Seven Degree of Freedom Cortical Control of a Robotic Arm
We have recently established simultaneous 7 degree-of-freedom (DoF) brain-computer interface (BCI) control of a robotic arm. Using signals recorded from single units of monkeys with implanted chronic microelectrode arrays, we can now demonstrate brain con
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Abstract We have recently established simultaneous 7 degree-of-freedom (DoF) brain-computer interface (BCI) control of a robotic arm. Using signals recorded from single units of monkeys with implanted chronic microelectrode arrays, we can now demonstrate brain control of a prosthetic arm that exhibits the following features: (1) simultaneous 7-degree of freedom (DoF) brain control over 3-D robot hand translation, 3-D rotation, and finger aperture, (2) integrated kinematic (movement) and dynamic (force) control of a brain-controlled prosthetic robot through a novel impedance-based movement controller, (3) simplified methods for constructing cortical extraction models based only on observation of the moving robot, and (4) a generalized method for training subjects to use complex prosthetic robot devices using a novel form of operator-machine shared control.
Introduction Since the discovery of models relating arm movement to neuronal population activity in the motor cortex (Georgopoulos et al. 1982), there have been efforts to recruit this activity to control external devices directly with the brain. Braincomputer interface (BCI) prosthetic devices have the potential to aid the over 250,000 people in the US alone who suffer from debilitating motor deficits such as spinal cord injury and ALS (Wyndaele and Wyndaele 2006). BCI systems can do This work was completed in the laboratory of Andrew Schwartz at the University of Pittsburgh. S. T. Clanton (&) Carnegie Mellon University, Pittsburgh, USA e-mail: [email protected] A. J. McMorland Z. Zohny SM. Jeffries R. GRasmussen S. NFlesher M. Velliste University of Pittsburgh, Pittsburgh, USA
C. Guger et al. (eds.), Brain–Computer Interface Research, SpringerBriefs in Electrical and Computer Engineering, DOI: 10.1007/978-3-642-36083-1_8, Ó The Author(s) 2013
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this by bypassing motor lesions located outside of the CNS; cortical activity reflecting subject intent can instead be expressed directly by action in a machine. Progressively more sophisticated BCI systems have been demonstrated over the last decade, moving from 2 and 3-dimensional control of a cursor on a computer screen (Serruya et al. 2002; Taylor et al. 2002) to indirect (Taylor et al. 2003; Carmena et al. 2003) and finally direct control of a 4 degree-of-freedom (DoF) robot arm (Velliste et al. 2008). In the 4-DoF experiment, the use of an anthropomorphic physical arm facilitated the monkey incorporating arm behaviors related to its physical structure into its control. As we progress towards the control of increasingly sophisticated prosthetic arms, the related concept of embodiment gains importance; BCI prosthetic devices that incorporate features of natural movement may be more easily mapped into familiar patterns of neural control. Natural arm movements integrate hand rotation with translation and are characterized by fluid transitions between arm and hand motions when reaching to and interacting with objects. While these types of movements are desired in prosthetic cont
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