The general utility of a neuroprosthetic device under direct cortical control

We have described an adaptive signal processing method that allows fine graded control of a cursor in three-dimensions from cortical signals [1]. Here we describe application of the same signal processing method to direct cortical control of a robotic arm for a variety of tasks. Ou r subject w as extensiv ely traine d in controlling a computer cursor in a 3D virtual environment. We applied the mapping between cortical activity and cursor motion to endpoint control of a robotic arm. This algorithm was refined further as the animal continued to make 3D point-to-point movements of the braincontrolled robot. The animal then used the cortically-controlled robot to retrieve food placed at arbitrary locations within the workspace and deliver the food to a hopper. Finally, the animal learned to use the cortically-controlled robot to deliver food directly to its mouth. Keywords—Neuroprosthetics, motor cortex, cortical control, robot, arm