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A collaborative BCI approach to autonomous control of a prosthetic limb system

Katyal, Kapil D. and Johannes, Matthew S. and Kellis, Spencer and Aflalo, Tyson and Klaes, Christian and McGee, Timothy G. and Para, Matthew P. and Shi, Ying and Lee, Brian and Pejsa, Kelsie and Liu, Charles and Wester, Brock A. and Tenore, Francesco and Beaty, James D. and Ravitz, Alan D. and Andersen, Richard A. and McLoughlin, Michael P. (2014) A collaborative BCI approach to autonomous control of a prosthetic limb system. In: 2014 IEEE International Conference on Systems, Man, and Cybernetics. IEEE , Piscataway, NJ, pp. 1479-1482. ISBN 9781479938407. https://resolver.caltech.edu/CaltechAUTHORS:20190325-153523262

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Abstract

Existing brain-computer interface (BCI) control of highly dexterous robotic manipulators and prosthetic devices typically rely solely on neural decode algorithms to determine the user's intended motion. Although these approaches have made significant progress in the ability to control high degree of freedom (DOF) manipulators, the ability to perform activities of daily living (ADL) is still an ongoing research endeavor. In this paper, we describe a hybrid system that combines elements of autonomous robotic manipulation with neural decode algorithms to maneuver a highly dexterous robotic manipulator for a reach and grasp task. This system was demonstrated using a human patient with cortical micro-electrode arrays allowing the user to manipulate an object on a table and place it at a desired location. The preliminary results for this system are promising in that it demonstrates the potential to blend robotic control to perform lower level manipulation tasks with neural control that allows the user to focus on higher level tasks thereby reducing the cognitive load and increasing the success rate of performing ADL type activities.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/smc.2014.6974124DOIArticle
ORCID:
AuthorORCID
Kellis, Spencer0000-0002-5158-1058
Aflalo, Tyson0000-0002-0101-2455
Klaes, Christian0000-0003-4767-9631
Andersen, Richard A.0000-0002-7947-0472
Additional Information:© 2014 IEEE. The authors would like to thank John Helder and John Roycroft for their help with configuring the MPL systems for experimentation and data acquisition. The authors would like to say special thanks to EGS for participating in the study. This work was supported by the Space and Naval Warfare Systems Command under Contract N66001-10-C-4056 20100630. Any opinions, findings and conclusions, or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the Defense Advanced Research Projects Agency or Space and Naval Warfare Systems Command.
Funders:
Funding AgencyGrant Number
Office of Naval Research (ONR)N66001-10-C-4056
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
Space and Naval Warfare Systems Command (SPAWAR)UNSPECIFIED
Subject Keywords:prosthetics, neural prosthetic system, brain-machine interface, brain-computer interface, semi-autonomous, robotic limb, computer vision, intelligent robotics, hybrid BCI/BMI, modular prosthetic limb
DOI:10.1109/smc.2014.6974124
Record Number:CaltechAUTHORS:20190325-153523262
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190325-153523262
Official Citation:K. D. Katyal et al., "A collaborative BCI approach to autonomous control of a prosthetic limb system," 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC), San Diego, CA, 2014, pp. 1479-1482. doi: 10.1109/SMC.2014.6974124
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:94130
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:25 Mar 2019 22:44
Last Modified:16 Nov 2021 17:03

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