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. 2018 Jan 8;8:76. doi: 10.1038/s41598-017-18293-y

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© The Author(s) 2017

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Closed-loop robotic interface for online posture control. (a) Integration of the robotic interface within a real-time monitoring platform for closed-loop postural control in paralyzed rats. Animals received a severe contusion of the spinal cord, and were trained to stand and step on a treadmill with body-weight support under electrical and pharmacological spinal cord neuromodulation. Bilateral kinematics, extensor (Medial Gastrocnemius) and flexor (Tibialis Anterior) electromyographic signals and ground reaction forces are recorded synchronously and available online (200 Hz) during continuous stepping. (b) Attachment system and embedded components to provide mediolateral actuation with minimal inertial effects. (c) Bar plots comparing various locomotor features using the robotic vs. standard non-actuated attachment systems. Data are mean + SEM.