NDLI: A Real-Time System for Small Animal Neurorobotics at Spinal or Cortical Levels.

Content Provider	IEEE Xplore Digital Library
Author	Giszter, S.F. Hart, C.B. Udoekwere, U.I. Markin, S. Barbe, C.
Copyright Year	2005
Description	Author affiliation: Neurobiol. & Anatomy, Drexel Univ., Philadelphia, PA (Giszter, S.F.; Hart, C.B.)
Abstract	We present a real-time system for small animal neurorobotics and neuroprosthetics at spinal or cortical levels. The system combines biomechanics, neural recording and a 3D robotics system including sensable devices phantoms, ATI 6 axis force transducers, cybernetics (bionic technology) cerebus neural recording system, computer boards buffered DAS16s, and an OPTOTRAK and 120 Hz camera system. The system allows real-time combination of neural data, force data and robot interaction at rates of 1 kilohertz, and allows full data recording. Up to 2 robots and 5 force sensors with 128 channels of neural data and 16 channels of EMG form the present core system. The force sensors and robot are controlled from a single machine using a dedicated Venturcom/Phar Lap ETS real time operating system. Elastic, viscous, translational and barrier constraint fields can be combined or recruited by neural activity. The main control loop can also support PID control. Neural data from up to 256 neurons (2 per channel, 128 channels) identified in real-time with multiple threshold windows on the cybernetics are delivered for robot control. Other data collection is synchronized by the main host. The robot(s) connect to rats or frogs through bone implants or with a saddle-harness arrangement
Starting Page	450
Ending Page	453
File Size	2070203
Page Count	4
File Format	PDF
ISBN	0780387104
DOI	10.1109/CNE.2005.1419656
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-03-16
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Real time systems Biomechanics Transducers Animals Robot control Robot sensing systems Imaging phantoms Force sensors Cybernetics Neural prosthesis
Content Type	Text
Resource Type	Article

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