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Continuous shared control for stabilizing reaching and grasping with brain-machine interfaces.

Publication ,  Journal Article
Kim, HK; Biggs, SJ; Schloerb, DW; Carmena, JM; Lebedev, MA; Nicolelis, MAL; Srinivasan, MA
Published in: IEEE Trans Biomed Eng
June 2006

Research on brain-machine interfaces (BMI's) is directed toward enabling paralyzed individuals to manipulate their environment through slave robots. Even for able-bodied individuals, using a robot to reach and grasp objects in unstructured environments can be a difficult telemanipulation task. Controlling the slave directly with neural signals instead of a hand-master adds further challenges, such as uncertainty about the intended trajectory coupled with a low update rate for the command signal. To address these challenges, a continuous shared control (CSC) paradigm is introduced for BMI where robot sensors produce reflex-like reactions to augment brain-controlled trajectories. To test the merits of this approach, CSC was implemented on a 3-degree-of-freedom robot with a gripper bearing three co-located range sensors. The robot was commanded to follow eighty-three reach-and-grasp trajectories estimated previously from the outputs of a population of neurons recorded from the brain of a monkey. Five different levels of sensor-based reflexes were tested. Weighting brain commands 70% and sensor commands 30% produced the best task performance, better than brain signals alone by more than seven-fold. Such a marked performance improvement in this test case suggests that some level of machine autonomy will be an important component of successful BMI systems in general.

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Published In

IEEE Trans Biomed Eng

DOI

ISSN

0018-9294

Publication Date

June 2006

Volume

53

Issue

6

Start / End Page

1164 / 1173

Location

United States

Related Subject Headings

  • User-Computer Interface
  • Therapy, Computer-Assisted
  • Telemedicine
  • Systems Integration
  • Robotics
  • Movement Disorders
  • Movement
  • Imagination
  • Humans
  • Hand Strength
 

Citation

APA
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Kim, H. K., Biggs, S. J., Schloerb, D. W., Carmena, J. M., Lebedev, M. A., Nicolelis, M. A. L., & Srinivasan, M. A. (2006). Continuous shared control for stabilizing reaching and grasping with brain-machine interfaces. IEEE Trans Biomed Eng, 53(6), 1164–1173. https://doi.org/10.1109/TBME.2006.870235
Kim, Hyun K., S James Biggs, David W. Schloerb, Jose M. Carmena, Mikhail A. Lebedev, Miguel A. L. Nicolelis, and Mandayam A. Srinivasan. “Continuous shared control for stabilizing reaching and grasping with brain-machine interfaces.IEEE Trans Biomed Eng 53, no. 6 (June 2006): 1164–73. https://doi.org/10.1109/TBME.2006.870235.
Kim HK, Biggs SJ, Schloerb DW, Carmena JM, Lebedev MA, Nicolelis MAL, et al. Continuous shared control for stabilizing reaching and grasping with brain-machine interfaces. IEEE Trans Biomed Eng. 2006 Jun;53(6):1164–73.
Kim, Hyun K., et al. “Continuous shared control for stabilizing reaching and grasping with brain-machine interfaces.IEEE Trans Biomed Eng, vol. 53, no. 6, June 2006, pp. 1164–73. Pubmed, doi:10.1109/TBME.2006.870235.
Kim HK, Biggs SJ, Schloerb DW, Carmena JM, Lebedev MA, Nicolelis MAL, Srinivasan MA. Continuous shared control for stabilizing reaching and grasping with brain-machine interfaces. IEEE Trans Biomed Eng. 2006 Jun;53(6):1164–1173.

Published In

IEEE Trans Biomed Eng

DOI

ISSN

0018-9294

Publication Date

June 2006

Volume

53

Issue

6

Start / End Page

1164 / 1173

Location

United States

Related Subject Headings

  • User-Computer Interface
  • Therapy, Computer-Assisted
  • Telemedicine
  • Systems Integration
  • Robotics
  • Movement Disorders
  • Movement
  • Imagination
  • Humans
  • Hand Strength