REACH AND GRASP USING A NEURALLY CONTROLLED ROBOT

MARCOS MALLO LÓPEZ

MIND CONTROLLED ROBOTS

ROBOTIC ARM

• RESEARCH DEVELOPED IN GERMANY

• WHO NEED IT?

• SPECIAL BRAIN INJURIES

• ACHIEVE BASIC MOVEMENTS

• PREVIOUS RESEARCH

• FROM 2D TO 3D

• BIOLOGICAL FEATURES THAT MAKE THIS POSSIBLE

• BRAIN : MAIN ORGAN WITH MORE THAN 10 BILLION NEURONS

• INFORMATION PROCESSING WITHIN DIFFERENT LAYERS

• MOTOR CORTEX

• WELL DEFINED POPULATION OF NEURONS

• INTENSE NEURAL ACTIVITY

• TRAINING IS NEEDED : 13 WEEKS

• FUTURE USERS SHOULD BE ABLE TO USE IT WITHOUT TRAINING.

ROBOTIC ARM

• THE LIGHT-WEIGHT ROBOT

• BIOLOGICAL SYSTEM

• CARBON FIBER EXOSKELETON

• SIMILAR KINEMATICS HUMAN ARM

• 7 DEGREES OF FREEDOM

• HIGH FLEXIBILITY

• LESS RESTRICTED MOVEMENTS

• MECHANICAL ACTUATORS

• INTEGRATED SENSORS

• SAFETY CONTROL

ROBOT DESCRIPITON

• FIVE-FINGERED HAND

• BIOLOGICALLY INSPIRED

• GRASP OBJECTS

• CONNECTED TO LIGHT WEIGHT ROBOT

• SIMILAR KINEMATICS TO HUMAN HAND

• 15 DEGREES OF FREEDOM

• MECHANICAL ACTUATORS

• 15 MOTORS

ROBOT DESCRIPITON

IMPLEMENTATION

• THE ELECTRODE

• INTRACORTICAL SILICON ELECTRODE ARRAY

• 96 CHANNEL

• 1.5 mm LENGTH

• PLACED IN MOTOR CORTEX

• OBTAIN PULSES

• DECODE PULSES TO UNDERSTAND

• BEHAVIOUR OF ARM MOVEMENTS

SIGNAL ACQUISITION• RAW SIGNAL

• ONE WAY INFORMATION

• HUMAN ->ROBOT

• MAN-MACHINE DIALOGUE ( TACTILE SENSE, TEMPERATURE…)

• BUTTERWORTH FILTER

• FOURTH ORDER

• CORNERS AT 250 – 5000 Hz

• AVOID SPIKE AMPLITUDES : CAPPED 40 μV and −40 μV

• EXTRACT TRESHOLD CROSSING RATES

• NUMBER OF MINIMA THAT EXCEED CHANNELS TRESHOLD

AFTER WE HAVE THE SIGNAL• CALIBRATE ROBOT: CLOSED – LOOP FILTER

• KALMAN FILTER

• ALGORITHM USED TO PRODUCE ESTIMATES FROM A DIRTY SIGNAL WITH NOISE OR ODER INACCURACIES

• MAINLY USED TO KNOW THE DESIRED POSITION

• THEN RESET TO ZERO

• PARTICIPANT IS ASKED TO IMAGINE MOVEMENTS: FIRING RATES

• MOVEMENT CALIBRATION

• GRASP CALIBRATION

• SECUENTIAL ACTIVATION OF ACTUATORS

• CLOSE HAND ->RAISE FROM TABLE->STOP ARM MOVEMENT

• PRONATE WRIST->SUPINATE WRIST->LOWER BOTTLE

FUTURE CHALLENGES• ROBOTIC ARM SEND INFORMATION PATIENT

• MAN-MACHINE DIALGUE

• TEXTURE, TEMPERATURE, TACTIL SENSE

• BUILD THINNER ELECTRODES

• < 0.005 mm

• AVOID SCAR TISSUE IN MOTOR CORTEX

• WIRELESS SYSTEM

• NOT TO BE PHYSICALLY CONNECTED

THANK YOU

QUESTIONS??