Controlling a Dexterous Hand From Neural Signals
A BMI controls motion of an avatar hand to 8 different
targets along 4 multi-joint basis functions.
We currently are exploring dexterous control of an avatar hand through a brain-computer interface. To address the challenge of controlling the complexity of the hand, we emphasize a variety of approaches beyond fixed, linear decoding of neural activity. Instead, we used a hybrid controller with active dimension selection (ADS) that combined selection of the appropriate dimension with velocity control along that dimension. The four dimensions of control corresponded to four common grasps: precision pinch, three-finger tripod, power grasp, and thumb/little finger opposition.
Download a sample movie [zip].
The brain-machine interface controlled the hand
on the left to match the desired target hand
posture on the right.
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