Abstract
We have described an adaptive signal processing method that allows fine graded control of a cursor in three-dimensions from cortical signals [1]. Here we describe application of the same signal processing method to direct cortical control of a robotic arm for a variety of tasks. Our subject was extensively trained in controlling a computer cursor in a 3D virtual environment. We applied the mapping between cortical activity and cursor motion to endpoint control of a robotic arm. This algorithm was refined further as the animal continued to make 3D point-to-point movements of the brain-controlled robot. The animal then used the cortically-controlled robot to retrieve food placed at arbitrary locations within the workspace and deliver the food to a hopper. Finally, the animal learned to use the cortically-controlled robot to deliver food directly to its mouth.
Original language | English (US) |
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Title of host publication | Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings |
Editors | R.S. Leder |
Pages | 2043-2046 |
Number of pages | 4 |
Volume | 3 |
State | Published - 2003 |
Event | A New Beginning for Human Health: Proceedings of the 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society - Cancun, Mexico Duration: Sep 17 2003 → Sep 21 2003 |
Other
Other | A New Beginning for Human Health: Proceedings of the 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society |
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Country/Territory | Mexico |
City | Cancun |
Period | 9/17/03 → 9/21/03 |
Keywords
- Arm
- Cortical control
- Motor cortex
- Neuroprosthetics
- Robot
ASJC Scopus subject areas
- Bioengineering