Published September 19, 2023 | Version v1
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Data from: A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties

  • 1. Tohoku University
  • 2. Bielefeld University

Description

Cyborg control of insect movement is promising for developing miniature, high-mobility, and efficient biohybrid robots. However, considering the inter-individual variation of the insect neuromuscular apparatus and its neural control is challenging. We propose a hierarchical model including inter-individual variation of muscle properties of three leg muscles 14 involved in propulsion (retractor coxae), joint stiffness (pro- and retractor coxae), and stance-swing transition (protractor coxae and levator trochanteris) in the stick insect Carausius morosus. To estimate mechanical effects induced by external muscle stimulation, the model is based on the systematic evaluation of joint torques as functions of electrical stimulation parameters. A nearly linear relationship between the stimulus burst duration and generated torque was observed. This stimulus-torque characteristic holds for burst durations of up to 500ms, corresponding to the stance and swing phase durations of medium to fast walking stick insects. Hierarchical Bayesian modeling revealed that linearity of the stimulus-torque characteristic was invariant, with individually varying slopes. Individual prediction of joint torques provides significant benefits for precise cyborg control.

Notes

Software used for each data are: [Figure 2] Python (3.9.7); [Figures 3 to 7]: R Studio, R version (4.1.3) and Stan (2.21.0)

#We have not checked version dependencies for all code

Funding provided by: Japan Society for the Promotion of Science
Crossref Funder Registry ID: http://dx.doi.org/10.13039/501100001691
Award Number: JP21H00317

Funding provided by: Japan Society for the Promotion of Science
Crossref Funder Registry ID: http://dx.doi.org/10.13039/501100001691
Award Number: JP17KK0109

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Related works

Is cited by
10.7554/elife.85275 (DOI)