System for controlling brain machine interfaces and neural prosthetic systems

Patent metadata

Field	Value
Publication number	US-9566174-B1
Application number	US-201414540835-A
Country	US
Kind code	B1
Filing date	Nov 13, 2014
Priority date	Nov 13, 2013
Publication date	Feb 14, 2017
Grant date	Feb 14, 2017

Abstract

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.

First claim

What is claimed is:

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; and
a joint servo to execute the joint space command.

2. The system as set forth in claim 1 , further comprising at least one torque controlled prosthetic device operably connected with the one or more processors.

3. The system as set forth in claim 2 , further comprising an operation of receiving, in the controller, sensory information regarding a current state of the prosthetic device.

4. The system as set forth in claim 3 , wherein in executing the motion commands, the motion commands are executed using a task decomposition and posture decomposition, wherein the task decomposition is a task space control and the posture decomposition is formulated as a cost potential which represents a cost function.

5. The system as set forth in claim 4 , wherein in executing the motion commands, the motion commands are executed as torque commands that generate a desired task space control while minimizing the cost potential.

6. The system as set forth in claim 3 , wherein in executing the motion commands, the motion commands are executing using a spiking neural network.

7. 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;
receiving a model of the prosthetic device and a musculoskeletal model of the user, wherein the musculoskeletal model includes musculoskeletal dynamics that include steady state tendon forces;
generating, with a sensorimotor controller, simulated neural excitations given the motion commands to drive a set of muscle activations in a musculoskeletal simulation; and
generating, with the prosthesis controller, simulated actuator joint torques given the motion commands to drive a simulated prosthetic device.

8. A computer program product for controlling a torque controlled prosthetic device given motor intent inferred from neuroimaging data, the computer program product comprising:
a non-transitory computer-readable medium having executable instructions encoded thereon, such that upon execution of the instructions by one or more processors, 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; and
a joint servo to execute the joint space command.

9. The computer program product as set forth in claim 8 , further comprising instructions for controlling at least one torque controlled prosthetic device that is operably connected with the one or more processors.

10. The computer program product as set forth in claim 9 , further comprising an operation of receiving, in the controller, sensory information regarding a current state of the prosthetic device.

11. The computer program product as set forth in claim 10 , wherein in executing the motion commands, the motion commands are executed using a task decomposition and posture decomposition, wherein the task decomposition is a task space control and the posture decomposition is formulated as a cost potential which represents a cost function.

12. The computer program product as set forth in claim 11 , wherein in executing the motion commands, the motion commands are executed as torque commands that generate a desired task space control while minimizing the cost potential.

13. The computer program product as set forth in claim 10 , wherein in executing the motion commands, the motion commands are executing using a spiking neural network.

14. A computer program product for controlling a torque controlled prosthetic device given motor intent inferred from neuroimaging data, the computer program product comprising:
a non-transitory computer-readable medium having executable instructions encoded thereon, such that upon execution of the instructions by one or more processors, 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;
receiving a model of the prosthetic device and a musculoskeletal model of the user, wherein the musculoskeletal model includes musculoskeletal dynamics that include steady state tendon forces;
generating, with a sensorimotor controller, simulated neural excitations given the motion commands to drive a set of muscle activations in a musculoskeletal simulation; and
generating, with the prosthesis controller, simulated actuator joint torques given the motion commands to drive a simulated prosthetic device.

Assignees

• Hrl Lab Llc

Inventors

• De Sapio Vincent
• Srinivasa Narayan

Classifications

• G16H30/40

  for processing medical images, e.g. editing · CPC title

• A61F2002/701

  operated by electrically controlled means, e.g. solenoids or torque motors · CPC title

• B25J13/00

  Controls for manipulators (programme controls B25J9/16) · CPC title

• A61F2002/704

  computer-controlled, e.g. robotic control · CPC title

• A61B5/4851

  Prosthesis assessment or monitoring · CPC title