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MIND CONTROLLED ROBOTS

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

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  1. MIND CONTROLLED ROBOTS REACH AND GRASP USING A NEURALLY CONTROLLED ROBOT MARCOS MALLO LÓPEZ

  2. ROBOTIC ARM • RESEARCH DEVELOPED IN GERMANY • WHO NEED IT? • SPECIAL BRAIN INJURIES • ACHIEVE BASIC MOVEMENTS • PREVIOUS RESEARCH • FROM 2D TO 3D

  3. 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.

  4. 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

  5. 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

  6. 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

  7. 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

  8. 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

  9. 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

  10. THANK YOU QUESTIONS??

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