Contrôle moteur par le cervelet et interface Cerveau-Machine pour commander un doigt robotique

Abstract : This thesis focuses on motor control modelling in primate, using two specific approaches: -First, following a methodology based on mathematical formalization for the preparation by the Brain, of control signals driving a voluntary movement directed toward a target. The methodology used in this study consists in identifying the functional constraints and in deriving a processing circuit for motor signals, compatible with the anatomical organization of cerebellar pathways, and allowing a hierarchical optimization under the constraints of timeliness and energy-saving expenditure. This approach was applied to the control of a robotic arm with 2 DOF actuated by McKibben muscles and also to the modelling of the primate oculomotor system. -Secondly, following a coding approach. We present here the design and development of an asynchronous brain-machine interface that decodes the data recorded in the Macaque brain to control a robotic finger.
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Sofiane Ouanezar. Contrôle moteur par le cervelet et interface Cerveau-Machine pour commander un doigt robotique. Neurosciences [q-bio.NC]. Télécom ParisTech, 2010. Français. ⟨pastel-00577959⟩

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