Collaborative Research: CDI Type I: Optimal and predictive control of neural prostheses using intracortical Brain Machine Interfaces

本研究的目的是开发一个最佳的预测反馈控制框架的神经假体，使脑机接口（BMI）。 广义上，BMI是将大脑和机器（计算机）连接起来的系统，用于感知神经元活动和认知过程，以恢复残疾受试者受损的运动任务。 研究重点是：（1）开发基于BMI的神经假体的计算建模框架，该框架可以结合皮质内神经元测量的大数据集;（2）识别神经运动假体中的自然和“替代”最佳反馈感测路径;（3）开发利用神经假体中的模型和反馈路径的计算有效的预测控制算法;以及（4）通过模拟神经假体多指抓握的实验评估。目前的神经假体装置主要是“开环”的，并且由于它们不能结合多变量反馈、感觉和交互信号而具有有限的性能。 这项研究解决了这一限制，努力推进下一代反馈功能的神经假体设备。 最优控制理论与神经工程学和计算神经科学原理的概念整合为分析复杂的神经元互连系统中固有的众多反馈模式提供了一个框架。为了更广泛的影响，该研究旨在使基于BMI的神经假体和辅助设备能够在患有周围神经病，脊髓损伤，神经肌肉紊乱和截肢 该项目将在反馈控制教育中引入计算神经科学范式，同时培训生物医学工程师直接使用计算反馈控制理论的工具。 与伯利恒的阿萨帕克小学和巴尔的摩的中学夏季机器人夏令营一起开展的科学推广活动将激励和激发年轻人思考通过展示大脑功能来解决技术“重大挑战”。

The objective of this research is to develop an optimal predictive feedback control framework for neuroprostheses that are enabled by brain machine interfaces (BMIs). BMIs, broadly defined, are systems that interface the brain and a machine (computer) to sense neuronal activity and cognitive processes to restore impaired motor tasks in disabled subjects. The research focuses on: (1) development of a computational modeling framework for BMI-based neuroprostheses that can incorporate large data sets of intracortical neuronal measurements; (2) identification of natural and "surrogate" optimal feedback sensing paths in neuromotor prostheses; (3) development of computationally efficient predictive control algorithms that exploit models and feedback pathways in neuroprostheses; and (4) experimental evaluation through simulated neuroprosthetic multi-finger grasping.Current neuroprosthetic devices are largely "open-loop" and have limited performance due to their inability to incorporate multivariable feedback, sensory and interactive signals. This research addresses this limitation, striving to advance next-generation feedback-enabled neuroprosthetic devices. The proposed conceptual integration of optimal control theory with principles of neuroengineering and computational neuroscience provides a framework for analyzing the numerous feedback modalities intrinsically embedded in a complex interconnected system of neurons.For broader impacts, the research seeks to enable the transition of BMI-based neuroprostheses and assistive devices to stable extended use in human subjects suffering from peripheral neuropathies, spinal cord injuries, neuromuscular disorders, and amputations. The project will introduce a computational neuroscience paradigm in feedback control education while training biomedical engineers to directly employ tools from computational feedback control theory. A science outreach effort with Asa Packer Elementary School in Bethlehem and the middle school Summer Robotics Camp in Baltimore will motivate and excite young minds to think about solving technological "grand challenges" through demonstrations of brain functionality.