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A Robotic Neural Interface for Autonomous Positioning of Extracellular Recording Electrodes

Department of Mechanical Engineering, California Institute of Technology, 1200 East California Boulevard, Pasadena, CA 91106, USA, wolf{at}robotics.caltech.edu

Jorge G. Cham

Department of Mechanical Engineering, California Institute of Technology, 1200 East California Boulevard, Pasadena, CA 91106, USA

Edward A. Branchaud

Department of Mechanical Engineering, California Institute of Technology, 1200 East California Boulevard, Pasadena, CA 91106, USA

Grant H. Mulliken

Department of Mechanical Engineering, California Institute of Technology, 1200 East California Boulevard, Pasadena, CA 91106, USA

Joel W. Burdick

Department of Mechanical Engineering, California Institute of Technology, 1200 East California Boulevard, Pasadena, CA 91106, USA

Richard A. Andersen

Division of Biology California Institute of Technology, 1200 East California Boulevard, Pasadena, CA 91106, USA

In this paper we describe a set of algorithms and a novel miniature device that together can autonomously position electrodes in neural tissue to obtain high-quality extracellular recordings. This robotic system moves each electrode to detect the signals of individual neurons, optimize the signal quality of a target neuron, and then maintain this signal over time. Such neuronal signals provide the key inputs for emerging neuroprosthetic medical devices and serve as the foundation of basic neuroscientific and medical research. Experimental results from extensive use of the robotic electrodes in macaque parietal cortex are presented to validate the method and to quantify its effectiveness.

Key Words: neural interface • neuroprosthetics • brain-machine interface • extracellular recording • neurorobotics • electrode microdrive

This version was published on September 1, 2009

The International Journal of Robotics Research, Vol. 28, No. 9, 1240-1256 (2009)
DOI: 10.1177/0278364908103788


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