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MIND CONTROLLED ROBOTS. REACH AND GRASP USING A NEURALLY CONTROLLED ROBOT MARCOS MALLO LÓPEZ. ROBOTIC ARM. RESEARCH DEVELOPED IN GERMANY WHO NEED IT? SPECIAL BRAIN INJURIES ACHIEVE BASIC MOVEMENTS PREVIOUS RESEARCH FROM 2D TO 3D. ROBOTIC ARM.

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mind controlled robots

MIND CONTROLLED ROBOTS

REACH AND GRASP USING A NEURALLY CONTROLLED ROBOT

MARCOS MALLO LÓPEZ

robotic arm
ROBOTIC ARM
  • RESEARCH DEVELOPED IN GERMANY
  • WHO NEED IT?
    • SPECIAL BRAIN INJURIES
    • ACHIEVE BASIC MOVEMENTS
  • PREVIOUS RESEARCH
    • FROM 2D TO 3D
robotic arm1
ROBOTIC ARM
  • 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.
robot descripiton
ROBOT DESCRIPITON
  • 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 descripiton1
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
implementation
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
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
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
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
THANK YOU

QUESTIONS??