Pasedena Conference Center, Pasadena, California, USA

ICRA'08 Paper Abstract


Paper ThA7.4

Wolf, Michael (California Institute of Technology), Cham, Jorge (Caltech), Branchaud, Edward (Caltech), Burdick, Joel (California Institute of Technology)

A Miniature Robot for Isolating and Tracking Neurons in Extracellular Cortical Recordings

Scheduled for presentation during the Regular Sessions "Bio-Insipred and Biomedical Robotics" (ThA7), Thursday, May 22, 2008, 09:40−10:00, 207

2008 IEEE International Conference on Robotics and Automation (ICRA), May 19-23, 2008, Pasadena Conference Center, Pasadena, CA, USA

This information is tentative and subject to change. Compiled on November 24, 2020

Keywords Neurorobotics, Control Architectures and Programming, Mechanism Design


This paper presents a miniature robot device and control algorithm that can autonomously position electrodes in cortical tissue for isolation and tracking of extracellular signals of individual neurons. Autonomous electrode positioning can significantly enhance the efficiency and quality of acute electrophysiolgical experiments aimed at basic understanding of the nervous system. Future miniaturized systems of this sort could also overcome some of the inherent difficulties in estabilishing long-lasting neural interfaces that are needed for practical realization of neural prostheses. The paper describes the robot's design and summarizes the overall structure of the control system that governs the electrode positioning process. We present a new sequential clustering algorithm that is key to improving our system's performance, and which may have other applications in robotics. Experimental results in macaque cortex demonstrate the validity of our approach.



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