Simulation design and experimental study of magnetic stimulation coil for robot pigeon_Journal of Biomedical Engineering

Authors：

XU Menghua ¹ , PU Xin ¹ , CHANG Ming ¹ , SONG Yang ¹ , MA Fuzhe ¹ , HUAI Ruituo ¹ , YANG Junqing ¹ , CHANG Hui ¹ , SHAO Feng ² ,  WANG Hui ¹

1. Shandong Key Laboratory of Robot and Intelligent Technology, Shandong University of Science and Technology, Qingdao, Shandong 266510, P. R. China;
2. Shandong Benming Biotechnology Company Limited, Weifang, Shandong 262299, P. R. China;

Corresponding author：

WANG Hui, Email: wanhuipretty@163.com

Keywords：

Magnetic stimulation; Coil; Animal robot

DOI：

10.7507/1001-5515.202211057

Video：

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To explore the feasibility of applying magnetic stimulation technology to the movement control of animal robots, the influence of coil radius, number of turns and other factors on the intensity, depth and focus of magnetic stimulation was simulated and analyzed for robot pigeons. The coil design scheme was proposed. The coil was placed on the head and one of the legs of the pigeon, and the leg electromyography (EMG) was recorded when magnetic stimulation was performed. Results showed that the EMG was significantly strengthened during magnetic stimulation. With the reduction of the output frequency of the magnetic stimulation system, the output current was increased and the EMG was enhanced accordingly. Compared with the brain magnetic stimulation, sciatic nerve stimulation produced a more significant EMG enhancement response. This indicated that the magnetic stimulation system could effectively modulate the functions of brain and peripheral nerves by driving the coil. This study provides theoretical and experimental guidance for the subsequent optimization and improvement of practical coils, and lays a preliminary theoretical and experimental foundation for the implementation of magnetic stimulation motion control of animal robots.

Citation： XU Menghua, PU Xin, CHANG Ming, SONG Yang, MA Fuzhe, HUAI Ruituo, YANG Junqing, CHANG Hui, SHAO Feng, WANG Hui. Simulation design and experimental study of magnetic stimulation coil for robot pigeon. Journal of Biomedical Engineering, 2023, 40(1): 141-148. doi: 10.7507/1001-5515.202211057 Copy

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3.	Sina Khajei, Vahid Shalchyan, Mohammad Reza Daliri. Ratbot navigation using deep brain stimulation in ventral posteromedial nucleus. Bioengineered, 2019, 10(1): 250-260.
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5.	Cao Feng, Zhang Chao, Choo Yuhao, et al. Insect–computer hybrid legged robot with user-adjustable speed, step length and walking gait. J R Soc Interface, 2016, 13(116): 20160060.
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8.	Kim C H, Choi B, Kim D G, et al. Remote navigation of turtle by controlling instinct behaviour via human brain–computer interface. J Bionic Eng, 2016, 13(3): 491-503.
9.	Wang Wenbo, Guo Ce, Sun Jiurong, et al. Locomotion elicited by electrical stimulation in the midbrain of the lizard Gekko gecko// Budiyono A, Riyanto B, Joelianto E. Intelligent unmanned systems: Theory and applications. Berlin, Heidelberg: Springer, 2009, 192: 145-153.
10.	Kobayashi N, Yoshida M, Matsumoto N, et al. Artificial control of swimming in goldfish by brain stimulation: confirmation of the midbrain nuclei as the swimming center. Neurosci Lett, 2009, 452(1): 42-46.
11.	彭勇, 韩晓晓, 王婷婷, 等. 一种用于鲤鱼机器人的光刺激装置及光控实验方法. 生物医学工程学杂志, 2018, 35(5): 720-726.
12.	Barker A T, Jalinous R, Freeston I L. Non-invasive stimulation of the human motor cortex. The Lancet, 1985, 1(8437): 1106-1107.
13.	宋晓东, 王敏, 苏强. 重复性经颅磁刺激治疗神经系统疾病的研究进展. 山东第一医科大学(山东省医学科学院)学报, 2022, 43(8): 635-640.
14.	熊慧, 邱博文, 刘近贞. 基于MRI数据的多通道经颅磁刺激帽型线圈单元仿真研究. 航天医学与医学工程, 2020, 33(3): 246-251.
15.	Ferrulli A, Cannavaro D, Macrì C, et al. Repetitive transcranial magnetic stimulation: A potential therapeutic option for obesity in a patient with Prader-Willi syndrome. Diabetes Obes Metab, 2022, 24(12): 2478-2481.
16.	Ueno S, Tashiro T, Harda K. Localized stimulation of neural tissues in the brain by means of a paired configuration of time – varying magnetic fields. J Appl Phys, 1988, 64(10): 5862-5864.
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20.	Kim D H, Nagarajan S S, Durand D M. Analysis of efficient of magnetic stimulation. IEEE T Bio-Med Eng, 2003, 50(11): 1276-1285.
21.	Zheng Jianbin, Li Linxia, Huo Xiaolin. Analysis of electric field in real rat head model during transcranial magnetic stimulation// 2005 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS). Shanghai: IEEE, 2005: 1529-1532.
22.	Selvaraj J, Rastogi P, Gaunkar N P, et al. Transcranial magnetic stimulation: Design of a stimulator and a focused coil for the application of small animals. IEEE T Magn, 2018, 54(11): 5200405.
23.	Carmona I C, Kumbhare D, Baron M S, et al. Quintuple AISI 1010 carbon steel core coil for highly focused transcranial magnetic stimulation in small animals. AIP Adv, 2021, 11(2): 025210.
24.	Rush S, Driscoll D A. Current distribution in the brain from surface electrodes. Anesth Analg, 1968, 47: 717-723.
25.	Lee W H, Lisanby S H, Laine A F, et al. Comparison of electric field strength and spatial distribution of electroconvulsive therapy and magnetic seizure therapy in a realistic human head model. Eur Phychiatry, 2016, 36: 55-64.
26.	Deng Z D, Lisanby S H, Peterchev A V. Electric field depth–focality tradeoff in transcranial magnetic stimulation: Simulation comparison of 50 coil designs. Brain Stimul, 2013, 6(1): 1-13.
27.	Zucca M, Bottauscio O, Chiampi M, et al. Operator safety and field focality in aluminum shielded transcranial magnetic stimulation. IEEE T Magn, 2017, 53(11): 1-4.
28.	熊慧, 景昭, 刘近贞. 新型经颅磁刺激三层-8字形线圈的结构设计. 浙江大学学报(工学版), 2021, 55(4): 793-800.
29.	Rastogi P, Hadimani R L, Jiles D C. Investigation of coil design for transcranial magnetic stimulation on mice. IEEE T Magn, 2016, 52(7): 1-4.
30.	郑志宇, 张广浩, 霍小林. 适用于小型动物实验的重复经颅磁刺激线圈冷却方法研究. 生物医学工程研究, 2018, 37(4): 377-381.

1. Talwar S K, Xu S, Hawley E, et al. Rat navigation guided by remote control. Nature, 2002, 417(6884): 37-38.
2. Chen Sicong, Zhou Hong, Guo Songchao, et al. Optogenetics based rat–robot control: optical stimulation encodes “stop” and “escape” commands. Ann Biomed Eng, 2015, 43: 1851-1864.
3. Sina Khajei, Vahid Shalchyan, Mohammad Reza Daliri. Ratbot navigation using deep brain stimulation in ventral posteromedial nucleus. Bioengineered, 2019, 10(1): 250-260.
4. Bozkurt A, Gilmour R, Stern D, et al. MEMS based bioelectronic neuromuscular interfaces for insect cyborg flight control// 2008 International Conference on Micro Electro Mechanical Systems (MEMS). Tucson: IEEE, 2008: 160-163.
5. Cao Feng, Zhang Chao, Choo Yuhao, et al. Insect–computer hybrid legged robot with user-adjustable speed, step length and walking gait. J R Soc Interface, 2016, 13(116): 20160060.
6. 苏学成, 槐瑞托, 杨俊卿, 等. 控制动物机器人运动行为的脑机制和控制方法. 中国科学, 2012, 42(9): 1130-1146.
7. Wang Hui, Yang Junqing, Lv Changzhi, et al. Intercollicular nucleus electric stimulation encoded “walk forward” commands in pigeons. Anim Biol, 2018, 68(2): 213-225.
8. Kim C H, Choi B, Kim D G, et al. Remote navigation of turtle by controlling instinct behaviour via human brain–computer interface. J Bionic Eng, 2016, 13(3): 491-503.
9. Wang Wenbo, Guo Ce, Sun Jiurong, et al. Locomotion elicited by electrical stimulation in the midbrain of the lizard Gekko gecko// Budiyono A, Riyanto B, Joelianto E. Intelligent unmanned systems: Theory and applications. Berlin, Heidelberg: Springer, 2009, 192: 145-153.
10. Kobayashi N, Yoshida M, Matsumoto N, et al. Artificial control of swimming in goldfish by brain stimulation: confirmation of the midbrain nuclei as the swimming center. Neurosci Lett, 2009, 452(1): 42-46.
11. 彭勇, 韩晓晓, 王婷婷, 等. 一种用于鲤鱼机器人的光刺激装置及光控实验方法. 生物医学工程学杂志, 2018, 35(5): 720-726.
12. Barker A T, Jalinous R, Freeston I L. Non-invasive stimulation of the human motor cortex. The Lancet, 1985, 1(8437): 1106-1107.
13. 宋晓东, 王敏, 苏强. 重复性经颅磁刺激治疗神经系统疾病的研究进展. 山东第一医科大学(山东省医学科学院)学报, 2022, 43(8): 635-640.
14. 熊慧, 邱博文, 刘近贞. 基于MRI数据的多通道经颅磁刺激帽型线圈单元仿真研究. 航天医学与医学工程, 2020, 33(3): 246-251.
15. Ferrulli A, Cannavaro D, Macrì C, et al. Repetitive transcranial magnetic stimulation: A potential therapeutic option for obesity in a patient with Prader-Willi syndrome. Diabetes Obes Metab, 2022, 24(12): 2478-2481.
16. Ueno S, Tashiro T, Harda K. Localized stimulation of neural tissues in the brain by means of a paired configuration of time – varying magnetic fields. J Appl Phys, 1988, 64(10): 5862-5864.
17. Ren C, Tarjan P P, Popovic D B. A novel electric design for electromagnetic stimulation – the slinky coil. IEEE T Bio-Med Eng, 1995, 42(9): 918-925.
18. Roth Y, Zangen A, Hallett M. A coil design for transcranial magnetic stimulation of deep brain region. J Clin Neurophysiol, 2002, 19(4): 361-370.
19. Salvador R, Miranda P C. Transcranial magnetic stimulation of small animals: a modeling study of the influence of coil geometry, size and orientation// 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine (EMBC). Minneapolis: IEEE, 2009: 2-6.
20. Kim D H, Nagarajan S S, Durand D M. Analysis of efficient of magnetic stimulation. IEEE T Bio-Med Eng, 2003, 50(11): 1276-1285.
21. Zheng Jianbin, Li Linxia, Huo Xiaolin. Analysis of electric field in real rat head model during transcranial magnetic stimulation// 2005 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS). Shanghai: IEEE, 2005: 1529-1532.
22. Selvaraj J, Rastogi P, Gaunkar N P, et al. Transcranial magnetic stimulation: Design of a stimulator and a focused coil for the application of small animals. IEEE T Magn, 2018, 54(11): 5200405.
23. Carmona I C, Kumbhare D, Baron M S, et al. Quintuple AISI 1010 carbon steel core coil for highly focused transcranial magnetic stimulation in small animals. AIP Adv, 2021, 11(2): 025210.
24. Rush S, Driscoll D A. Current distribution in the brain from surface electrodes. Anesth Analg, 1968, 47: 717-723.
25. Lee W H, Lisanby S H, Laine A F, et al. Comparison of electric field strength and spatial distribution of electroconvulsive therapy and magnetic seizure therapy in a realistic human head model. Eur Phychiatry, 2016, 36: 55-64.
26. Deng Z D, Lisanby S H, Peterchev A V. Electric field depth–focality tradeoff in transcranial magnetic stimulation: Simulation comparison of 50 coil designs. Brain Stimul, 2013, 6(1): 1-13.
27. Zucca M, Bottauscio O, Chiampi M, et al. Operator safety and field focality in aluminum shielded transcranial magnetic stimulation. IEEE T Magn, 2017, 53(11): 1-4.
28. 熊慧, 景昭, 刘近贞. 新型经颅磁刺激三层-8字形线圈的结构设计. 浙江大学学报(工学版), 2021, 55(4): 793-800.
29. Rastogi P, Hadimani R L, Jiles D C. Investigation of coil design for transcranial magnetic stimulation on mice. IEEE T Magn, 2016, 52(7): 1-4.
30. 郑志宇, 张广浩, 霍小林. 适用于小型动物实验的重复经颅磁刺激线圈冷却方法研究. 生物医学工程研究, 2018, 37(4): 377-381.

Journal of Biomedical Engineering

Simulation design and experimental study of magnetic stimulation coil for robot pigeon

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