 Okay, hi everyone. I'm Derek Slobo and this is a prosthetic arm project so From here from these statistics you can see that there's clearly a demand for prosthetic arms, but the thing is the the cost But the cost of prosthetic limbs is pretty much absurd can anyone here guess what is the rough range of prices? for prosthetic arm any guesses Okay, who thinks it's in the hundreds range thousand 10,000 10,000 20,000 30 40 all the way to 100,000 Well, this is the actual cost So roughly for me electric prosthetic arm it can go around 30 to $100,000 especially for functional one and Daffa has recently developed a mind control prosthetic arm that costs about $100,000 but was developed at 100 million that has clearly Too much for a normal person to afford and usually the people who affected most are people who do labor or non-skilled Jobs that require them to be able to use their arms and legs So first I'm just going to go through some introductory policy on how the arm so I can explain how the arm works so basically When you think of something or you want to do something your brain uses electrical messages to communicate with your body, right? So the question is how can we intercept your signals? How can we detect them and how can we interpret them? so If you can see here, this is a sign up. So basically your transmitters go across the sign up in order to carry information So I'll explain why this is important later for the scary on first so the first method of Viewing these electrical signals is electroencephalography So basically we are we are trying to understand the brain waves by measuring electrical signals and using a Fourier transform we are Converting them to a sinusoidal input So with that we can understand how the brain works and how information is carried So we are using a machine learning software to basically understand its signals and use it to control Servos or soft robotic arm or whatever we need So let's say I were to let's say I want to do this Basically, my brain will send a certain signal and if I can measure the signals in the motor cortex using EG I can sort of understand what the brain is trying to send The second one, which is much more accurate is electro myography, which is basically a measuring electrical inputs Electrical signals in the muscles. So this is currently one of the methods I'm using and this is actually the device that I'm using It's called a meal band, which is also used by DARPA So basically the I use the electroencephalogram and electro migra, which interfaces with an Arduino microcontroller and basically that sends a serial information on Basically the electrical signals, which is processed by the meal greener software, which was not made by me And coupled with the machine learning software It basically Analyzes the signal and tries to figure out what you're trying to do and with that I'm using two types of Prosthetic arms one is a soft robotic arm and one is mechanical arm So using that I use it to control the arms So most prosthetic arms don't have sensory feedback So you don't know how much pressure you're using to hold an object You the arm doesn't know whether you're holding an egg or a glass or metal weight So you doesn't know how much force to use Also, if you bang your arm on the wall or you damage it in some sort of way, you have no idea What's going on and it also doesn't feel natural and And you can also a lot of people that amputees they experience something called phantom limb pain Which is basically since there's no input The body feels that there's something wrong because there's no information going where the arm used to be So we can solve this by stimulating the brain So then multiple methods of doing this I go for the traditional non-invasive method So over here, this is the somatic sensory cortex which is basically the part that controls motor function and allows you to feel so I'm trying to stimulate summary around 3A to 3B in order to evoke a tactile sensation in your fingers So there are multiple ways so now I'm going to get back to the sign-ups So basically how electrical signals travel across the sign-ups is When there's enough action potential Neurotransmitters go across the Across the membrane to complete the gap and that's send electrical signal However with ultrasonic neural modulation, you're basically vibrating the cells at a particular frequency that increases the permeability Allowing more neurotransmitters to go across therefore you can artificially elicit sensation by stimulating the Synapses using ultrasonic neural model modulation Another thing is trans-cranial magnetic stimulation So because in your neurons you have ion channels and your ions that flow throughout the cell which allows you to have Action potentials and allows electrical signals to be involved So using trans-cranial magnetic stimulation We're actually inducing a current within the neuron to elicit sensation Now there are two other methods these are quite simple Anyone can try this at home One is ultrasonic nerve stimulation and other is direct electrical stimulation So ultrasonic stimulation works the same way as trans-cranial ultrasonic simulation It's basically you vibrate the synapses in your nerves Therefore allowing an action potential to occur so you actually feel a saturation Same thing for electrical nerve stimulation. This you're directly inducing current within the cells So now I'm going to talk about the difference between a soft robotic versus a mechanical arm so When you think of soft robotics you can think more of actuators and pneumatic cylinders things like that Which use air and fluids in order to create motion something like how a squid moves Versus a treasure some mechanical arm, which is used as servers wires like motors things like that So soft robotics can actually store energy like because they are they're soft and renewable They can bend they can they can basically they can they have much wider range of motion with the with the same cost range So but some problems are soft robotics are hard to model So basically how you want it to move and all it's quite difficult But they are much cheaper because servos and things like that are really different expensive especially with our arm you need multiple degrees of motion and then multiple fingers and Ways that you can move each finger and if you just try yourself you can probably move your finger all around So if I were to do that with servos, it would be much more expensive. That would make me at least five six servos both finger So did it work? Well sort of so here you can see on top. I made a soft robotic glove. So basically this I have fluids that go to the reservoir which allows me to maneuver the arm and On the bottom is the mechanical arm So you can see the rest the Raspberry Pi and Arduino within the inner part of it that Controls arm. So the second one has a servo motors and all that is just a prototype so Over here. This is the signal generator and amplifier that I'm using as the amplifier. I'm using to Do the ultrasonic stimulation because for the transducers you need a really high voltage and This is actually a part of a Neurosky EEG headset that I modified in order to use for my experiments and This was the first prototype. So you can see how the how the arm works this mechanical arm So basically the servo motor here pulls the strings which allows you to move the arm and because the The strings is acts like a spring. It stores energy the finger snap back Once you serve So there are multiple different Applications of the technology that I mentioned So basically if you could stimulate the brain there's lots of There's lots of possibilities that you can do you can cure depression you can help people with problems who can't who have for example people who have cerebral atrophy and they can't really Control their body because their brains are sending wrong signals. So you can intercept these signals and you can generate your own so What's the future of the project? Well, since it's all open source, I'm releasing everything online on jib hub and other platforms So anyone can continue the project and try it out at home for themselves or there are not lots of non-profits like engineering goods that I'll be talking to you see if they want to try to implement it Because right now we are quite close. We can actually create a prototype that someone could use and especially for the price range So the arm here currently costs about five hundred dollars If you could buy everything brand new but because I got all the parts second hand and Some of the parts I wired together myself. I managed to get for about hundred dollars Hundred to two hundred dollars, which is really affordable So you can follow the project here on jib hub This is my email if you're interested in contacting me to find out more about the project So you can also see I've also some I'm going to post some pictures on Instagram also so you can have a look there Are there any questions? Do you mean replicate a simplified model or Oh Something that we can you can do it at home. Yeah, okay, so if you need to get Okay, so if you're just doing it at home, and you're not really making a prototype You can use things that you have a home like you can use your laptop instead of raspberry pi for an interface And you can you you just need out, you know like I can show you the This was the original original project at science hack day. So this is We're just trying to get whatever Things we had at home and try to build it in one day. So this is actually some guitar strings Popsicle sticks a few nuts and bolts and It's just mounted on a normal plywood board and I just I'm just using Arduino at the moment I'm one servo motor and that's enough to give you normal contraction now You also need a eG device or EMG so if you can use the meal ban Which you can probably purchase for what $50 secondhand or you can try to build your own But that's a bit difficult if you're doing at home It's the meal band and while if you're interested in having a look you can also use it to control your computer Do other things with it? So did I answer your question? Okay, I Mean For the one the current prototype I have 12 servos Yeah, I'm using a motor controller But Yeah That is you you can do that So the different ways so sometimes they utilize like a socket So you just put the so you put your the stump of your arm into the socket and you can Strap it on but there's some more advanced ones like the DARPA project, which I have a picture right here Where you can see it? Okay, it's hold on one more. It's gone for some reason Yeah, so you can see the arm is actually physically joined to his own So it's like an extension of his actual arm So that really depends where also matters on your price range because this arm here costs about hundred thousand dollars Any other questions Yeah, why not it's just the part that you need to view is just a different area of the cortex Yes Yeah, exactly Normally you use the MRI and how to find the correct area and it also depends on your budget Because he is accurate But the most accurate will be ecog which is implanted where they put electrodes directly on the brain But that is expensive and I can't do that at home. So Also for leg you you won't really need such precision. You could just have a motor controller with the leg that Basically moves when data move leg moves. So basically when you move your torso the body the leg just follows You don't need to actually interpret signals from the brain for that but because the arm is very complex and you have multiple kinds of movements that you can do you right you need that Means Yeah, I guess in that sense, yeah, but it's also Fit doing the fittings and everything also the leg is much bigger So it's difficult in that sense mechanical sense, but not really an interpret signals So you won't really to tap into the brain Anything else? Okay, so you see for so basically when when he wants to move his arm His body sends signals through the motor nerves that goes through the arm right and over here you can see these two sensors So basically each one is a channel EMG device So that measures the electrical signals in the arm and basically that tells the robotic arm what to do anything else Oh Yeah, that's what I meant by the sensory feedback So when you act when you touch something you will actually feel it even though it's a robotic arm Because the signals are sent back into the brain because you're stimulating the somatosensory cortex Yeah Not to the mule band but through the Yeah Through the magnetic stimulation Transparenia magnetic simulation where you induce the current within the brain because all your signals in your brain move through nuance Right if you were to create a signal within the brain an artificial signal it would perceive it as feeling and Because it's because of the shape of the coil you can actually focus the magnetic field in a very Close area so basically you can simulate each individual So it can either be held above but that's really impractical Most likely it will be implanted or you could have a really a flat version that you could stick on the scalp For my arm or for So mine only has one degree of rotation which is in the wrist Because otherwise there's you need too many servos and too many things but the soft robotic arm has much more degrees of motion This is for my arm it's I'm assuming the person is amputated at the forearm so I didn't build this part on Yeah, yeah, you can and that's that's also the reason for the sensory feedback Right because if you were to hold a stone you could feel the texture versus an egg Right, and also you know how much pressure to put if let's say I'm I'm if let's say I don't I can't feel anything I don't know how hard I'm gripping something But if I can feel it I know exactly how much force I'm using so with the sensory feedback Basically when the arm grabs something I have that you can use touch sensors that can feel the amount of force That communicates it back to the brain Yeah Give the wrong signal to the brain and Cause some like it feels like nothing happened, but person may feel like it's a lot of pain Okay, so you mean if you stimulate the wrong area. Yeah. Yeah, that that is a Yeah, that could you could cause a lot of problems if you stimulate the wrong area because ski for example KMS is also used to treat depression Basically, if you can stimulate the brain right the brain is extremely complex if you don't focus it correctly You can cause a lot of damage one being Seizures if you create a close loop sensation you can create the scissors So basically you have to you have to be careful in that sense and you don't you don't build this yourself and just try it at home So this a professional will align it and everything and ensure that it's working properly