Biomorphic Circuits and Systems: Control of Robotic and Prosthetic Systems

Rhythmic motions of lower and upper limb prostheses for patients suffering from spinal cord injury (SCI) and amputees can be controlled and modulated using silicon neurons, designed in very large scale integration (VLSI) technology, that mimic…

The control of artificial limbs and other restorative systems is discussed in terms of closed-loop control and sensory feedback. Feedback modalities are classified in three categories: 1. Supplemental Sensory Feedback 2. Artificial Reflexes 3.…

From the view point of intelligent control, several control methods are reviewed for the control of robots such as manipulators and mobile robots. In particular, neural network-based control, fuzzy control, and genetic algorithm-based control are…

Brain-computer interfaces (BCIs) use signals recorded from the brain to operate robotic or prosthetic devices. Both invasive and noninvasive approaches have proven effective. Achieving the speed, accuracy, and reliability necessary for real-world…

Considers design and control of a robotic finger for prosthetic hands. A linkage driven robotic finger actuated by single motor is developed such that the motion of the robotic finger is very close to the motion of a human finger. The signal…

Although mechanical components, packaging techniques, microprocessors, and application-specific integrated circuits for prosthesis control are available, there is a pressing need for sensors and actuators to complete the system. These devices not…

A method is proposed to perform control using Intel(R) based PCs operated by Windows NTTM directly. The software package developed is called WinRec v.1 (Windows real-time control). This low cost method keeps all the advantages of Windows NT without…

This paper details the implementation of a hardware genetic algorithm used to evolve a digital circuit capable of controlling the motion of a robot. The digital circuit was a virtual FPGA comprised of functional elements layered in four columns. The…

This paper proposes a biomechatronic approach to the design of an anthropomorphic artificial hand able to mimic the natural motion of the human fingers. The hand is conceived to be applied to prosthetics as well as to humanoid and personal robotics;…

A new class of neural prosthetic systems aims to assist disabled patients by translating cortical neural activity into control signals for prosthetic devices. Based on the success of proof-of-concept systems in the laboratory, there is now…