reach and grasp using a neurally controlled robot marcos mallo lÓpez mind controlled robots
TRANSCRIPT
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REACH AND GRASP USING A NEURALLY CONTROLLED ROBOT
MARCOS MALLO LÓPEZ
MIND CONTROLLED ROBOTS
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ROBOTIC ARM
• RESEARCH DEVELOPED IN GERMANY
• WHO NEED IT?
• SPECIAL BRAIN INJURIES
• ACHIEVE BASIC MOVEMENTS
• PREVIOUS RESEARCH
• FROM 2D TO 3D
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• 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
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• 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
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• 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
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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
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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
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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
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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
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THANK YOU
QUESTIONS??