TY - JOUR AU - Handelman, David A. AU - Osborn, Luke E. AU - Thomas, Tessy M. AU - Badger, Andrew R. AU - Thompson, Margaret AU - Nickl, Robert W. AU - Anaya, Manuel A. AU - Wormley, Jared M. AU - Cantarero, Gabriela L. AU - McMullen, David AU - Crone, Nathan E. AU - Wester, Brock AU - Celnik, Pablo A. AU - Fifer, Matthew S. AU - Tenore, Francesco V. PY - 2022 M3 - Brief Research Report TI - Shared Control of Bimanual Robotic Limbs With a Brain-Machine Interface for Self-Feeding JO - Frontiers in Neurorobotics UR - https://www.frontiersin.org/articles/10.3389/fnbot.2022.918001 VL - 16 SN - 1662-5218 N2 - Advances in intelligent robotic systems and brain-machine interfaces (BMI) have helped restore functionality and independence to individuals living with sensorimotor deficits; however, tasks requiring bimanual coordination and fine manipulation continue to remain unsolved given the technical complexity of controlling multiple degrees of freedom (DOF) across multiple limbs in a coordinated way through a user input. To address this challenge, we implemented a collaborative shared control strategy to manipulate and coordinate two Modular Prosthetic Limbs (MPL) for performing a bimanual self-feeding task. A human participant with microelectrode arrays in sensorimotor brain regions provided commands to both MPLs to perform the self-feeding task, which included bimanual cutting. Motor commands were decoded from bilateral neural signals to control up to two DOFs on each MPL at a time. The shared control strategy enabled the participant to map his four-DOF control inputs, two per hand, to as many as 12 DOFs for specifying robot end effector position and orientation. Using neurally-driven shared control, the participant successfully and simultaneously controlled movements of both robotic limbs to cut and eat food in a complex bimanual self-feeding task. This demonstration of bimanual robotic system control via a BMI in collaboration with intelligent robot behavior has major implications for restoring complex movement behaviors for those living with sensorimotor deficits. ER -