Continuous Control of the DLR Light-Weight Robot III by a Human with Tetraplegia Using the BrainGate2 Neural Interface System

  • Joern Vogel
  • Sami Haddadin
  • John D. Simeral
  • Sergey D. Stavisky
  • Daniel Bacher
  • Leigh R. Hochberg
  • John P. Donoghue
  • Patrick van der Smagt
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 79)

Abstract

We have investigated control of the DLR Light-Weight Robot III with DLR Five-Finger Hand by a person with tetraplegia using the BrainGate2 Neural Interface System. The goal of this research is to develop assistive technologies for people with severe physical disabilities. A BrainGate-enabled DLR LWR III would potentially permit a person with tetraplegia to gain improved control over their environment, e.g. to drink a glass of water. First results of the developed control loop are very encouraging and allow the participant to perform simple interaction tasks with her environment, e.g., pick up a bottle and move it around. To this end, only a few minutes of system training are required, after which the system can be used.

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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2014

Authors and Affiliations

  • Joern Vogel
    • 1
  • Sami Haddadin
    • 1
  • John D. Simeral
    • 2
    • 4
    • 5
  • Sergey D. Stavisky
    • 2
    • 4
    • 5
  • Daniel Bacher
    • 2
  • Leigh R. Hochberg
    • 2
    • 4
    • 5
    • 6
  • John P. Donoghue
    • 3
    • 4
    • 5
  • Patrick van der Smagt
    • 1
  1. 1.Institute of Robotics and MechatronicsGerman Aerospace Center / DLR OberpfaffenhofenWesslingGermany
  2. 2.School of EngineeringBrown UniversityProvidenceUSA
  3. 3.Dept. of NeuroscienceBrown UniversityProvidenceUSA
  4. 4.Neurology, Massachusetts General HospitalBostonUSA
  5. 5.Dept. Veterans Affairs Med. Ctr.Rehabilitation R&D ServiceProvidenceUSA
  6. 6.Neurology, Brigham & Women’s and Spaulding Rehabilitation HospitalsHarvard Medical SchoolBostonUSA

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