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A miniature robot for autonomous single neuron recordings

Branchaud, Edward A. and Cham, Jorge G. and Nenadic, Zoran and Burdick, Joel W. and Andersen, Richard A. (2005) A miniature robot for autonomous single neuron recordings. In: 2005 IEEE International Conference on Robotics and Automation (ICRA). IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 1920-1926. ISBN 0-7803-8914-X.

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This paper describes a novel miniature robot that can autonomously position recording electrodes inside cortical tissue to isolate and maintain optimal extracellular action potential recordings. The system consists of a novel motorized miniature recording microdrive and a control algorithm. The microdrive was designed for semi-chronic operation and can independently position four electrodes with micron precision over a 5mm range using small (3mm diameter) piezoelectric linear actuators. The autonomous positioning algorithm is designed to detect, align and cluster action potentials, and then command the microdrive to optimize and maintain the neural signal. This system is shown to be capable of autonomous operation in monkey cortex.

Item Type:Book Section
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URLURL TypeDescription DOIArticle
Andersen, Richard A.0000-0002-7947-0472
Additional Information:© 2005 IEEE. Issue date; 18-22, April 2005. Date of current version: Jan 10, 2006. This work was supported by DARPA Grant MDA972-00-1-0029 and by the Center for Neuromorphic Engineering, an NSF Engineering Research Center (NSF-9402726). We thank the members of the Andersen lab at Caltech, especially Bradley Greger, Daniella Meeker, Bijan Pesaran, Boris Breznen, Sam Musallam, Kelsie Pejsa and Lea Martel. Thanks also to Aimee Eddins and Rodney Rojas for help in fabricating the prototype.
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)MDA972-00-1-0029
Center for Neuromorphic Systems Engineering, CaltechUNSPECIFIED
Subject Keywords:medical robotics; neurorobotics; miniature robot
Series Name:IEEE International Conference on Robotics and Automation
Record Number:CaltechAUTHORS:20110517-090627156
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Official Citation:Branchaud, E.A.; Cham, J.G.; Nenadic, Z.; Burdick, J.W.; Andersen, R.A.; , "A Miniature Robot for Autonomous Single Neuron Recordings," Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on , vol., no., pp. 1920- 1926, 18-22 April 2005 doi: 10.1109/ROBOT.2005.1570394 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:23686
Deposited On:18 May 2011 15:05
Last Modified:09 Nov 2021 16:16

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