A Real-Time Virtual Integration Environment for Neuroprosthetics and Rehabilitation

198 INTRODUCTION Within the last decade, neural prosthetics have seen tremendous progress based on advances in neuroscience, robotics, controls, electrical engineering, and applied mathematics. Virtual and real devices can now be controlled with signals recorded from a variety of locations along the neural efferent pathway from the brain to the hand. These signals originate within and on e present a Virtual Integration Environment (VIE) for neuroprosthetic devices. The VIE is an integrated software framework for coordinating distributed engineering design efforts. It provides researchers with a means to implement and test all major components involved in developing and using a neuroprosthetic device, using both virtual and hardware-in-the-loop simulations. Data provided from neural signals in the motor cortex, nerve fibers of the peripheral nervous system, and surface or intramuscular myoelectric signals can be acquired and processed to provide realtime control of real or virtual prosthetic upper limbs. The VIE can therefore be used to visualize and monitor performance of various design approaches, evaluate neural signal analysis algorithms, simulate emerging mechatronic elements, train end users to control real or virtual neuroprosthetic devices, and configure and customize takehome devices. Here we provide a comprehensive description of the system, as well as a summary of its applications for myoelectric control and neural research at multiple academic institutions. A Real-Time Virtual Integration Environment for Neuroprosthetics and Rehabilitation