Continuous Control of the DLR Light-Weight Robot III by a Human with Tetraplegia Using the BrainGate2 Neural Interface System

摘要

We have investigated control of the DLR Light-Weight Robot III with DLR Five-Finger Hand by a person with tetraplegia using the BrainGate2 Neural Interface System. The goal of this research is to develop assistive technologies for people with severe physical disabilities. A BrainGate-enabled DLR LWR III would potentially permit a person with tetraplegia to gain improved control over their environment, e.g. to drink a glass of water. First results of the developed control loop are very encouraging and allow the participant to perform simple interaction tasks with her environment, e.g., pick up a bottle and move it around. To this end, only a few minutes of system training are required, after which the system can be used.