A versatile robotic platform for the design of natural, three-dimensional reaching and grasping tasks in monkeys
| Autor: | Mélanie Kaeser, Philippe Passeraub, Andrew R. Bogaard, S S Mirrazavi Salehian, Tomislav Milekovic, Aude Billard, Fabien Moreillon, Marco Capogrosso, Sophie Wurth, Matthew G. Perich, Silvestro Micera, Marion Badi, Sara Conti, Beatrice Barra |
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| Rok vydání: | 2019 |
| Předmět: |
spinal-cord
Computer science Interface (computing) Movement 0206 medical engineering Biomedical Engineering grasping hand synergies 02 engineering and technology Kinematics Workspace tetraplegia robotic tools arm kinematics Upper Extremity 03 medical and health sciences Cellular and Molecular Neuroscience 0302 clinical medicine Human–computer interaction monkeys sensory cortex arm Animals movements cortical control Brain–computer interface Hand Strength GRASP Motor control neural decoding reaching Equipment Design Haplorhini Robotics 020601 biomedical engineering Macaca fascicularis responses interface Female Sensorimotor Cortex Robotic arm primate motor cortex Microelectrodes 030217 neurology & neurosurgery Psychomotor Performance Neural decoding |
| Zdroj: | Journal of neural engineering. 17(1) |
| ISSN: | 1741-2552 |
| Popis: | Objective. Translational studies on motor control and neurological disorders require detailed monitoring of sensorimotor components of natural limb movements in relevant animal models. However, available experimental tools do not provide a sufficiently rich repertoire of behavioral signals. Here, we developed a robotic platform that enables the monitoring of kinematics, interaction forces, and neurophysiological signals during user-defined upper limb tasks for monkeys. Approach. We configured the platform to position instrumented objects in a three-dimensional workspace and provide an interactive dynamic force-field. Main results. We show the relevance of our platform for fundamental and translational studies with three example applications. First, we study the kinematics of natural grasp in response to variable interaction forces. We then show simultaneous and independent encoding of kinematic and forces in single unit intra-cortical recordings from sensorimotor cortical areas. Lastly, we demonstrate the relevance of our platform to develop clinically relevant brain computer interfaces in a kinematically unconstrained motor task. Significance. Our versatile control structure does not depend on the specific robotic arm used and allows for the design and implementation of a variety of tasks that can support both fundamental and translational studies of motor control. |
| Databáze: | OpenAIRE |
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