Epidural electrical stimulation (EES) of the spinal cord and real-time processing of gait kinematics are powerful methods for the study of locomotion and the improvement of motor control after injury or in neurological disorders. Here, we describe equipment and surgical procedures that can be used to acquire chronic electromyographic (EMG) recordings from leg muscles and to implant targeted spinal cord stimulation systems that remain stable up to several months after implantation in rats and nonhuman primates. We also detail how to exploit these implants to configure electrical spinal cord stimulation policies that allow control over the degree of extension and flexion of each leg during locomotion. This protocol uses real-time processing of gait kinematics and locomotor performance, and can be configured within a few days. Once configured, stimulation bursts are delivered over specific spinal cord locations with precise timing that reproduces the natural spatiotemporal activation of motoneurons during locomotion. These protocols can also be easily adapted for the safe implantation of systems in the vicinity of the spinal cord and to conduct experiments involving real-time movement feedback and closed-loop controllers.

中文翻译：

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通过实时处理步态运动学配置脊髓电刺激。

脊髓硬膜外电刺激 (EES) 和步态运动学的实时处理是研究运动和改善受伤或神经系统疾病后运动控制的有力方法。在这里，我们描述了可用于从腿部肌肉获取慢性肌电图 (EMG) 记录并植入靶向脊髓刺激系统的设备和手术程序，这些系统在植入大鼠和非人类灵长类动物后可保持稳定长达数月。我们还详细介绍了如何利用这些植入物来配置脊髓电刺激策略，从而控制运动过程中每条腿的伸展和屈曲程度。该协议使用步态运动学和运动性能的实时处理，并且可以在几天内进行配置。一旦配置，刺激突发以精确的时间传递到特定的脊髓位置，再现运动过程中运动神经元的自然时空激活。这些协议也可以很容易地适应脊髓附近系统的安全植入，并进行涉及实时运动反馈和闭环控制器的实验。