Replacement Parts. Applied Robotics and Prosthetics Presented by John Johnson. Robot Rock - Daft Punk. Slide 1

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1 Replacement Parts Applied Robotics and Prosthetics Presented by John Johnson Robot Rock - Daft Punk Slide 1

2 Replacement Parts Applied Robotics and Prosthetics Presented by John Johnson Star Scat - Caravan Palace Slide 2

3 Replacement Parts Applied Robotics and Prosthetics Presented by John Johnson Mr. Roboto - Styx Slide 3

4 Replacement Parts Applied Robotics and Prosthetics Presented by John Johnson Hello, Mill Springs Academy! My name is John Johnson. I graduated Hm, well, yeah, my name IS kind of redundant, but you can use the distributive property

5 Replacement Parts Applied Robotics and Prosthetics Presented by John(1 + son) = (John+Johnson) to factor out a John, and you get John one plus son. Okay, that s my last math joke unless I go off on a tangent Your instructor is like, He s being obtuse! I have a background in electronics, programming, and motion control. I graduated with a bachelors degree in cell biology and biotechnology last May, and I will be starting a PhD in Applied Physiology this fall at Georgia Tech. I appreciate being invited here to talk about robotics and prosthetics, and I appreciate your time.

Robotics Prosthetics I m going to give you a brief history of robotics, and show you some of the applications. Then i ll focus on one particular application, that of prosthetics artificial limbs.

6 Robotics Prosthetics I m going to give you a brief history of robotics, and show you some of the applications. Then i ll focus on one particular application, that of prosthetics artificial limbs. I ll show you the arm I built for this talk, and show you some of the latest prosthetics. One of the things that I LOVE about prosthetics is that it is interdisciplinary - so I ll talk about math, biology, even psychology, and I ll give you some vocabulary, too. Alright, let s get started!

7 Al-Jazari 1206 Leonardo s Automaton 1495 Hisashige Tanaka Japan s Edison Karakuri Zui published 1796

Karel Čapek - Rossum s Universal Robots 1920 - Czech word

except where such orders would conflict with the First Law.

8 Karel Čapek - Rossum s Universal Robots Czech word roboti meaning labor Metropolis Fritz Lang I, Robot Isaac Asimov 1. A robot may not injure a human being or, through inaction, allow a human being to come to harm. 2. A robot must obey the orders given to it by human beings, except where such orders would conflict with the First Law. 3. A robot may not injure its own kind and defend its own kind unless it is interfering with the first or second rule.

Probably the most practical application of robots

was remote-controlled and had no intelligence.

9 Probably the most practical application of robots began in the 1970s as Japanese car-makers put them on the assembly line. Meanwhile, home robots still looked like Arok, who was remote-controlled and had no intelligence. Today, astronauts in the ISS get assistance from Robonaut-5, who recently got a new pair of legs.

10 Text Defense Advanced Research Projects Agency Petman

11 Text LS3 - Legged Squad Support System As you watch this, you might notice that it makes you feel uncomfortable. That is called the Uncanny Valley. When a machine resembles an animal or a human - a human animal - our brain tells us not to trust this thing that is fooling us into thinking it is alive. That s the Uncanny Valley. While the military has made great strides, on the home front, the prospect of a home assistance robot is a little more bleak

12 Text and is used to terrorize ducklings and vacuum your floors. But there is one use of robotics that is making great strides lately, and that is prosthetics.

13 This guy is Samuel Decker, who lost both arms in the Civil War. As you can see, he made his own prosthetics that allowed him to feed himself and do other tasks. These are called body-powered prosthetics and

14 they are still in use today. The Bowden system allows the wearer to open and close a mechanical hook so the wearer can accomplish some everyday tasks more easily. Now, things are a bit more advanced.

15 Text Nigel I want you all to see some of the functions of this arm, what Nigel is able to do, and then I will explain how it works. Let s watch

16 Is this dramatic enough? How about more dramatic? The Super Awesome Mind- Controlled Robotic Arm

17 The Super Awesome Mind- Controlled Robotic Arm of DOOM! Let s now have a look at my robotic arm and I ll show you how it works. The principles are similar to Nigel s arm.

18 Text The What if nothing works? video. I made this video in case I got here and the arm didn t work. It never hurts to have a backup plan.

19 Electromyography I want to explain to you how EMG works. It s a little bit deep, but you don t have to understand it all. I used to watch movies like Metropolis or read stories like The Time Machine and they would describe a machine with pearl buttons and I would think, hm, my mom has pearl buttons on her coat, but she can t time travel, so how does that work?

20 FFT The frequencies in the signal from the muscle are divided up, like the equalizer on a stereo. Imagine you re at a restaurant with a friend, and this background noise you see here could be a kid screaming. These lower frequencies could be the person you're trying to talk to. The screaming is still there, but you can pick out your friend s voice because it s at a lower frequency or pitch than the kid screaming.

21 Fast Fourier Transform FFT is short for Fast Fourier Transform. Now that you know a little about it, the name isn t so off-putting.

22 This is a block diagram of how the arm works. We have the signal from the muscle coming in, it is broken down into its various frequencies by the software. The software keeps up with the modes of the arm and what it should do. The software sends signals to the motor drivers that drive the motors and make the arm actually move.

23 Text Nigel Hopefully, after seeing my demonstration and with an explanation of the science behind how it works, the way Nigel controls his arm will seem a little less like magic. Let s watch a short excerpt and see if that holds true

Text Other than EMG, that we just looked at, there are way to directly control an arm with the brain. You can see here on the lady s head, there is a connector.

24 Text Other than EMG, that we just looked at, there are way to directly control an arm with the brain. You can see here on the lady s head, there is a connector. This connection goes directly to the motor cortex in her brain. (Cortex is latin for rind, so think of the peeling on an orange.) Let s watch the video The device you see here in the last frame is a multi-electrode array, which is implanted directly into her motor cortex. Let me show you where

25 Here s our landmark, the central sulcus. Just in front of that, or anterior, is the motor cortex. Here s a map of the motor cortex, and the parts of the body each area is responsible for.

26 Targeted Reinnervation Now, let s back up to EMG control for a minute. One of the problems with EMG-controlled prosthetics is that some people don t have an arm to attach a prosthetic to. The man we will see in the next picture and video lost both arms when he was electrocuted. His arms were removed at the shoulder. Surgeons performed what is called a targeted reinnervation. *explain*

27 Here is Jesse with EMG electrodes attached.

reinnervation surgery was the restoration of a sense of

28 Text And here is Jesse demonstrating his DEKA arm. One of the unexpected outcomes of the targeted reinnervation surgery was the restoration of a sense of touch. *explain* Which leads us to haptic feedback, my main area of interest.

29 Text Haptic Feedback Haptic feedback is the sense of touch. Your brain uses haptic feedback to determine how big your body is, and how it is shaped. From that, it creates your body scheme. You may have noticed young kids walk into things a lot, bump into your chair, seemingly just to annoy you, but in actuality, their brain s map of how big they are is lagging behind as they are growing. There is a phenomenon called the Rubber Hand Illusion. (explain) Due to the Rubber Hand Illusion, giving someone a sense of touch through their prosthetic will result in their incorporating the prosthetic into their body scheme. It will become THEIR hand, rather than a machine affixed to their body. *video* How it helps guy in video.

30 Text Proprioceptive Feedback Another area I am interested in in Proprioception. Proprioception tells your brain where your limbs are. So if I put my hand behind my head, I know where it is without looking. One of the challenges in using prosthetics is that they have to be watched pretty much the whole time they are moving. With proprioceptive feedback, the brain would know where the limb is in space without the user having to look at it. Ian, the man in this video completely lost his sense of proprioception. Let s see what a challenge that has been for him. What I hope to do, after the sensation of touch, is give people a sense of where their prosthetic is in space. I think this will improve the acceptance and use of prosthetics among disabled people. That brings me to the end of my talk

31 Recap Thanks: Vaidehi Rallapalli Marc Merlin To recap: I talked about the history of robotics and showed you some of the uses of robotics around the house, and in military applications. Then I switched gears to an application of robotics, which is prosthetics. We talked about how electromyography works, saw a demo of the robotic arm I built for this talk, and saw someone with an EMG prosthetic in action. We talked about targeted rein nervation and saw that in action. Then we talked about haptic feedback, how it affects a person s mental image of their body, and how I hope to give that sensation back to amputees to improve their quality of life. Finally, we talked about proprioception and how it affects ones ability to control his or her body. Thanks to Ms. Rallapalli for inviting me to speak today, and thanks to our mutual friend Marc Merlin for suggesting me as a speaker. And thank you for giving some of your time to talk about robotics and prosthetics.

INTRODUCTION to ROBOTICS

1 INTRODUCTION to ROBOTICS Robotics is a relatively young field of modern technology that crosses traditional engineering boundaries. Understanding the complexity of robots and their applications requires