System for controlling brain machine interfaces and neural prosthetic systems

摘要

Described is a system for controlling a torque controlled prosthetic device given motor intent inferred from neuroimaging data. The system includes at least one torque controlled prosthetic device operably connected with one or more processors. Further, the system is configured to receive neuroimaging data of a user from a neuroimaging device and decode the neuroimaging data to infer spatial motion intent of the user, where the spatial motion intent includes desired motion commands of the torque controlled prosthetic device represented in a coordinate system. The system thereafter executes, with a prosthesis controller, the motion commands as torque commands to cause the torque controlled prosthetic device to move according to the spatial motion intent of the user.

主权项

1. A system for controlling a torque controlled prosthetic device given motor intent inferred from neuroimaging data, the system comprising:
one or more processors and a memory, the memory having executable instructions encoded thereon, such that upon execution of the instructions, the one or more processors perform operations of:
receiving neuroimaging data of a user from a neuroimaging device;decoding the neuroimaging data to infer spatial motion intent of the user, where the spatial motion intent includes desired motion commands of the torque controlled prosthetic device represented in a coordinate system;executing, with a prosthesis controller, the motion commands as torque commands to cause the torque controlled prosthetic device to move according to the spatial motion intent of the user; wherein the prosthesis controller is a neuromorphic prosthesis controller and further comprises:
a neuromorphic spike encoder to represent the motion command as a set of neural spikes;a neuromorphic motor mapper to map the neural spikes representing Cartesian displacements to neural spikes representing configuration (joint) space displacements;a spike decoder to decode the neural spikes representing configuration (joint) space displacements and generate a joint space command; anda joint servo to execute the joint space command.