Stiffness control of 2-DoF exoskeleton for brain-machine interfaces

Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008

Volumn , Issue , 2008, Pages 600-605

  Héliot, Rodolphe ^a   Orsborn, Amy ^b   Carmena, Jose M ^b  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ARTIFICIAL LIMBS; BRAIN; MAMMALS; MOTION CONTROL; MOTION PLANNING; MUSCULOSKELETAL SYSTEM; ROBOTICS; ROBOTS;

BRAIN-MACHINE INTERFACES; DYNAMIC INTERACTIONS; END POINTS; FORCES AND TORQUES; MECHANICAL IMPEDANCES; NEURAL ENSEMBLES; NEURO-PROSTHESIS; NON-HUMAN PRIMATES; PROSTHETIC DEVICES; REAL-WORLD TASKS; ROBOTIC DEVICES; STIFFNESS CONTROLS; STIFFNESS MEASUREMENTS; TWO LINKS; UPPER LIMBS;

STIFFNESS;

EID: 63049138736     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/BIOROB.2008.4762865     Document Type: Conference Paper

References (25)

1. Serruya MD, Hatsopoulos NG, Paninski L, Fellows MR, Donoghue JP (2002) Instant neural control of a movement signal. Nature 416: 141-142.
2. Taylor DM, Tillery SI, Schwartz AB (2002) Direct cortical control of 3D neuroprosthetic devices. Science 296: 1829-1832.
3. Carmena, J.M., Lebedev, M.A., Crist, R.E., O'Doherty, J.E., Santucci, D.M., Dimitrov, D., Patil, P.G., Henriquez, C.S., and Nicolelis, M.A.L. "Learning to control brain-machine interface for reaching, grasping by primates," PloS Biol., vol. 1, pp. 193-208, 2003.
4. Musallam S, Corneil BD, Greger B, Scherberger H"ersen RA (2004) Coginitive control signals for neural prosthetics. Science 305: 258-262.
5. Hochberg LR, Serruya MD, Friehs GM, et al. (2006) Neuronal ensemble control of prosthetic devices by a human with tetraplegia. Nature 442: 164-171.
6. Santhanam G, Ryu SI, Yu BM, Afshar A, Shenoy KV (2006) A highperformance brain-computer interface. Nature 442: 195-198.
7. Burdet E, Osu R, Franklin DW, Milner TE, Kawato M (2001) The CNS skillfully stabilizes unstable dynamics by learning optimal impedance. Nature 414: 446-449.
8. Hogan N (2002) Skeletal muscle impedance in the control of motor actions. Journal of Mechanics in Medicine, Biology 2: 359-373.
9. Selen LPJ, Beek PJ, van Dieen JH (2006) Impedance is modulated to meet accuracy demands during goal-directed arm movements. Exp Brain Res 172: 129-138.
10. E. Evarts, "Relation of pyramidal tract activity to force exerted during voluntary movement," J. Neurophysiol., vol. 31, p. 1427, 1968.
11. Caminiti R, Johnson PB, Galli C, Ferrania S, Burnod Y (1991) Making arm movement within different parts of space: The premotor, motor cortical representation of a coordinate system for reaching to visual targets. J. Neurosci. 11: 1182-1197.
12. Kakei S, Hoffman D, Strick PL (1999) Muscle, movement representations in the primary motor cortex. Science 285: 2136-2139.
13. Scott S, Kalaska JF (1995) Changes in motor cortex activity during reaching movements with similar hand paths but different arm postures. J. Neurophysiol. 73: 2563-2567.
14. Mussa-Ivaldi FA (1988) Do neurons in the motor cortex encode movement direction? An alternative hypothesis. Neurosci Lett 91: 106-111.
15. Todorov E (2000) Direct cortical control of muscle activation in voluntary arm movements: a model. Nat. Neurosci. 3: 391-398.
16. Hogan, N. (1985) "Impedance control: An approach to manipulation: Parts i-iii," ASME J. Dyn. Syst., Meas., Control, vol. 107, pp. 1-24, 1985.
17. BKIN, http://www.bkintechnologies.com/.
18. S. Scott (1999) "Apparatus for measuring, perturbing shoulder, elbow joint positions, torques during reaching," J. of neuroscience methods, vol. 89, pp. 119-127.
19. Gomi, H. and Kawato, M. (1997) "Human arm stiffness, equilibriumpoint trajectory during multi-joint movement," Biol. Cybern., vol. 76, pp. 163-171.
20. Shadmehr, R, Mussa-Ivaldi" F. and Bizzi, E. (1993) "Postural force fields of the human arm, their role in generating multijoint movements," J. of Neuroscience, vol. 13, pp. 45-62.
21. Burdet, E. (1999) "A method for measuring endpoint stiffness during multijoint arm movements," J of Biomech., vol. 33, pp. 1705-1709.
22. Hogan, N. (1985) "The mechanics of multi-joint posture, movement control," Biol. Cybern., vol. 52, pp. 315-331.
23. Gomi H, Osu R. (1998) Task-Dependent Viscoelasticity of Human Multijoint Arm, Its Spatial Characteristics for Interaction with Environments. J of Neurosci 18(21): 8965-8978.
24. Salisbury, J. (1980) "Active stiffness control of a manipulator in Cartesian coordinates," in Proc. Conf. on Decision, Control, pp. 95-101.
25. Kim, H.K. and Carmena, J.M. and Biggs, S.J. and Hanson, T.L. and Nicolelis, M.A.L. and Srinivasan, M.A. (2007) "The muscle activation method: An approach to impedance control of brain-machine interfaces through a musculoskeletal model of the arm," IEEE. Trans. Biomedical Engineering, vol. 54, pp. 1520-1529.