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 < mm AVOID SCAR TISSUE IN MOTOR CORTEX WIRELESS SYSTEM NOT TO BE PHYSICALLY CONNECTED

THANK YOU QUESTIONS??