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 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.
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