The Johns Hopkins University

Whiting School of Engineering

Department of Electrical and Computer Engineering

Biomorphic Circuits and Systems: Control of Robotic and Prosthetic Limbs

A Dissertation Defense by

Francesco Tenore

Graduate Research Assistant

Electrical and Computer Engineering

Abstract:

Rhythmic motions in vertebrates, such as walking and swimming, are controlled by neural circuits in the spinal cord known collectively as the Central Pattern Generator (CPG). Successful emulation of the CPG could allow restoration of locomotion in paralyzed individuals or lower-limb amputees, as well as a biomorphic control of robotic locomotion. With these intentions, we developed custom-designed CPG-emulating chips, fabricated in analog Very Large Scale Integration (aVLSI) technology. We show that synchronized patterns, with arbitrary phase delays between them, can easily be implemented using this approach. This allows locomotory gaits of any kind to be programmed in silico and therefore to control bipedal robotic locomotion as well as lower limb prostheses.

Control of upper limb movements can also benefit from the pattern generation approach of the lower limbs through appropriate termination of the rhythmic movement. To this effect, we examined the possibility of decoding dexterous actions, specifically individual finger and hand movements. We successfully decoded these movements in able-bodied subjects and a transradial amputee using non-invasive surface myoelectric signals. This decoding is shown to work in a real-time environment, setting up the possibility of transradial amputees controlling a prosthetic limb in a closed loop environment.

The endeavor of discovering an all-encompassing solution for control of upper and lower limbs will open up new perspectives in the fields of both robotics and prosthetics.

Friday, February 29, 2008

12:00 p.m.

CSEB B 17

FOR DISABILITY INFORMATION

CONTACT: Candace Abel (410) 516-7031 cabel@jhu.edu