Biomorphic rhythmic movement controller

• US 7,164,967 B2
• Filed: 05/02/2001
• Issued: 01/16/2007
• Est. Priority Date: 05/04/2000
• Status: Expired due to Fees

• Current Assignee: Iguana Robotics Incorporated
• Original Assignee: Iguana Robotics Incorporated
• Inventors: Etienne-Cummings, Ralph, Lewis, M. Anthony
• Primary Examiner(s): Black; Thomas
• Assistant Examiner(s): Marc; McDieunel
• Application Number:
  US10/009,799
• Publication Number:
  US 20030120385A1
• Time in Patent Office: 2,085 Days
• Field of Search: 700/245, 700/253, 700/258, 318/568.11, 318/568.17, 901/23, 901/34, 701/23, 706/26
• US Class Current: 700/245
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61F 2002/704 computer-controlled, e.g. robotic control
• CPC Class Codes: A61N 1/36003 of motor muscles, e.g. for walking assistance
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence
• CPC Class Codes: G06N 3/061 using biological neurons, e.g. biological neurons connected to an integrated circuit

Abstract

An artificial Central Pattern Generator (CPG) based on the naturally-occuring central pattern generator locomotor controller for walking, running, swimming, and flying animals may be constructed to be self-adaptive, by providing for the artificial CPG, which may be a chip, to tune its behavior based on sensory feedback. It is believed that this is the first instance of an adaptive CPG chip. Such a sensory feedback-using system with an artificial CPG may be used in mechanical applications such as a running robotic leg, in walking, flying and swimming machines, and in miniature and larger robots, and also in biological systems, such as a surrogate neural system for patients with spinal damage.

Claims

1. A central pattern generator-based system for controlling at least one mechanical limb, comprising

at least one mechanical limb;

a system for phase adjustment of the central pattern generator based on a sensory trigger in or derived from sensory feedback; and

a non-biological central pattern generator that autonomously generates a rhythmic pattern of commands for controlling repetitive cyclical movement of the at least one mechanical limb wherein said commands and said rhythmic pattern of commands are adapted as a function of sensory feedback.

2. The central pattern generator-based system of claim 1, wherein:

said system for phase adjustment of the central pattern generator being based on

at least one sensory trigger in or derived from sensory feedback; and

a system for controlling firing frequency of motoneurons as a function of the sensory feedback or the sensory trigger.

3. The central pattern generator-based system of claim 1, further including at least one memory device.

4. The central pattern generator-based system of claim 3, wherein the memory device controls adaptation of output from the central pattern generator.

5. The central pattern generator-based system of claim 4, wherein the output includes integrate-and-fire neurons.

6. The central pattern generator-based system of claim 1, wherein the system is at least one chip.

7. The central pattern generator-based system of claim 6, including at least one chip containing electronic analogues of biological neurons, synapses and time-constraints.

8. The central pattern generator-based system of claim 6, including at least one chip that includes dynamic memories and phase modulators.

9. The central pattern generator-based system of claim 6, wherein the system includes at least one chip in which components are integrated with hardwired or programmable circuits.

10. The central pattern generator-based system of claim 1, wherein the central pattern generator is a distributed system of at least two non-linear oscillators.

11. The central pattern generator-based system of claim 10, wherein the distributed system includes at least one neuron phasically coupled to a neuron or a sensory input.

12. The central pattern generator-based system of claim 10, wherein the distributed system includes at least two neurons phasically coupled to each other, to another neuron, or to a sensory input.

13. The central pattern generator-based system of claim 12, wherein phasic coupling is in-phase, 180 degrees out of phase, or any number of degrees out of phase.

14. The central pattern generator-based system of claim 12, wherein phasic coupling is based on rhythmic movement application.

15. The central pattern generator-based system of claim 12, including a phase control circuit.

16. The central pattern generator-based system of claim 12, including at least one integrate-and-fire spiking motoneuron driven by the phasically coupled neurons.

17. The central pattern generator-based system of claim 6, wherein the system includes a central pattern generator chip and at least one biological neuron.

18. The central pattern generator-based system of claim 17, including multiple chips.

19. The central pattern generator-based system of claim 1, including at least one muscle.

20. The central pattern generator-based system of claim 1, wherein the system is a robot.

21. The central pattern generator-based system of claim 1, including at least one sensor for collecting sensory feedback.

22. The central pattern generator system of claim 21, including a system for phase adjustment of the central pattern generator based on at least one sensory trigger in the received sensory feedback.

23. The central pattern generator-based system of claim 1, wherein the sensory feedback is received from the at least one mechanical limb.

24. The central pattern generator-based system of claim 1, wherein the sensory feedback is received from a sensing modality.

25. A central pattern generator-based system for controlling at least one mechanical limb, comprising

at least one mechanical limb;

and

a non-biological central pattern generator that autonomously generates a rhythmic pattern of commands for controlling repetitive cyclical movement of the at least one mechanical limb wherein said commands and said rhythmic pattern of commands are adapted as a function of sensory feedback

wherein the system is a non-linear oscillator including electronic analogues of biological neurons, synapses and time-constraints, dynamic memories and phase modulators.

26. A central pattern generator-based system for controlling a biological system for rhythmic movement, comprising

an interface with a biological system that can provide sensory feedback from said biological system;

a system for phase adjustment of the central pattern generator based on a sensory trigger in or derived from sensory feedback; and

a non-biological central pattern generator that autonomously generates a rhythmic pattern of commands for controlling repetitive cyclical movements of the biological system wherein said commands and said rhythmic pattern of commands are adapted as a function of sensory feedback.

27. The central pattern generator-based system of claim 26, further including at least one memory device.

28. The central pattern generator-based system of claim 27, wherein the memory device controls adaptation of output from the central pattern generator.

29. The central pattern generator-based system of claim 28, wherein the output includes integrate-and-fire neurons.

30. The central pattern generator-based system of claim 26, wherein the system is at least one chip.

31. The central pattern generator-based system of claim 30, including at least one chip containing electronic analogues of biological neurons, synapses and time-constraints.

32. The central pattern generator-based system of claim 30, including at least one chip that includes dynamic memories and phase modulators.

33. The central pattern generator-based system of claim 30, wherein the system includes at least one chip in which components are integrated with hardwired or programmable circuits.

34. The central pattern generator-based system of claim 30, wherein the system includes a central pattern generator chip and at least one biological neuron.

35. The central pattern generator-based system of claim 34, including multiple chips.

36. The central pattern generator-based system of claim 26, wherein the central pattern generator is a distributed system of at least two non-linear oscillators.

37. The central pattern generator-based system of claim 36, wherein the distributed system includes at least one neuron phasically coupled to a neuron or a sensory input.

38. The central pattern generator-based system of claim 36, wherein the distributed system includes at least two neurons phasically coupled to each other, to another neuron, or to a sensory input.

39. The central pattern generator-based system of claim 38, wherein phasic coupling is in-phase, 180 degrees out of phase, or any number of degrees out of phase.

40. The central pattern generator-based system of claim 38, wherein phasic coupling is based on rhythmic movement application.

41. The central pattern generator-based system of claim 38, including a phase control circuit.

42. The central pattern generator-based system of claim 38, including at least one integrate-and-fire spiking motoneuron driven by the phasically coupled neurons.

43. The central pattern generator-based system of claim 26, including at least one muscle.

44. The central pattern generator-based system of claim 26, including at least one sensor for collecting sensory feedback.

45. The central pattern generator system of claim 44, including a system for phase adjustment of the central pattern generator based on at least one sensory trigger in the received sensory feedback.

46. The central pattern generator-based system of claim 26, wherein the sensory feedback is received from the at least one biological limb.

47. The central pattern generator-based system of claim 26, wherein the sensory feedback is received from a sensing modality.

53. The central pattern-based system as recited in claim 26, including at least one mechanical limb.

54. The autonomous device of claim 53 wherein the limb is a leg, arm, wing or appendage for swimming.

55. The movement device of claim 53 including at least two limbs.

56. The central pattern-based system as recited in claim 26, wherein the system is a breathing controller.

57. The central pattern-based system as recited in claim 26, wherein the system is a pacemaker.

58. The central pattern-based system as recited in claim 26, wherein the system is a running device.

48. A central pattern generator-based system for controlling a biological system for rhythmic movement, comprising

an interface with a biological system that can provide sensory feedback from said biological system;

a non-biological central pattern generator that autonomously generates a rhythmic pattern of commands for controlling repetitive cyclical movements of the biological system wherein said commands and said rhythmic pattern of commands are adapted as a function of sensory feedback;

a system for phase adjustment of the central pattern generator based on at least one sensory trigger in or derived from sensory feedback; and

a system for controlling firing frequency of motoneurons as a function of the sensory feedback or the sensory trigger.

49. A central pattern generator-based system for controlling a biological system for rhythmic movement, comprising

an interface with a biological system that can provide sensory feedback from said biological system;

a non-biological central pattern generator that autonomously generates a rhythmic pattern of commands for controlling repetitive cyclical movements of the biological system wherein said commands and said rhythmic pattern of commands are adapted as a function of sensory feedback;

wherein the system is a non-linear oscillator including electronic analogues of biological neurons, synapses and time-constraints, dynamic memories and phase modulators.

50. A method for controlling a mechanical or biological system for rhythmic movement, comprising:

(A) measuring sensory feedback to obtain measured sensory feedback;

(B) processing the measured sensory feedback to obtain data for a plurality of designated parameters; and

(C) via a central pattern generator-based system, applying a set of rules to the obtained data to generate at least one signal for commanding the limb or biological system for rhythmic movement, wherein the central pattern generator-based system comprises a circuit that mimics a biological central pattern generator.

51. The method of claim 50, including (D) via the central pattern generator-based system, applying the generated signal to command the limb or biological system for rhythmic movement.

52. The method of claim 50, wherein the central pattern generator system comprises a circuit comprising at least two coupled non-linear oscillators.

59. A method for modifying a continuous waveform provided by a non-biological central pattern generator, comprising the steps of:

(A) provision of a continuous waveform by a non-biological central pattern generator;

(B) provision of sensory feedback to the non-biological central pattern generator;

(C) rule-application by the non-biological central pattern generator to the sensory feedback;

(D) based on the rule-application, determination by the non-biological central pattern generator to modify or maintain the continuous wave form.

60. The method of claim 59, wherein the non-biological central pattern generator modifies the wave form.

61. The method of claim 59, wherein the rule-application is the application of adaptive ring rules.