Biomechatronics Laboratory
Mechatronics Departament
Arturo Forner Cordero
aforner@usp.br
http://sites.poli.usp.br/pmr/biom...
Goal
• Biomechatronics=
Biomechanics+Motor Control
• Models of the human motor control system
from a control engineering p...
Members• Prof. Tarcisio H. Coelho
• Prof. Oswaldo Horikawa
PhD
• Luis Filipe Rossi
• Reinaldo de Bernardi
Colaborators
• P...
NAP-NEAR
Biomechatronics
Group
Motor
control
models
Internal
models
Exoskeletons
Arm
Leg
Bioinspired
robots
Humanoid
bipeds
New
act...
Gait analysis
• Human gait on irregular environments
Technique to analyse biped robot stability (Basin of Attraction)
– Bi...
Gait analysis under perturbations
Lower limb exoskeleton
• Direct actuation
– Brushless motors
– Harmonic reduction
• Knee and ankle
• Sagittal plane: Flexo...
Kamambaré
MSc R. de Bernardi,
Prof. J.J. Da Cruz
Biped robot stability
L.F. Rossi (PhD)
Normal Gait and Reactions to Perturbations
Eng et al, 1994 Exp Brain Res, 102.
Forner Cordero et al, 2004. Biol. Cyb. 91(4...
No reaction
Elevating strategy
Click for video
FORNER-CORDERO, A; ACKERMANN, M.; FREITAS, M. L. A Method to Simulate Motor...
Bioinspired Mechanical Design of an Upper
Limb Exoskeleton for Rehabilitation
MIRANDA, A.B.W.; YASUTOMI, A.Y.; SOUIT, C.; ...
Tests
The Fifth IEEE RAS/EMBS
International Conference on
Biomedical Robotics and Biomechatronics
IEEE BIOROB 2014
São Paulo, Br...
Biomechatronics lab. Escola Politecnica. University of São Paulo. Brazil
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Biomechatronics lab. Escola Politecnica. University of São Paulo. Brazil

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Presentation of the Biomechatronics Lab. Presented at the Todai USP Workshop held on the November in São Paulo.
Introduces BioRob2014

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  • Human walking is quite stereotypical and is composed mainly by two phases: the swing phase, in which the foot advances in a step, and the stance phase in which the foot contacts the ground. It has been observed that a trip during the swing phase (of the right leg in the drawing) triggers one of two types of initial recovery strategies (or more precisely reactions):1) an elevating strategy which is characterized by an immediate rise of the foot following the trip, a longer step and more time for next foot contact2) a lowering strategy, characterized by quick lowering of foot and contact with the ground with realization of a short stepThe elevating strategy is usually observed when trip occurs in the beginning of the swing phase whereas the lowering strategy is commonly observed when trip occurs in mid or late swing.Parameters like walking speed, trunk inclination and positioning and timing of next foot contact after trip have been associated with the success of the recovery attempt. One of the main goals is avoiding a critical trunk inclination which could cause a fall. This is achieved by applying a counteracting external moment to decelerate forward inclination of the body. Because external moment is due exclusively to foot-ground interaction and this contact is unilateral, positioning of frontal foot is essential for the ability of applying a counteracting moment and decelerate forward inclination of trunk. An insufficient distance between front foot and CM of the body will either lead to a fall or require further steps in a multiples step recovery strategy.
  • Biomechatronics lab. Escola Politecnica. University of São Paulo. Brazil

    1. 1. Biomechatronics Laboratory Mechatronics Departament Arturo Forner Cordero aforner@usp.br http://sites.poli.usp.br/pmr/biomecatronica/ http://sites.poli.usp.br/p/arturo.forner
    2. 2. Goal • Biomechatronics= Biomechanics+Motor Control • Models of the human motor control system from a control engineering perspective
    3. 3. Members• Prof. Tarcisio H. Coelho • Prof. Oswaldo Horikawa PhD • Luis Filipe Rossi • Reinaldo de Bernardi Colaborators • Prof. Liu • Aline Arcanjo • Carlos Noriega • Virginia H. Quadrado MSc • Andrey Bugarin • Milton Cortez Junior • Masanori Ishizawa IC/TCC • Gabriel Reis • Mateus Dias • Marcelo Slyzt • Rafael S. Souza • Rodrigo M. Carnier • Rodrigo M. Otake INTERNATIONAL Prof. Hermano I. Krebs. MIT (EUA) Prof T. Komeda . Shibaura Inst. Technology (Japan) Juan Alvaro Gallego CSIC (Spain) NATIONAL Prof. Sergio T. Rodrigues UNESP. Prof. Marko Ackermann, FEI. NAP-NEAR (USP) Prof. Linamara R. Battistella Prof. Adriano Siqueira Prof. Glauco Caurin Prof. Gustavo Goroso Prof. Michele Schultz Prof. Mario Pedrazzolli
    4. 4. NAP-NEAR
    5. 5. Biomechatronics Group Motor control models Internal models Exoskeletons Arm Leg Bioinspired robots Humanoid bipeds New actuators Kamambaré. Chameleon
    6. 6. Gait analysis • Human gait on irregular environments Technique to analyse biped robot stability (Basin of Attraction) – Biped gait stability – Human motor control models Forner-Cordero A; van der Helm FCT; Koopman B. (2006) Describing gait as a sequence of states. Journal of Biomechanics 39:948-957
    7. 7. Gait analysis under perturbations
    8. 8. Lower limb exoskeleton • Direct actuation – Brushless motors – Harmonic reduction • Knee and ankle • Sagittal plane: Flexo- extension • Goal: – Perturb gait • Fixed instants • Impedance control
    9. 9. Kamambaré MSc R. de Bernardi, Prof. J.J. Da Cruz Biped robot stability L.F. Rossi (PhD)
    10. 10. Normal Gait and Reactions to Perturbations Eng et al, 1994 Exp Brain Res, 102. Forner Cordero et al, 2004. Biol. Cyb. 91(4):212-22 Trip in the swing phase triggers either: 1) an elevating strategy (long step + longer time) 2) a lowering strategy (short step + shorter time) early swing mid/late swing
    11. 11. No reaction Elevating strategy Click for video FORNER-CORDERO, A; ACKERMANN, M.; FREITAS, M. L. A Method to Simulate Motor Control Strategies to Recover from Perturbations: Application to a Stumble Recovery During Gait. Proc. of the 33rd Annual Intl IEEE EMBS Conf, 2011.
    12. 12. Bioinspired Mechanical Design of an Upper Limb Exoskeleton for Rehabilitation MIRANDA, A.B.W.; YASUTOMI, A.Y.; SOUIT, C.; FORNER-CORDERO, A . Bioinspired Mechanical Design of an Upper Limb Exoskeleton for Rehabilitation and MotorControl Assessment. BioRob2012. 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, p1776-81. Bioinspired elbow exoskeleton
    13. 13. Tests
    14. 14. The Fifth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics IEEE BIOROB 2014 São Paulo, Brazil August 12-15, 2014 Call for Papers: February 15, 2014

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