A miniature robot for autonomous single neuron recordings
Abstract
This paper describes a novel miniature robot that can autonomously position recording electrodes inside cortical tissue to isolate and maintain optimal extracellular action potential recordings. The system consists of a novel motorized miniature recording microdrive and a control algorithm. The microdrive was designed for semi-chronic operation and can independently position four electrodes with micron precision over a 5mm range using small (3mm diameter) piezoelectric linear actuators. The autonomous positioning algorithm is designed to detect, align and cluster action potentials, and then command the microdrive to optimize and maintain the neural signal. This system is shown to be capable of autonomous operation in monkey cortex.
Additional Information
© 2005 IEEE. Issue date; 18-22, April 2005. Date of current version: Jan 10, 2006. This work was supported by DARPA Grant MDA972-00-1-0029 and by the Center for Neuromorphic Engineering, an NSF Engineering Research Center (NSF-9402726). We thank the members of the Andersen lab at Caltech, especially Bradley Greger, Daniella Meeker, Bijan Pesaran, Boris Breznen, Sam Musallam, Kelsie Pejsa and Lea Martel. Thanks also to Aimee Eddins and Rodney Rojas for help in fabricating the prototype.Attached Files
Published - Branchaud2005p93202008_Ieee_International_Conference_On_Robotics_And_Automation_Vols_1-9.pdf
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Additional details
- Eprint ID
- 23686
- Resolver ID
- CaltechAUTHORS:20110517-090627156
- MDA972-00-1-0029
- Defense Advanced Research Projects Agency (DARPA)
- EEC-9402726
- NSF
- Center for Neuromorphic Systems Engineering, Caltech
- Created
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2011-05-18Created from EPrint's datestamp field
- Updated
-
2021-11-09Created from EPrint's last_modified field
- Series Name
- IEEE International Conference on Robotics and Automation