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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...
Autores principales: | , , , , , , , , , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2022
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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. |
format | Online Article Text |
id | pubmed-9274256 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
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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