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Shared Control of Bimanual Robotic Limbs With a Brain-Machine Interface for Self-Feeding
- Source :
- Frontiers in Neurorobotics, Vol 16 (2022)
- Publication Year :
- 2022
- Publisher :
- Frontiers Media S.A., 2022.
-
Abstract
- Advances in intelligent robotic systems and brain-machine interfaces (BMI) have helped restore functionality and independence to individuals living with sensorimotor deficits; however, tasks requiring bimanual coordination and fine manipulation continue to remain unsolved given the technical complexity of controlling multiple degrees of freedom (DOF) across multiple limbs in a coordinated way through a user input. To address this challenge, we implemented a collaborative shared control strategy to manipulate and coordinate two Modular Prosthetic Limbs (MPL) for performing a bimanual self-feeding task. A human participant with microelectrode arrays in sensorimotor brain regions provided commands to both MPLs to perform the self-feeding task, which included bimanual cutting. Motor commands were decoded from bilateral neural signals to control up to two DOFs on each MPL at a time. The shared control strategy enabled the participant to map his four-DOF control inputs, two per hand, to as many as 12 DOFs for specifying robot end effector position and orientation. Using neurally-driven shared control, the participant successfully and simultaneously controlled movements of both robotic limbs to cut and eat food in a complex bimanual self-feeding task. This demonstration of bimanual robotic system control via a BMI in collaboration with intelligent robot behavior has major implications for restoring complex movement behaviors for those living with sensorimotor deficits.
Details
- Language :
- English
- ISSN :
- 16625218
- Volume :
- 16
- Database :
- Directory of Open Access Journals
- Journal :
- Frontiers in Neurorobotics
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.b632445cc2124006bbcbf5eb1e2bbcd8
- Document Type :
- article
- Full Text :
- https://doi.org/10.3389/fnbot.2022.918001