Design of a neural decoder by sensory prediction and error correction

Junkai Lu, Mo Chen, Young Hwan Chang, Masayoshi Tomizuka, Jose M. Carmena, Claire J. Tomlin

Research output: Contribution to journalConference articlepeer-review


Brain-machine interfaces (BMI) hold great potential to improve the quality of life of many patients with disabilities. The neural decoder, which expresses the mapping between the neural signals and the subject's motion, plays an important role in BMI systems. Conventional neural decoders are generally in the form of a kinematic Kalman filter which does not possess an explicit mechanism to deal with the unavoidable mismatch between the biological system and the model of the system used by the decoder. This paper presents a novel design of a neural decoder that uses a one-step model predictive controller to generate a control signal that compensates for the inherent model mismatch. The effectiveness of the proposed decoding algorithm compares favorably to the state-of-the-art Kalman filter in numerical simulations with different degrees of model mismatch.

Original languageEnglish (US)
Article number7040489
Pages (from-to)6999-7004
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Issue numberFebruary
StatePublished - 2014
Externally publishedYes
Event2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States
Duration: Dec 15 2014Dec 17 2014

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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