A collaborative BCI approach to autonomous control of a prosthetic limb system

Kapil D. Katyal, Matthew S. Johannes, Spencer Kellis, Tyson Aflalo, Christian Klaes, Timothy G. McGee, Matthew P. Para, Ying Shi, Brian Lee, Kelsie Pejsa, Charles Liu, Brock A. Wester, Francesco Tenore, James D. Beaty, Alan D. Ravitz, Richard A. Andersen, Michael P. McLoughlin

Research output: Contribution to journalConference articlepeer-review

41 Scopus citations


Existing brain-computer interface (BCI) control of highly dexterous robotic manipulators and prosthetic devices typically rely solely on neural decode algorithms to determine the user's intended motion. Although these approaches have made significant progress in the ability to control high degree of freedom (DOF) manipulators, the ability to perform activities of daily living (ADL) is still an ongoing research endeavor. In this paper, we describe a hybrid system that combines elements of autonomous robotic manipulation with neural decode algorithms to maneuver a highly dexterous robotic manipulator for a reach and grasp task. This system was demonstrated using a human patient with cortical micro-electrode arrays allowing the user to manipulate an object on a table and place it at a desired location. The preliminary results for this system are promising in that it demonstrates the potential to blend robotic control to perform lower level manipulation tasks with neural control that allows the user to focus on higher level tasks thereby reducing the cognitive load and increasing the success rate of performing ADL type activities.

Original languageEnglish (US)
Article number6974124
Pages (from-to)1479-1482
Number of pages4
JournalConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Issue numberJanuary
StatePublished - 2014
Event2014 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2014 - San Diego, United States
Duration: Oct 5 2014Oct 8 2014


  • Brain-computer interface
  • Brainmachine interface
  • Computer vision
  • Hybrid BCI/BMI
  • Intelligent robotics
  • Modular prosthetic limb
  • Neural prosthetic system
  • Prosthetics
  • Robotic limb
  • Semi-autonomous

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction


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