Cortical Control of an Assistive Robotic Arm

辅助机械臂的皮质控制

• 批准号: 7942066
• 负责人: JOHN P DONOGHUE
• 金额: $ 45.18万
• 依托单位: BROWN UNIVERSITY
• 依托单位国家: 美国
• 财政年份: 2009
• 资助国家: 美国
• 起止时间: 2009-09-30 至 2012-08-31
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/7942066
• 关键词: Address; Algorithms; Amendment; Amyotrophic Lateral Sclerosis; Area; Arts; Behavior; Behavioral; Biological; Brain; Clinical Research; Clinical Trials; Collaborations; Communication; Computers; Development; Devices; Dimensions; Engineering; Event; Face; Freedom; German population; Goals; Grant; Hand; Human; Human Resources; Implant; Intention; Joints; Lead; Learning; Leg; Life; Limb structure; Link; Methods; Microelectrodes; Monitor; Motor; Motor Cortex; Movement; Mus; Nervous System Physiology; Neurons; Paralysed; Participant; Performance; Persons; Phase; Population; Prevention; Prosthesis; Quadriplegia; Quality of life; Rehabilitation Outcome; Rehabilitation therapy; Research; Research Ethics Committees; Robot; Robotics; Running; Self-Help Devices; Signal Transduction; Source; Spinal cord injury; Stroke; System; Technology; Testing; Time; Training; Upper Extremity; Variant; Water; Work; arm; base; cost; design; disability; drinking; drinking water; experience; flexibility; grasp; improved; neuroregulation; neurotechnology; operation; pilot trial; relating to nervous system; research study; sensor; simulation; virtual reality

DESCRIPTION (provided by applicant): This application addresses broad Challenge Area (01) Behavior, Behavioral Change, and Prevention and specific Challenge Topics: Enabling Technologies 06-HD-101* Improved interfaces for prostheses to improve rehabilitation outcomes; 06-NS-107 Sensors to monitor neurologic function and 06-NS-104 Developing and validating assistive neurotechnologies. The overall goal of this RC1 is to demonstrate the ability for humans with tetraplegia to drink a cup of water using a neurally controlled robot arm. The aims directly related to three challenge areas related to rehabilitation, sensor development, and enabling those with disabilities: 06-HD101, NS 104 and 107. This project capitalizes on an exceptional opportunity for persons with tetraplegia involved in pilot clinical trial of a neural interface system, 'BrainGate', to participate in research to develop new means to restore independence and control. Specifically, the research will establish the ability for BrainGate trial participants to use neural signals from their motor cortex to perform useful reach and grasp actions with a robotic arm. This enabling neurotechnology research is made possible by state of the art robots, designed and tested for safe human interactions, capable of human-like reach and grasp movements. The robots will be provided by the robotics group of the German Aerospace Agency DLR, who have developed and tested this robot. This unique opportunity is also made possible by an experienced clinical, research and engineering academic team who are running a new IDE BrainGate2 clinical trial. The work will extend already demonstrated abilities for persons with longstanding severe paralysis to perform 'point and click' computer mouse actions and control simple robots using BrainGate as part of an earlier FDA and IRB approved IDE pilot trial. The first aim is to determine the number of dimensions that can be independently controlled by neural signals and the means to learn to control these dimensions, using simulations of robot arm function and with the physical robot at a distance. The research will establish optimal decoding and training methods for humans to achieve the highest degree of freedom control. The second aim will advance algorithms to improve reliability and stability of performance over time. The third aim is to create the communication link to the LWRIII robot arm. For the fourth aim, physical system use will be evaluated using optimal training and decoding approaches. The ability for a person with tetraplegia to reach out and grasp a cup of water and drink, using the robot under neural control will be demonstrated. This research will advance assistive technologies that would permit substantially greater independence and control for persons with severe movement disabilities. This Challenge Grant aims to develop assistive technology that will allow persons with severe paralysis to be able to reach and grasp objects using their own brain signals. The experiments will test the ability for persons unable to move their arms or legs, resulting from spinal cord injury, stroke, or Lou Gehrig's disease, to control a robotic arm and hand that can safely interact with people. We will demonstrate the ability for a person with paralysis who is part of an ongoing pilot human clinical trial on neural interfaces to pick up and drink a cup of water using only their own brain signals. This technology could lead to a set of new devices that markedly enhance quality of life and independence of people with severe disabilities.

描述（由申请人提供）：此申请解决广泛的挑战领域（01）行为，行为改变以及预防和特定挑战主题：启用技术06-HD-101*改进了假体的接口，以改善康复结果； 06-NS-107传感器监测神经系统功能和06-NS-104开发和验证辅助神经技术。该RC1的总体目标是证明具有四翼型人类使用神经控制的机器人臂喝一杯水的能力。该目标与与残疾人的康复，传感器开发以及使残疾人有关的三个挑战领域直接相关：06-HD101，NS 104和107。该项目利用了参与Tetraplegia涉及神经界面系统试验临床试验的特拉普利亚人的非凡机会，以研究Braingate，“ Braingate”，以研究新的手段来启动新的手段，以恢复新的独立性并进行独立。具体而言，这项研究将确定Braingate试验参与者使用其运动皮层中神经信号的能力，以执行有用的覆盖范围，并用机器人臂掌握动作。这项具有神经技术研究的能力是通过最先进的机器人设计和测试的，可用于安全的人类相互作用，能够像人类一样触及和掌握运动。机器人将由德国航空航天公司DLR的机器人集团提供，他们已经开发并测试了该机器人。经验丰富的临床，研究和工程学术团队也使这一独特的机会成为可能，他们正在进行新的IDE Braingate2临床试验。这项工作将扩展已经证明了长期严重麻痹的人已经证明了能力，以执行“点并单击”计算机鼠标的动作，并使用Braingate作为早期FDA和IRB批准的IDE PILOT试验来控制简单的机器人。第一个目的是确定可以使用机器人臂函数的模拟以及距离的物理机器人的模拟来确定可以通过神经信号独立控制这些维度的尺寸的数量。该研究将为人类建立最佳的解码和培训方法，以实现最高的自由度控制。第二个目标将推进算法，以提高性能的可靠性和稳定性。第三个目的是创建与LWRIII机器人组的通信链接。对于第四目标，将使用最佳培训和解码方法评估物理系统的使用。将展示四个患有四倍体的人在神经控制下使用机器人伸出并掌握一杯水和饮料的能力。这项研究将推进辅助技术，这将允许对严重运动障碍者的独立性和控制力大大更大。这项挑战赠款旨在开发辅助技术，以使患有严重瘫痪的人能够使用自己的大脑信号触及并掌握对象。该实验将测试由于脊髓损伤，中风或Lou Gehrig氏病导致无法移动手臂或腿部的人的能力，以控制一个可以安全地与人互动的机器人手臂和手。我们将展示一个瘫痪者的能力，他是正在进行的人类临床试验的一部分神经界面的临床试验的一部分，可以仅使用自己的脑信号来捡起并喝一杯水。这项技术可能会导致一系列新设备，这些设备显着提高了严重残疾人的生活质量和独立性。