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.
This work was completed in the laboratory of Andrew Schwartz at the University of Pittsburgh.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
J.M. Carmena, M.A. Lebedev, R.E. Crist, J.E. O’Doherty, D.M. Santucci, D.F. Dimitrov, P.G. Patil, C.S. Henriquez, M.A.L. Nicolelis, Learning to control a brain-machine interface for reaching and grasping by primates. PLoS Biol. 1(2), E42 (2003)
S.M. Chase, A.B. Schwartz, R.E. Kass, Bias, optimal linear estimation, and the differences between open-loop simulation and closed-loop performance of spiking-based brain-computer interface algorithms. Neural Netw. : Off. J. Int. Neural Netw. Soc. 22(9), 1203–1213 (2009)
A.P. Georgopoulos, J.F. Kalaska, R. Caminiti, J.T. Massey, On the relations between the direction of two-dimensional arm movements and cell discharge in primate motor cortex. J. Neurosci. : Off. J. Soc. Neurosci. 2(11), 1527–1537 (1982)
S.Q. He, R.P. Dum, P.L. Strick, Topographic organization of corticospinal projections from the frontal lobe: motor areas on the lateral surface of the hemisphere. J. Neurosci.: The Off. J. Soc. Neurosci. 13(3), 952–980 (1993)
N. Hogan, Impedance control: An approach to manipulation–part II: Implementation. J. Dyn. Syst. Meas. Control 107, 1–7 (1985)
E. Salinas, L.F. Abbott, Vector reconstruction from firing rates. J. Comput. Neurosci. 1(1—-2), 89–107 (1994)
M.D. Serruya, N.G. Hatsopoulos, L. Liam Paninski, M.R. Fellows, J.P. Donoghue, Instant neural control of a movement signal. Nature 416(6877), 141–142 (2002)
D.M. Taylor, S.I.H. Tillery, A.B. Schwartz, Direct cortical control of 3D neuroprosthetic devices. Science 296(5574), 1829–1832 (2002)
D.M. Taylor, S.I.H. Tillery, A.B. Schwartz, Information conveyed through brain-control: Cursor versus robot. IEEE Trans. Neural Syst. Rehabil. Eng.: Publ. IEEE Eng. Med. Biol. Soc. 11(2), 195–199 (2003)
E. Todorov, Direct cortical control of muscle activation in voluntary arm movements: a model. Nat. Neurosci. 3(4), 391–398 (2000)
M. Velliste, S. Perel, M.C. Spalding, A.S. Whitford, A.B. Schwartz, Cortical control of a prosthetic arm for self-feeding. Nature 453(7198), 1098–1101 (2008)
M. Wyndaele, J.-J. Wyndaele, Incidence, prevalence and epidemiology of spinal cord injury: What learns a worldwide literature survey? Spinal Cord : Off. J. Int. Med. Soc. Paraplegia 44(9), 523–529 (2006)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 The Author(s)
About this chapter
Cite this chapter
Clanton, S.T. et al. (2013). Seven Degree of Freedom Cortical Control of a Robotic Arm. In: Guger, C., Allison, B., Edlinger, G. (eds) Brain-Computer Interface Research. SpringerBriefs in Electrical and Computer Engineering. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36083-1_8
Download citation
DOI: https://doi.org/10.1007/978-3-642-36083-1_8
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-36082-4
Online ISBN: 978-3-642-36083-1
eBook Packages: EngineeringEngineering (R0)