Cortical Control of an Assistive Robotic Arm

描述（由申请人提供）：本申请涉及广泛的挑战领域（01）行为，行为改变和预防以及具体的挑战主题：使能技术06-HD-101*改进的假肢接口，以提高康复效果；监测神经功能的传感器和开发和验证辅助神经技术。这个RC1的总体目标是展示四肢瘫痪的人喝一杯水使用神经控制的机械臂的能力。这些目标直接涉及与康复、传感器开发和帮助残疾人相关的三个挑战领域：06-HD101、NS 104和107。该项目为参与神经接口系统“BrainGate”试点临床试验的四肢瘫痪患者提供了一个难得的机会，让他们参与研究，开发恢复独立性和控制能力的新方法。具体来说，这项研究将建立BrainGate试验参与者使用来自运动皮层的神经信号来执行有用的机械臂伸展和抓取动作的能力。这种使神经技术研究成为可能的是最先进的机器人，为安全的人类互动而设计和测试，能够像人类一样伸手和抓握动作。这些机器人将由德国航空航天局（DLR）的机器人小组提供，该小组开发并测试了这款机器人。一个经验丰富的临床、研究和工程学术团队也使这个独特的机会成为可能，他们正在进行一项新的IDE BrainGate2临床试验。作为FDA和IRB批准的IDE试点试验的一部分，这项工作将扩展已经证明的长期严重瘫痪患者的能力，使用BrainGate进行“点和点击”电脑鼠标动作，并控制简单的机器人。第一个目标是确定可以由神经信号独立控制的维度数量，以及学习控制这些维度的方法，使用机器人手臂功能的模拟并与物理机器人保持一定距离。这项研究将为人类建立最佳的解码和训练方法，以实现最高程度的自由控制。第二个目标是推进算法，随着时间的推移提高性能的可靠性和稳定性。第三个目标是创建与LWRIII机器人手臂的通信链路。对于第四个目标，物理系统的使用将使用最佳训练和解码方法进行评估。在神经控制下的机器人将展示四肢瘫痪的人伸手抓住一杯水喝的能力。这项研究将推动辅助技术的发展，使严重运动障碍的人能够获得更大的独立性和控制力。这项挑战拨款旨在开发辅助技术，使严重瘫痪的人能够使用自己的大脑信号来接触和抓住物体。这些实验将测试那些由于脊髓损伤、中风或卢伽雷氏病而无法移动胳膊或腿的人控制机器人手臂和手的能力，这些机器人手臂和手可以安全地与人互动。我们将展示瘫痪患者的能力，他是正在进行的神经接口人体临床试验的一部分，他只使用自己的大脑信号就能拿起一杯水喝下去。这项技术可能会带来一系列新设备，显著提高严重残疾人的生活质量和独立性。

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.