A system for controlling a machine by cortical signals, including: a mechanism acquiring electrophysiological signals originating from a plurality of locations in the cerebral cortex of a human or animal subject; a producing device adapted to input the electrophysical signals and output control signals from the machine in response to predetermined variations in the characteristics of the electrophysiological signals. At least some of the electrophysiological signals are from predetermined cortex regions and not associated with any performed or imagined activity nor with any sensory stimuli visualized by the human or animal subject. A method for controlling a machine by cortical signals can use such a system.

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This paper describes an endoskeleton anthropomorphic biped robot design and construction. The endoskeleton structure is aimed for robot’s high power efficiency over its weight, but it demands unique structure and devices of the robot coping with the complexity. The gadgets newly developed for the robot such as a linear actuator, coupled link mechanism, inertia and Zero Moment Point(ZMP) sensors are described. The corresponding design procedure inevitably becomes sophisticated, so the powerful design tool to deal with this difficulty is utilized, and the way is explained. Feedback control scheme was established for its stable walking. Based on the outcome of the design, analysis, and simulation data, the actual robot was constructed and the paper shows its successful experimental results.

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