A versatile robotic platform for the design of natural, three-dimensional reaching and grasping tasks in monkeys

Article Article scientifique Article A versatile robotic platform for the design of natural, three-dimensional reaching and grasping tasks in monkeys eng 2019-12-05 2019-12-05 author Barra Béatrice Department of Neuroscience and Movement Science, Platform of Translational Neurosciences, University of Fribourg, Fribourg, Switzerland. Co-first authors. author Badi Marion author Perich Matthew 876802 author Conti Sara author Mirrazavi Salehian Seyed S author Moreillon Fabien author Bogaard Andrew author Wurth Sophie Marie Marthe 0000-0002-2718-2911 927847 Unité de développement et de recherche en éducation médicale (UDREM) author Kaeser Mélanie author Passeraub Philippe author Milekovic Tomislav 868720 author Billard Aude author Micera Silvestro author Capogrosso Marco 016004 10.1088/1741-2552/ab4c77 31597123 1741-2552 https://iopscience.iop.org/article/10.1088/1741-2552/ab4c77 Objective: Translational studies on motor control and neurological disorders require detailed monitoring of sensorimotor components of natural limb movements in relevant animal models. However, available experimental tools do not provide a sufficiently rich repertoire of behavioral signals. Here, we developed a robotic platform that enables the monitoring of kinematics, interaction forces, and neurophysiological signals during user-defined upper limb tasks for monkeys. Approach: We configured the platform to position instrumented objects in a three-dimensional workspace and provide an interactive dynamic force-field. Main results: We show the relevance of our platform for fundamental and translational studies with three example applications. First, we study the kinematics of natural grasp in response to variable interaction forces. We then show simultaneous and independent encoding of kinematic and forces in single unit intra-cortical recordings from sensorimotor cortical areas. Lastly, we demonstrate the relevance of our platform to develop clinically relevant brain computer interfaces in a kinematically unconstrained motor task. Significance: Our versatile control structure does not depend on the specific robotic arm used and allows for the design and implementation of a variety of tasks that can support both fundamental and translational studies of motor control. Animals Equipment Design / instrumentation Equipment Design / methods Female Hand Strength / physiology Haplorhini Macaca fascicularis Microelectrodes Movement / physiology Psychomotor Performance / physiology Robotics / instrumentation Robotics / methods Sensorimotor Cortex / physiology Upper Extremity / physiology Dewey 616.8 53 Département de neurosciences fondamentales 21A false Journal of neural engineering 17 1 709f6b54-a715-4505-bdca-15e0b6149500 Article (Published version) Public Barra_2020_J._Neural_Eng._17_0160041.pdf 7933494 application/pdf CC BY-3.0 8c09f1142df107dac6ff7e6b72d41bcfe116ccb0eecb668b081d7593d476b6a7 openAccess Faculté de médecine / Section de médecine fondamentale / Département de neurosciences fondamentales

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A versatile robotic platform for the design of natural, three-dimensional reaching and grasping tasks in monkeys	Journal of neural engineering			2019	46	42

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Milekovic, Tomislav