Extended Data Fig. 4: Tuning the admittance controller in the mouse’s y and yaw axes.
(a) Image of a mouse maneuvering the exoskeleton locomoting around the 8-maze arena used in experiments for tuning the admittance controller in the mouse’s y and yaw axes. (b) Example data of the mouse’s path around the 8-maze arena, showing the turning zone in the center of the arena which was used to evaluate admittance tuning. (c) Plots of raw data velocity-acceleration-force data in the mouse’s y axis for all mice (n = 2) and the associated admittance plane of the controller, arranged in order of increasing mass (left to right) and damping (bottom to top) for the 7 combinations of values evaluated. Legend (inset) showing example plot with labelled axes and color-scale of the admittance plane (or manifold). (d) As in (c) but for the 6 combinations of mass and damping evaluated in the mouse’s yaw axis. (e) Data bounds of velocity-acceleration profiles in the mouse’s y-axis for freely behaving mice (grey; 3 mice; 6 sessions, n = 4,711 samples) and for mice maneuvering the exoskeleton with low (left, n = 3,139 samples), medium (center, n = 6,921 samples), and high (right, n = 8,835 samples) mass and damping values (blue; 2 mice; 2 sessions). (f) As in (e) but for the mouse’s yaw axis. (g) Distribution of the velocity peak amplitudes (left, n = 631 samples) and of acceleration peak amplitudes (right, n = 1,917 samples) of individual mice, when freely behaving, and when maneuvering the exoskeleton with low, tuned, and high mass and damping values. Significance (p-values) calculated using 1-way ANOVA between groups, n.s. p > 0.05, * p < 0.05, ** p < 0.01. All-to-all velocity p-values: FB-Low p = 0.29, FB-Mid p = 0.03, FB-High p = 0.03, Low-Mid p = 0.74, Low-High p = 0.72, Mid-High p = 1.0. All-to-all acceleration p-values: FB-Low p = 0.89, FB-Mid p = 0.11, FB-High p = 0.66, Low-Mid p = 0.015, Low-High p = 0.97, Mid-High p = 3.6×10-3. (h) As in (g) but for the mouse’s yaw axis (n = 718 velocity samples, n = 1706 acceleration samples). All-to-all velocity p-values: FB-Low p = 8.8×10-4, FB-Mid p = 0.99, FB-High p = 0.99, Low-Mid p = 2.1×10-4, Low-High p = 2.2×10-4, Mid-High p = 1.0. All-to-all acceleration p-values: FB-Low p = 1.0, FB-Mid p = 0.89, FB-High p = 0.45, Low-Mid p = 0.85, Low-High p = 0.39, Mid-High p = 0.87. All boxplots indicate minimum and maximum values as whiskers, 25th and 75th percentiles as solid boxes, and median values as a black point in a white circle.
