From the decoding of cortical activities to the control of a JACO\n robotic arm: a whole processing chain

Abstract

This paper presents a complete processing chain for decoding intracranial\ndata recorded in the cortex of a monkey and replicates the associated movements\non a JACO robotic arm by Kinova. We developed specific modules inside the\nOpenViBE platform in order to build a Brain-Machine Interface able to read the\ndata, compute the position of the robotic finger and send this position to the\nrobotic arm. More pre- cisely, two client/server protocols have been tested to\ntransfer the finger positions: VRPN and a light protocol based on TCP/IP\nsockets. According to the requested finger position, the server calls the\nassoci- ated functions of an API by Kinova to move the fin- gers properly.\nFinally, we monitor the gap between the requested and actual fingers positions.\nThis chain can be generalized to any movement of the arm or wrist.\n