BioRob 2008 Paper Abstract


Paper TuBT5.3

heliot, rodolphe (UC Berkeley), Orsborn, Amy (University of California, Berkeley), Carmena, Jose (University of California at Berkeley)

Stiffness Control of 2-DOF Exoskeleton for Brain-Machine Interfaces

Scheduled for presentation during the Regular Session "Locomotion and Manipulation in Robots and Biological Systems - II" (TuBT5), Tuesday, October 21, 2008, 11:20−11:40, California Room

2008 IEEE International Conference on Biomedical Robotics and Biomechatronics, October 19-22, 2008, FireSky Resort, Scottsdale, Arizona, USA

This information is tentative and subject to change. Compiled on February 21, 2020

Keywords Neuro-robotics, Exoskeletons and augmenting devices, Rehabilitiation and assistive robotics


Previous demonstrations of brain-machine interfaces have shown the potential for controlling a neuroprosthesis under pure motion control, i.e. predicting end effector kinematics from neural ensemble activity. For real world tasks, however, pure motion control lacks the information required for versatile manipulation in which the dynamic interactions of forces and torques between the musculoskeletal system and the environment play a crucial role. Thus, our current efforts aim at enabling a subject using a brain-machine interface to volitionally control the mechanical impedance of the prosthetic device. Here we propose the use of a two-link arm exoskeleton to investigate upper limb stiffness in non-human primates. We show that the device can be used to experimentally measure end-point limb stiffness, as well as to control the stiffness when the exoskeleton is used in slave-robot mode. Experimental results show that this platform allows for both stiffness measurement and control of the robotic device.



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