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Real-time control of a robot arm using simultaneously recorded neurons in the motor cortex

Nature Neuroscience volume 2, pages 664–670 (1999)Cite this article

Abstract

To determine whether simultaneously recorded motor cortex neurons can be used for real-time device control, rats were trained to position a robot arm to obtain water by pressing a lever. Mathematical transformations, including neural networks, converted multineuron signals into 'neuronal population functions' that accurately predicted lever trajectory. Next, these functions were electronically converted into real-time signals for robot arm control. After switching to this 'neurorobotic' mode, 4 of 6 animals (those with >25 task-related neurons) routinely used these brain-derived signals to position the robot arm and obtain water. With continued training in neurorobotic mode, the animals' lever movement diminished or stopped. These results suggest a possible means for movement restoration in paralysis patients.

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Figure 1: Experimental protocol.
Figure 2: Color-coded peri-event population response plot shows activity of 46 simultaneously recorded neurons in the MI cortex and VL thalamus of rat 1, averaged around the onsets of 44 pressing movements.
Figure 3: Categories of recorded neurons.
Figure 5: Premovement NP activity predicts lever movement.
Figure 6: Neurorobotic mode.
Figure 4: Comparison of modes of movement 'coding' in lever-movement/robot-arm mode.

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Acknowledgements

This work was supported by NIH contract NS62352, ONR grant N00014-98-1-0679 and NIH grant NS26722 to J.K.C.

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Authors and Affiliations

  1. Department of Neurobiology and Anatomy, MCP Hahnemann School of Medicine, Philadelphia, 19129, Pennsylvania, USA

    John K. Chapin, Karen A. Moxon & Ronald S. Markowitz

  2. Department of Neurobiology, Duke University Medical Center, Durham, 27710, North Carolina, USA

    Miguel A. L. Nicolelis

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  1. John K. Chapin
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  2. Karen A. Moxon
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  4. Miguel A. L. Nicolelis
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Correspondence to John K. Chapin.

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Chapin, J., Moxon, K., Markowitz, R. et al. Real-time control of a robot arm using simultaneously recorded neurons in the motor cortex. Nat Neurosci 2, 664–670 (1999). https://doi.org/10.1038/10223

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