Cortical control of a prosthetic arm for self-feeding
Cortical control of a prosthetic arm for self-feeding
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DOI：
10.1038/nature06996
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发表时间：
2008-06-19
期刊：
影响因子：
64.8
通讯作者：
Schwartz, Andrew B.
中科院分区：
文献类型：
--
作者：
Velliste, Meel;Perel, Sagi;Schwartz, Andrew B.
手臂运动在运动皮层记录的神经元群中有很好的表现（1-7）。皮层活动模式已被用于脑机接口的新领域（8-11），以显示计算机显示器上的光标如何在二维和三维空间中移动（12-22）。虽然移动光标的能力本身就很有用，但这项技术可以用于恢复截肢者和瘫痪者的手臂和手的功能。然而，使用皮质信号来控制多关节假肢装置与物理环境的直接实时交互（“体现”）尚未得到证实。在这里，我们描述了一个系统，允许具体的假肢控制；我们展示了猴子（猕猴）如何在自我喂食任务中使用它们的运动皮质活动来控制机械手臂复制品。除了运动的三个维度外，受试者的皮质信号还按比例控制手臂末端的抓手。由于猴子、机械臂和工作空间中物体之间的物理相互作用，这个新任务比以前的虚拟（光标控制）实验具有更高的难度。除了一个简单的一维控制（23）的例子外，之前的实验缺乏物理交互，即使在控制回路中包括机械臂（16,19,24）或手（20）的情况下，因为受试者不使用它与物理对象进行交互——这种交互无法完全模拟。这一多自由度假肢控制的演示为灵巧假肢装置的发展铺平了道路，最终可以实现接近自然水平的手臂和手的功能。
Arm movement is well represented in populations of neurons recorded from the motor cortex(1-7). Cortical activity patterns have been used in the new field of brain-machine interfaces(8-11) to show how cursors on computer displays can be moved in two- and three-dimensional space(12-22). Although the ability to move a cursor can be useful in its own right, this technology could be applied to restore arm and hand function for amputees and paralysed persons. However, the use of cortical signals to control a multi-jointed prosthetic device for direct real-time interaction with the physical environment ('embodiment') has not been demonstrated. Here we describe a system that permits embodied prosthetic control; we show how monkeys (Macaca mulatta) use their motor cortical activity to control a mechanized arm replica in a self-feeding task. In addition to the three dimensions of movement, the subjects' cortical signals also proportionally controlled a gripper on the end of the arm. Owing to the physical interaction between the monkey, the robotic arm and objects in the workspace, this new task presented a higher level of difficulty than previous virtual (cursor-control) experiments. Apart from an example of simple one-dimensional control(23), previous experiments have lacked physical interaction even in cases where a robotic arm(16,19,24) or hand(20) was included in the control loop, because the subjects did not use it to interact with physical objects - an interaction that cannot be fully simulated. This demonstration of multi-degree-of-freedom embodied prosthetic control paves the way towards the development of dexterous prosthetic devices that could ultimately achieve arm and hand function at a near-natural level.