ラット脳情報による脚歩行ロボットのクローズドループ制御

抄録

Brain-machine interface system fundamentally requires artificial limbs as the peripheral body in the real-world which is controlled by the signals via the interface. We have been developing various interfaces which have potentially ultra multi-channel recording and/or stimulation for neural cells. In parallel with the development, we also invented a unique 3D simplified-link for legged robots; the linkage is based on conventional mechanisms but enables both relative high power and speed performances for legged robots like small lab animals. In this report, we achieved closed-loop motion control of the legged robot named “Neuro-Kidgoat” via neural information of rat brain. The performance is still limited but the robot system will contribute to the development of various neural interfaces.