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Shared Control of Bimanual Robotic Limbs With a Brain-Machine Interface for Self-Feeding

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 complex...

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Autores principales: Handelman, David A., Osborn, Luke E., Thomas, Tessy M., Badger, Andrew R., Thompson, Margaret, Nickl, Robert W., Anaya, Manuel A., Wormley, Jared M., Cantarero, Gabriela L., McMullen, David, Crone, Nathan E., Wester, Brock, Celnik, Pablo A., Fifer, Matthew S., Tenore, Francesco V.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9274256/
https://www.ncbi.nlm.nih.gov/pubmed/35837250
http://dx.doi.org/10.3389/fnbot.2022.918001
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author Handelman, David A.
Osborn, Luke E.
Thomas, Tessy M.
Badger, Andrew R.
Thompson, Margaret
Nickl, Robert W.
Anaya, Manuel A.
Wormley, Jared M.
Cantarero, Gabriela L.
McMullen, David
Crone, Nathan E.
Wester, Brock
Celnik, Pablo A.
Fifer, Matthew S.
Tenore, Francesco V.
author_facet Handelman, David A.
Osborn, Luke E.
Thomas, Tessy M.
Badger, Andrew R.
Thompson, Margaret
Nickl, Robert W.
Anaya, Manuel A.
Wormley, Jared M.
Cantarero, Gabriela L.
McMullen, David
Crone, Nathan E.
Wester, Brock
Celnik, Pablo A.
Fifer, Matthew S.
Tenore, Francesco V.
author_sort Handelman, David A.
collection PubMed
description 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.
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spelling pubmed-92742562022-07-13 Shared Control of Bimanual Robotic Limbs With a Brain-Machine Interface for Self-Feeding Handelman, David A. Osborn, Luke E. Thomas, Tessy M. Badger, Andrew R. Thompson, Margaret Nickl, Robert W. Anaya, Manuel A. Wormley, Jared M. Cantarero, Gabriela L. McMullen, David Crone, Nathan E. Wester, Brock Celnik, Pablo A. Fifer, Matthew S. Tenore, Francesco V. Front Neurorobot Neuroscience 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. Frontiers Media S.A. 2022-06-28 /pmc/articles/PMC9274256/ /pubmed/35837250 http://dx.doi.org/10.3389/fnbot.2022.918001 Text en Copyright © 2022 Handelman, Osborn, Thomas, Badger, Thompson, Nickl, Anaya, Wormley, Cantarero, McMullen, Crone, Wester, Celnik, Fifer and Tenore. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Neuroscience
Handelman, David A.
Osborn, Luke E.
Thomas, Tessy M.
Badger, Andrew R.
Thompson, Margaret
Nickl, Robert W.
Anaya, Manuel A.
Wormley, Jared M.
Cantarero, Gabriela L.
McMullen, David
Crone, Nathan E.
Wester, Brock
Celnik, Pablo A.
Fifer, Matthew S.
Tenore, Francesco V.
Shared Control of Bimanual Robotic Limbs With a Brain-Machine Interface for Self-Feeding
title Shared Control of Bimanual Robotic Limbs With a Brain-Machine Interface for Self-Feeding
title_full Shared Control of Bimanual Robotic Limbs With a Brain-Machine Interface for Self-Feeding
title_fullStr Shared Control of Bimanual Robotic Limbs With a Brain-Machine Interface for Self-Feeding
title_full_unstemmed Shared Control of Bimanual Robotic Limbs With a Brain-Machine Interface for Self-Feeding
title_short Shared Control of Bimanual Robotic Limbs With a Brain-Machine Interface for Self-Feeding
title_sort shared control of bimanual robotic limbs with a brain-machine interface for self-feeding
topic Neuroscience
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9274256/
https://www.ncbi.nlm.nih.gov/pubmed/35837250
http://dx.doi.org/10.3389/fnbot.2022.918001
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