a well-controlled and practical environment to develop an implantable spinal cord neuroprosthesis that improved upper limb function after SCI.
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Affiliation(s)
- Maria Pasquini
- Biorobotics Institute and Department of Excellence in Robotics and AI, Scuola Superiore Sant'anna, Pisa, Italy.,Bertarelli Foundation Chair in Translational Neuroengineering, Center for Neuroprosthetics and Institute of Bioengineering, School of Engineering, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland
| | - Nicholas D James
- Center for Neuroprosthetics and Brain Mind Institute, School of Life Sciences, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland.,Department of Clinical Neuroscience, Lausanne University Hospital (CHUV) and University of Lausanne (UNIL), Switzerland.,Defitech Center for Interventional Neurotherapies (.NeuroRestore), EPFL/CHUV/UNIL, Lausanne, Switzerland
| | - Inssia Dewany
- Center for Neuroprosthetics and Brain Mind Institute, School of Life Sciences, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland.,Department of Clinical Neuroscience, Lausanne University Hospital (CHUV) and University of Lausanne (UNIL), Switzerland.,Defitech Center for Interventional Neurotherapies (.NeuroRestore), EPFL/CHUV/UNIL, Lausanne, Switzerland
| | - Florent-Valéry Coen
- Bertarelli Foundation Chair in Neuroprosthetic Technology, Center for Neuroprosthetics, Institute of Electrical and MicroEngineering and Institute of Bioengineering, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland
| | - Newton Cho
- Center for Neuroprosthetics and Brain Mind Institute, School of Life Sciences, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland.,Department of Clinical Neuroscience, Lausanne University Hospital (CHUV) and University of Lausanne (UNIL), Switzerland.,Defitech Center for Interventional Neurotherapies (.NeuroRestore), EPFL/CHUV/UNIL, Lausanne, Switzerland
| | - Stefano Lai
- Biorobotics Institute and Department of Excellence in Robotics and AI, Scuola Superiore Sant'anna, Pisa, Italy
| | - Selin Anil
- Center for Neuroprosthetics and Brain Mind Institute, School of Life Sciences, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland.,Department of Clinical Neuroscience, Lausanne University Hospital (CHUV) and University of Lausanne (UNIL), Switzerland.,Defitech Center for Interventional Neurotherapies (.NeuroRestore), EPFL/CHUV/UNIL, Lausanne, Switzerland
| | - Jacopo Carpaneto
- Biorobotics Institute and Department of Excellence in Robotics and AI, Scuola Superiore Sant'anna, Pisa, Italy
| | - Quentin Barraud
- Center for Neuroprosthetics and Brain Mind Institute, School of Life Sciences, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland.,Department of Clinical Neuroscience, Lausanne University Hospital (CHUV) and University of Lausanne (UNIL), Switzerland.,Defitech Center for Interventional Neurotherapies (.NeuroRestore), EPFL/CHUV/UNIL, Lausanne, Switzerland
| | - Stéphanie P Lacour
- Bertarelli Foundation Chair in Neuroprosthetic Technology, Center for Neuroprosthetics, Institute of Electrical and MicroEngineering and Institute of Bioengineering, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland
| | - Silvestro Micera
- Biorobotics Institute and Department of Excellence in Robotics and AI, Scuola Superiore Sant'anna, Pisa, Italy.,Bertarelli Foundation Chair in Translational Neuroengineering, Center for Neuroprosthetics and Institute of Bioengineering, School of Engineering, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland
| | - Grégoire Courtine
- Center for Neuroprosthetics and Brain Mind Institute, School of Life Sciences, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland.,Department of Clinical Neuroscience, Lausanne University Hospital (CHUV) and University of Lausanne (UNIL), Switzerland.,Defitech Center for Interventional Neurotherapies (.NeuroRestore), EPFL/CHUV/UNIL, Lausanne, Switzerland
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6
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Inoue T, Terada S, Matsuzaki M, Izawa J. A small-scale robotic manipulandum for motor control study with rodents. Adv Robot 2021. [DOI: 10.1080/01691864.2021.1912637] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/21/2022]
Affiliation(s)
- Takahisa Inoue
- Empowerment Informatics, University of Tsukuba, Tsukuba, Japan
| | - Shin Terada
- Department of Physiology, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan
| | - Masanori Matsuzaki
- Department of Physiology, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan
- Brain Functional Dynamics Collaboration Laboratory, RIKEN Center for Brain Science, Wako, Japan
| | - Jun Izawa
- Faculty of Engineering, Information and Systems, University of Tsukuba, Tsukuba, Japan
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7
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Micera S, Caleo M, Chisari C, Hummel FC, Pedrocchi A. Advanced Neurotechnologies for the Restoration of Motor Function. Neuron 2020; 105:604-620. [PMID: 32078796 DOI: 10.1016/j.neuron.2020.01.039] [Citation(s) in RCA: 60] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/25/2019] [Revised: 11/15/2019] [Accepted: 01/27/2020] [Indexed: 01/23/2023]
Abstract
Stroke is one of the leading causes of long-term disability. Advanced technological solutions ("neurotechnologies") exploiting robotic systems and electrodes that stimulate the nervous system can increase the efficacy of stroke rehabilitation. Recent studies on these approaches have shown promising results. However, a paradigm shift in the development of new approaches must be made to significantly improve the clinical outcomes of neurotechnologies compared with those of traditional therapies. An "evolutionary" change can occur only by understanding in great detail the basic mechanisms of natural stroke recovery and technology-assisted neurorehabilitation. In this review, we first describe the results achieved by existing neurotechnologies and highlight their current limitations. In parallel, we summarize the data available on the mechanisms of recovery from electrophysiological, behavioral, and anatomical studies in humans and rodent models. Finally, we propose new approaches for the effective use of neurotechnologies in stroke survivors, as well as in people with other neurological disorders.
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Affiliation(s)
- Silvestro Micera
- The Biorobotics Institute and Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy; Bertarelli Foundation Chair in Translational Neuroengineering, Centre for Neuroprosthetics and Institute of Bioengineering, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland.
| | - Matteo Caleo
- Department of Biomedical Sciences, University of Padova, Padova, Italy; Institute of Neuroscience, National Research Council (CNR), Pisa, Italy
| | - Carmelo Chisari
- Neurorehabilitation Section, Department of Translational Research and New Technologies in Medicine and Surgery, University of Pisa, Pisa, Italy
| | - Friedhelm C Hummel
- Defitech Chair of Clinical Neuroengineering, Center for Neuroprosthetics (CNP) and Brain Mind Institute (BMI), École Polytechnique Fédérale de Lausanne (EPFL), 1202 Geneva, Switzerland; Defitech Chair of Clinical Neuroengineering, Center for Neuroprosthetics (CNP) and Brain Mind Institute (BMI), École Polytechnique Fédérale de Lausanne (EPFL Valais), Clinique Romande de Réadaptation, 1951 Sion, Switzerland; Clinical Neuroscience, University of Geneva Medical School, 1202 Geneva, Switzerland
| | - Alessandra Pedrocchi
- Neuroengineering and Medical Robotics Laboratory NearLab, Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133 Milan, Italy
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8
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Wagner MJ, Savall J, Kim TH, Schnitzer MJ, Luo L. Skilled reaching tasks for head-fixed mice using a robotic manipulandum. Nat Protoc 2020; 15:1237-1254. [PMID: 32034393 PMCID: PMC7586302 DOI: 10.1038/s41596-019-0286-8] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/27/2019] [Accepted: 12/16/2019] [Indexed: 11/09/2022]
Abstract
Skilled forelimb behaviors are among the most important for studying motor learning in multiple species including humans. This protocol describes learned forelimb tasks for mice using a two-axis robotic manipulandum. Our device provides a highly compact adaptation of actuated planar two-axis arms that is simple and inexpensive to construct. This paradigm has been dominant for decades in primate motor neuroscience. Our device can generate arbitrary virtual movement tracks, arbitrary time-varying forces or arbitrary position- or velocity-dependent force patterns. We describe several example tasks permitted by our device, including linear movements, movement sequences and aiming movements. We provide the mechanical drawings and source code needed to assemble and control the device, and detail the procedure to train mice to use the device. Our software can be simply extended to allow users to program various customized movement assays. The device can be assembled in a few days, and the time to train mice on the tasks that we describe ranges from a few days to several weeks. Furthermore, the device is compatible with various neurophysiological techniques that require head fixation.
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Affiliation(s)
- Mark J Wagner
- Department of Biology and Howard Hughes Medical Institute, Stanford University, Stanford, CA, USA.
| | - Joan Savall
- Department of Biology and Howard Hughes Medical Institute, Stanford University, Stanford, CA, USA
| | - Tony Hyun Kim
- Department of Biology and Howard Hughes Medical Institute, Stanford University, Stanford, CA, USA
- Department of Electrical Engineering, Stanford University, Stanford, CA, USA
| | - Mark J Schnitzer
- Department of Biology and Howard Hughes Medical Institute, Stanford University, Stanford, CA, USA.
- Department of Applied Physics, Stanford University, Stanford, CA, USA.
| | - Liqun Luo
- Department of Biology and Howard Hughes Medical Institute, Stanford University, Stanford, CA, USA.
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9
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Erwin A, Gallegos C, Cao Q, O'Malley MK. A Robotic Platform for 3D Forelimb Rehabilitation with Rats. IEEE Int Conf Rehabil Robot 2019; 2019:429-434. [PMID: 31374667 DOI: 10.1109/icorr.2019.8779405] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
In an attempt to promote greater functional recovery after spinal cord injury, researchers have begun exploring combinatorial treatments, such as robotic rehabilitation combined with stem cell transplantation. Since these treatment methods are in their nascent stages, rodent models have been proposed for initial investigations. Robots have been built for locomotion rehabilitation and planar forelimb reach and grasp assessment with rodents; however, a robotic platform suitable for three-dimensional movement rehabilitation of the rodent forelimb has not yet been developed. In this paper, a novel three degree of freedom robotic manipulator for automated forelimb rehabilitation combined with stem cell transplantation after cervical spinal cord injury with rats is proposed. The robot interfaces with a rat in an end-effector manner, measuring and interacting with the forelimb in the 3D Cartesian space. In this work, we trained two rats through behavioral shaping to actively interact with the device during two robot control modes. This work provides preliminary investigations into the feasibility of 3D forelimb rehabilitation with rats, which could be translated as a paradigm for combinatorial treatments after spinal cord injury in a controlled manner.
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10
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Bollu T, Whitehead SC, Prasad N, Walker J, Shyamkumar N, Subramaniam R, Kardon B, Cohen I, Goldberg JH. Automated home cage training of mice in a hold-still center-out reach task. J Neurophysiol 2018; 121:500-512. [PMID: 30540551 DOI: 10.1152/jn.00667.2018] [Citation(s) in RCA: 17] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/13/2022] Open
Abstract
An obstacle to understanding neural mechanisms of movement is the complex, distributed nature of the mammalian motor system. Here we present a novel behavioral paradigm for high-throughput dissection of neural circuits underlying mouse forelimb control. Custom touch-sensing joysticks were used to quantify mouse forelimb trajectories with micron-millisecond spatiotemporal resolution. Joysticks were integrated into computer-controlled, rack-mountable home cages, enabling batches of mice to be trained in parallel. Closed loop behavioral analysis enabled online control of reward delivery for automated training. We used this system to show that mice can learn, with no human handling, a direction-specific hold-still center-out reach task in which a mouse first held its right forepaw still before reaching out to learned spatial targets. Stabilogram diffusion analysis of submillimeter-scale micromovements produced during the hold demonstrate that an active control process, akin to upright balance, was implemented to maintain forepaw stability. Trajectory decomposition methods, previously used in primates, were used to segment hundreds of thousands of forelimb trajectories into millions of constituent kinematic primitives. This system enables rapid dissection of neural circuits for controlling motion primitives from which forelimb sequences are built. NEW & NOTEWORTHY A novel joystick design resolves mouse forelimb kinematics with micron-millisecond precision. Home cage training is used to train mice in a hold-still center-out reach task. Analytical methods, previously used in primates, are used to decompose mouse forelimb trajectories into kinematic primitives.
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Affiliation(s)
- Tejapratap Bollu
- Department of Neurobiology and Behavior, Cornell University , Ithaca, New York
| | | | - Nikil Prasad
- Department of Neurobiology and Behavior, Cornell University , Ithaca, New York
| | - Jackson Walker
- Department of Neurobiology and Behavior, Cornell University , Ithaca, New York
| | - Nitin Shyamkumar
- Department of Neurobiology and Behavior, Cornell University , Ithaca, New York
| | - Raghav Subramaniam
- Department of Neurobiology and Behavior, Cornell University , Ithaca, New York
| | - Brian Kardon
- Department of Neurobiology and Behavior, Cornell University , Ithaca, New York
| | - Itai Cohen
- Department of Physics, Cornell University , Ithaca, New York
| | - Jesse H Goldberg
- Department of Neurobiology and Behavior, Cornell University , Ithaca, New York
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11
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Pasquini M, Lai S, Spalletti C, Cracchiolo M, Conti S, Panarese A, Caleo M, Micera S. A Robotic System for Adaptive Training and Function Assessment of Forelimb Retraction in Mice. IEEE Trans Neural Syst Rehabil Eng 2018; 26:1803-1812. [PMID: 30106680 DOI: 10.1109/tnsre.2018.2864279] [Citation(s) in RCA: 12] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
Rodent models are decisive for translational research in healthy and pathological conditions of motor function thanks to specific similarities with humans. Here, we present an upgraded version of the M-Platform, a robotic device previously designed to train mice during forelimb retraction tasks. This new version significantly extends its possibilities for murine experiments during motor tasks: 1) an actuation system for friction adjustment allows to automatically adapt pulling difficulty; 2) the device can be used both for training, with a retraction task, and for assessment, with an isometric task; and 3) the platform can be integrated with a neurophysiology systems to record simultaneous cortical neural activity. Results of the validation experiments with healthy mice confirmed that the M-Platform permits precise adjustments of friction during the task, thus allowing to change its difficulty and that these variations induce a different improvement in motor performance, after specific training sessions. Moreover, simultaneous and high quality (high signal-to-noise ratio) neural signals can be recorded from the rostral forelimb area (RFA) during task execution. With the novel features presented herein, the M-Platform may allow to investigate the outcome of a customized motor rehabilitation protocol after neural injury, to analyze task-related signals from brain regions interested by neuroplastic events and to perform optogenetic silencing or stimulation during experiments in transgenic mice.
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12
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Butensky SD, Bethea T, Santos J, Sindhurakar A, Meyers E, Sloan AM, Rennaker RL, Carmel JB. The Knob Supination Task: A Semi-automated Method for Assessing Forelimb Function in Rats. J Vis Exp 2017. [PMID: 28994796 PMCID: PMC5752340 DOI: 10.3791/56341] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/01/2023] Open
Abstract
Tasks that accurately measure dexterity in animal models are critical to understand hand function. Current rat behavioral tasks that measure dexterity largely use video analysis of reaching or food manipulation. While these tasks are easy to implement and are robust across disease models, they are subjective and laborious for the experimenter. Automating traditional tasks or creating new automated tasks can make the tasks more efficient, objective, and quantitative. Since rats are less dexterous than primates, central nervous system (CNS) injury produces more subtle deficits in dexterity, however, supination is highly affected in rodents and crucial to hand function in primates. Therefore, we designed a semi-automated task that measures forelimb supination in rats. Rats are trained to reach and grasp a knob-shaped manipulandum and turn the manipulandum in supination to receive a reward. Rats can acquire the skill within 20 ± 5 days. While the early part of training is highly supervised, much of the training is done without direct supervision. The task reliably and reproducibly captures subtle deficits after injury and shows functional recovery that accurately reflects clinical recovery curves. Analysis of data is performed by specialized software through a graphical user interface that is designed to be intuitive. We also give solutions to common problems encountered during training, and show that minor corrections to behavior early in training produce reliable acquisition of supination. Thus, the knob supination task provides efficient and quantitative evaluation of a critical movement for dexterity in rats.
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Affiliation(s)
| | | | | | | | - Eric Meyers
- Texas Biomedical Center, The University of Texas at Dallas; Erik Jonsson School of Engineering and Computer Science, The University of Texas at Dallas
| | - Andrew M Sloan
- Texas Biomedical Center, The University of Texas at Dallas; Erik Jonsson School of Engineering and Computer Science, The University of Texas at Dallas
| | - Robert L Rennaker
- Texas Biomedical Center, The University of Texas at Dallas; Erik Jonsson School of Engineering and Computer Science, The University of Texas at Dallas
| | - Jason B Carmel
- Burke Medical Research Institute; Brain and Mind Research Institute, Weill Cornell Medical College; Departments of Neurology and Pediatrics, Weill Cornell Medical College;
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Alia C, Spalletti C, Lai S, Panarese A, Lamola G, Bertolucci F, Vallone F, Di Garbo A, Chisari C, Micera S, Caleo M. Neuroplastic Changes Following Brain Ischemia and their Contribution to Stroke Recovery: Novel Approaches in Neurorehabilitation. Front Cell Neurosci 2017; 11:76. [PMID: 28360842 PMCID: PMC5352696 DOI: 10.3389/fncel.2017.00076] [Citation(s) in RCA: 121] [Impact Index Per Article: 17.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/05/2016] [Accepted: 03/03/2017] [Indexed: 12/21/2022] Open
Abstract
Ischemic damage to the brain triggers substantial reorganization of spared areas and pathways, which is associated with limited, spontaneous restoration of function. A better understanding of this plastic remodeling is crucial to develop more effective strategies for stroke rehabilitation. In this review article, we discuss advances in the comprehension of post-stroke network reorganization in patients and animal models. We first focus on rodent studies that have shed light on the mechanisms underlying neuronal remodeling in the perilesional area and contralesional hemisphere after motor cortex infarcts. Analysis of electrophysiological data has demonstrated brain-wide alterations in functional connectivity in both hemispheres, well beyond the infarcted area. We then illustrate the potential use of non-invasive brain stimulation (NIBS) techniques to boost recovery. We finally discuss rehabilitative protocols based on robotic devices as a tool to promote endogenous plasticity and functional restoration.
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Affiliation(s)
- Claudia Alia
- CNR Neuroscience Institute, National Research Council (CNR)Pisa, Italy; Laboratory of Biology, Scuola Normale SuperiorePisa, Italy
| | | | - Stefano Lai
- Translational Neural Engineering Area, The BioRobotics Institute, Scuola Superiore Sant'Anna Pontedera, Italy
| | - Alessandro Panarese
- Translational Neural Engineering Area, The BioRobotics Institute, Scuola Superiore Sant'Anna Pontedera, Italy
| | - Giuseppe Lamola
- Department of Neuroscience, Unit of Neurorehabilitation-University Hospital of Pisa Pisa, Italy
| | - Federica Bertolucci
- Department of Neuroscience, Unit of Neurorehabilitation-University Hospital of Pisa Pisa, Italy
| | - Fabio Vallone
- Translational Neural Engineering Area, The BioRobotics Institute, Scuola Superiore Sant'AnnaPontedera, Italy; CNR Biophysics Institute, National Research Council (CNR)Pisa, Italy; Neural Computation Laboratory, Center for Neuroscience and Cognitive Systems @UniTn, Italian institute of Technology (IIT)Rovereto, Italy
| | - Angelo Di Garbo
- CNR Biophysics Institute, National Research Council (CNR) Pisa, Italy
| | - Carmelo Chisari
- Department of Neuroscience, Unit of Neurorehabilitation-University Hospital of Pisa Pisa, Italy
| | - Silvestro Micera
- Translational Neural Engineering Area, The BioRobotics Institute, Scuola Superiore Sant'AnnaPontedera, Italy; Ecole Polytechnique Federale de Lausanne (EPFL), Bertarelli Foundation Chair in Translational NeuroEngineering Laboratory, Center for Neuroprosthetics and Institute of BioengineeringLausanne, Switzerland
| | - Matteo Caleo
- CNR Neuroscience Institute, National Research Council (CNR) Pisa, Italy
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Leemburg S, Iijima M, Lambercy O, Nallet-Khosrofian L, Gassert R, Luft A. Investigating Motor Skill Learning Processes with a Robotic Manipulandum. J Vis Exp 2017. [PMID: 28287570 DOI: 10.3791/54970] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/31/2022] Open
Abstract
Skilled reaching tasks are commonly used in studies of motor skill learning and motor function under healthy and pathological conditions, but can be time-intensive and ambiguous to quantify beyond simple success rates. Here, we describe the training procedure for reach-and-pull tasks with ETH Pattus, a robotic platform for automated forelimb reaching training that records pulling and hand rotation movements in rats. Kinematic quantification of the performed pulling attempts reveals the presence of distinct temporal profiles of movement parameters such as pulling velocity, spatial variability of the pulling trajectory, deviation from midline, as well as pulling success. We show how minor adjustments in the training paradigm result in alterations in these parameters, revealing their relation to task difficulty, general motor function or skilled task execution. Combined with electrophysiological, pharmacological and optogenetic techniques, this paradigm can be used to explore the mechanisms underlying motor learning and memory formation, as well as loss and recovery of function (e.g. after stroke).
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Affiliation(s)
- Susan Leemburg
- Division of Vascular Neurology and Rehabilitation, Department of Neurology, University Hospital Zurich;
| | - Maiko Iijima
- Division of Vascular Neurology and Rehabilitation, Department of Neurology, University Hospital Zurich
| | - Olivier Lambercy
- Rehabilitation Engineering Laboratory, Department of Health Sciences and Technology, ETH Zurich
| | | | - Roger Gassert
- Rehabilitation Engineering Laboratory, Department of Health Sciences and Technology, ETH Zurich
| | - Andreas Luft
- Division of Vascular Neurology and Rehabilitation, Department of Neurology, University Hospital Zurich;
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The effect of surgery and intracerebral injections on motor skill learning in rats: results from a database analysis. Behav Brain Res 2016; 313:310-314. [DOI: 10.1016/j.bbr.2016.07.040] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/07/2016] [Revised: 07/18/2016] [Accepted: 07/22/2016] [Indexed: 11/17/2022]
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16
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Lambercy O, M. SG, B. V, R. G, A.R. L, J.A. H. Sub-processes of motor learning revealed by a robotic manipulandum for rodents. Behav Brain Res 2015; 278:569-76. [DOI: 10.1016/j.bbr.2014.10.047] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/12/2014] [Revised: 10/22/2014] [Accepted: 10/30/2014] [Indexed: 11/15/2022]
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17
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SANO H, KANEKO H, HASEGAWA Y, TAMURA H, SUZUKI SS. Facilitation of Learning and Rehabilitation in Rats by Inducing Response-like Movement. ADVANCED BIOMEDICAL ENGINEERING 2013. [DOI: 10.14326/abe.2.72] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/04/2022] Open
Affiliation(s)
- Hiroto SANO
- Graduate School of Systems and Information Engineering, University of Tsukuba
| | - Hidekazu KANEKO
- Human Technology Research Institute, National Institute of Advanced Industrial Science and Technology (AIST)
- AIST
| | - Yasuhisa HASEGAWA
- Graduate School of Systems and Information Engineering, University of Tsukuba
| | - Hiroshi TAMURA
- Graduate School of Frontier Biosciences, Osaka University
| | - Shinya S. SUZUKI
- Human Technology Research Institute, National Institute of Advanced Industrial Science and Technology (AIST)
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