A versatile robotic platform for the design of natural, three-dimensional reaching and grasping tasks in monkeys

Barra, B. (Department of Neuroscience and Movement Science, Platform of Translational Neurosciences, University of Fribourg, Fribourg, Switzerland) ; Badi, Marion (Translational Neuroengineering, Center for Neuroprosthetics and Institute of Bioengineering, EPFL, Lausanne, Switzerland) ; Perich, Matthew G. (Faculty of Medicine, Department of Fundamental Neuroscience, University of Geneva, Geneva, Switzerland) ; Conti, Sara (Department of Neuroscience and Movement Science, Platform of Translational Neurosciences, University of Fribourg, Fribourg, Switzerland ; The Biorobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy) ; Mirrazavi Salehian, Seyed Sina (Learning algorithms and systems laboratory, EPFL, Lausanne, Switzerland) ; Moreillon, Fabien (School of Engineering, Architecture and Landscape (hepia), HES-SO // University of Applied Sciences Western Switzerland) ; Bogaard, Andrew (Department of Neuroscience and Movement Science, Platform of Translational Neurosciences, University of Fribourg, Fribourg, Switzerland ; Translational Neuroengineering, Center for Neuroprosthetics and Institute of Bioengineering, EPFL, Lausanne, Switzerland) ; Wurth, Sophie (Department of Neuroscience and Movement Science, Platform of TraTranslational Neuroengineering, Center for Neuroprosthetics and Institute of Bioengineering, EPFL, Lausanne, Switzerland) ; Kaeser, Mélanie (Department of Neuroscience and Movement Science, Platform of Translational Neurosciences, University of Fribourg, Fribourg, Switzerland) ; Passeraub, Philippe (School of Engineering, Architecture and Landscape (hepia), HES-SO // University of Applied Sciences Western Switzerland) ; Milekovic, Tomislav (Faculty of Medicine, Department of Fundamental Neuroscience, University of Geneva, Geneva, Switzerland) ; Billard, Aude (Learning algorithms and systems laboratory, EPFL, Lausanne, Switzerland) ; Micera, Silvestro (Translational Neuroengineering, Center for Neuroprosthetics and Institute of Bioengineering, EPFL, Lausanne, Switzerland ; The Biorobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy) ; Capogrosso, Marco (Department of Neuroscience and Movement Science, Platform of Translational Neurosciences, University of Fribourg, Fribourg, Switzerland)

Objective. Translational studies on motor control and neurological disorders require detailed monitoring of sensorimotor components of natural limb movements in relevant animal models. However, available experimental tools do not provide a sufficiently rich repertoire of behavioral signals. Here, we developed a robotic platform that enables the monitoring of kinematics, interaction forces, and neurophysiological signals during user-defined upper limb tasks for monkeys. Approach. We configured the platform to position instrumented objects in a three-dimensional workspace and provide an interactive dynamic force-field. Main results. We show the relevance of our platform for fundamental and translational studies with three example applications. First, we study the kinematics of natural grasp in response to variable interaction forces. We then show simultaneous and independent encoding of kinematic and forces in single unit intra-cortical recordings from sensorimotor cortical areas. Lastly, we demonstrate the relevance of our platform to develop clinically relevant brain computer interfaces in a kinematically unconstrained motor task. Significance. Our versatile control structure does not depend on the specific robotic arm used and allows for the design and implementation of a variety of tasks that can support both fundamental and translational studies of motor control.


Article Type:
scientifique
Faculty:
Ingénierie et Architecture
School:
HEPIA - Genève
Institute:
inSTI - Institut des Sciences et Technologies industrielles
Date:
2019-12
Pagination:
19 p.
Published in:
Journal of Neural Engineering
Numeration (vol. no.):
2020, vol. 17, no. 1, article no. 016004
DOI:
ISSN:
1741-2552
Appears in Collection:



 Record created 2020-03-10, last modified 2020-03-27

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