Title :
RatCar: A vehicular neuro-robotic platform for a rat with a sustaining structure of the rat body under the vehicle
Author :
Fukayama, Osamu ; Suzuki, Takafumi ; Mabuchi, Kunihiko
Author_Institution :
Grad. Sch. of Inf. Sci. & Technol., Univ. of Tokyo, Tokyo, Japan
fDate :
Aug. 31 2010-Sept. 4 2010
Abstract :
An online neuro-robotic platform in the form of a small vehicle, the “RatCar” has been developed. First, a rat had neural electrodes implanted in the motor cortices to record extracellular potentials. Then, our system combined the rat and its vehicle body by hanging the rat under its floor. In this paper, an experimental platform is proposed to observe and analyze motor commands by correlating neural signals with locomotion states. It was designed to operate in 2 modes; (a) adaptively correlating neural signals and locomotion states to determine motor commands, and (b) applying the estimated motor commands to control the vehicle according to the intention of the rat. As a result, time-varying correlation between neural and locomotion activities has been adaptively visualized in real time to analyze motor commands in various body conditions. In addition, a control of the vehicle has been improved.
Keywords :
bioelectric potentials; biomechanics; biomedical electrodes; brain; brain-computer interfaces; medical robotics; mobile robots; neurophysiology; RatCar vehicle; brain-machine interfaces; extracellular potentials; locomotion states; motor commands; motor cortex; neural electrodes; online neuro-robotic platform; rat; vehicular neuro-robotic platform; Correlation; Electrodes; Estimation; Neurons; Real time systems; Robots; Vehicles; Animals; Central Nervous System; Electrodes; Locomotion; Rats; Robotics;
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE
Conference_Location :
Buenos Aires
Print_ISBN :
978-1-4244-4123-5
DOI :
10.1109/IEMBS.2010.5627391
