Power supply plays a key role in ensuring animal robots to obtain effective stimulation. To extending the stimulating time, there is a need to apply photovoltaic cells and monitor their parameter variations, which can help operators to obtain the optimal stimulation strategy. In this paper, an online monitoring system of photovoltaic cells for animal robot stimulators was presented. It was composed of battery information sampling circuit, multi-channel neural signal generator, power module and human-computer interaction interface. When the signal generator was working, remote navigation control of animal robot could be achieved, and the battery voltage, current, temperature and electricity information was collected through the battery information sampling circuit and displayed on the human-computer interaction system in real time. If there was any abnormal status, alarm would be activated. The battery parameters were obtained by charging and discharging test. The battery life under different light intensity and the stimulation effect of neural signal generator were tested. Results showed that the sampling errors of battery voltage, current and electric quantity were less than 15 mV, 5 mA and 6 mAh, respectively. Compared with the system without photovoltaic cells, the battery life was extended by 148% at the light intensity of 78 320 lx, solving the battery life problem to some extent. When animal robot was stimulated with this system, left and right turns could be controlled to complete with the success rate more than 80%. It will help researchers to optimize animal robot control strategies through the parameters obtained in this system.
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.
Temporal interference (TI) as a new neuromodulation technique can be applied to non-invasive deep brain stimulation. In order to verify its effectiveness in the regulation of motor behavior in animals, this paper uses the TI method to focus the envelope electric field to the ventral posterior lateral nucleus (VPL) of the thalamus in the deep brain of mouse to regulate left- and right-turning motor behavior. The focusability of TI in the mouse VPL was analyzed by finite element method, and the focus area and volume were obtained by numerical calculation. A stimulator was used to generate TI current to stimulate the mouse VPL to verify the effectiveness of the TI stimulation method, and the accuracy of the focus location was further determined by c-Fos immunofluorescence experiments. The results showed that the electric field generated by TI stimulation was able to focus on the VPL nuclei when the stimulation current reached 800 μA; the mouse were able to make corresponding left and right turns according to the stimulation position; and the c-Fos positive cell markers in the VPL nuclei increased significantly after stimulation. This study confirms the feasibility of TI in regulating animal motor behavior and provides a non-invasive stimulation method for brain tissue for animal robots.