A robotic system for neuronal control

S. Wolpert, A. J. Laffely, J. A. Hilton

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In order to investigate neuronally derived algorithms for feedback and control, one joint of a conventional robotic arm was fitted with sensory and motor devices consistent with biological memory-motor models. In this system, a single potentiometer senses angular position of a given joint. From this signal, the forward and reverse velocity are derived, as are the acceleration and deceleration. Controlling the stepper motor that drives this joint is an IC-based artifical neuron that has been specifically designed for this task. It possesses multiple excitatory and inhibitory input ports, and its output signals are amplified to a full 5-V level. The system has been constructed and successfully used to demonstrate empirical physiologically based models of inhibitory positional feedback and synaptic learning.

Original languageEnglish (US)
Title of host publicationProceedings of the 18th IEEE Annual Northeast Bioengineering Conference, NEBEC 1992
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages2
ISBN (Electronic)0780309022
StatePublished - Jan 1 1992
Event18th IEEE Annual Northeast Bioengineering Conference, NEBEC 1992 - Kingston, United States
Duration: Mar 12 1992Mar 13 1992

Publication series

NameProceedings of the IEEE Annual Northeast Bioengineering Conference, NEBEC
ISSN (Print)1071-121X
ISSN (Electronic)2160-7001


Conference18th IEEE Annual Northeast Bioengineering Conference, NEBEC 1992
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Bioengineering


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