Seven Degree of Freedom Cortical Control of a Robotic Arm

  • Samuel T. Clanton
  • Angus J. C. McMorland
  • Zohny Zohny
  • S Morgan Jeffries
  • Robert G Rasmussen
  • Sharlene N Flesher
  • Meel Velliste
Chapter
Part of the SpringerBriefs in Electrical and Computer Engineering book series (BRIEFSELECTRIC)

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.

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Copyright information

© The Author(s) 2013

Authors and Affiliations

  • Samuel T. Clanton
    • 1
  • Angus J. C. McMorland
    • 2
  • Zohny Zohny
    • 2
  • S Morgan Jeffries
    • 2
  • Robert G Rasmussen
    • 2
  • Sharlene N Flesher
    • 2
  • Meel Velliste
    • 2
  1. 1.Carnegie Mellon UniversityPittsburghUSA
  2. 2.University of PittsburghPittsburghUSA

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