Biomechatronics - Lecture 12. Artificial motor control I


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Biomechatronics - Lecture 12. Artificial motor control I

  1. 1. BiomechatronicsDelft University of Technology Course 2006-2007 (Wb 2432) Frans van der Helm Lecture 13 Artificial motion control
  2. 2. Contents• Artificial motor control – Full artificial control – Modulation of natural control system• Model of human controller – stability analyis – limitations and adaptation• Supervisory control situations – supervisor over automated control loops
  3. 3. artificial motor control
  4. 4. artificial motor controlinteracts with physiological control Artificial motor control Physiological feedforward Reflexive control control
  5. 5. assistive concepts 3. training 2. 1. influencing Take over behaviour control control systemControlsignals reflex controller Sensory signals
  6. 6. assistive concepts 1. Take over controlControlsignals reflex controller Sensory signals
  7. 7. Take over controlBionic gloveDr. Prochaska, Edmonton Cleveland FES Center
  8. 8. Take over control 2 channel stimulator for drop footstim RRD: Dr. Hermens Dr. Kenney Dr. Nene UT: Ing. Bulstra Dr. Holsheimer Verloop MST: Dr. v.d. Aa Dr. Buschman
  9. 9. Take over control FES for complete spinal cord lesion
  10. 10. assistive concepts 2. influencing behaviour Control systemControlsignals reflex controller Sensory signals
  11. 11. Influencing behaviour control system Brain stimulation Parkinson patient with Parkinson Dr. Lenders, MST Medtronic
  12. 12. Influencing behaviour control system Influencing sensation Spinal cord stimulation against pain Dr. Holsheimer, UT
  13. 13. Influencing behaviour control system attenuation hypersensitive reflexes by reciprocal inhibition reflex controller stim
  14. 14. Spasticity calf muscle The problem CVA patient 200 Soleus EMG (uV) 0Ankle ϕ 0 (deg) -20 . 200 ϕ (deg/s) 0 0.0 t (s) 1.0
  15. 15. Influencing behaviour control system attenuation hypersensitive reflexes by reciprocal inhibition reflex controllerstim Shank front Shank back
  16. 16. Influencing behaviour control system Attenuation hypersensitive reflexes by reciprocal inhibition results soleus EMG Moment 150 peak stretch reflex EMG [µV] 9 soleus EMG mean moment [Nm]100 mV stimulation + stretch stretch only no stimulation no stimulation -0.2 0 0.2 0.4 time [s] stimulation stimulation angular velocity 0 2200 deg/s 0 200 0 200 v [deg/s] v [deg/s]
  17. 17. During walking Stimulation 300 and stretch no stimulation during initial EMG (uV) 200 swing phase of gait 100 Stimulation Spinal 0 controller 0 . 250 500 750(Voormolen et al, 2000) ϕ (deg/s) stim delay stretch sensors Experiments were performed at Aalborg University
  18. 18. artificial motor control Hierarchical control Human body Assistive system Conscious motor Intention detectionplanning and sensing and sensory feedback to the userMotor coordination and Task coordinationsensory integration Muscle control Low level with proprioceptive actuator control feedback
  19. 19. artificial motor control user interaction Human body Assistive system Continuous Discrete Intention detection control time control Conscious motor and sensory feedbackplanning and sensing to the user High continuous intention level operator Motor coordination detection Task coordination control and sensory integration Low Impedance Artificial Muscle controlwith proprioceptive Low level level control reflex actuator control feedback
  20. 20. Finite state control Continuous Discrete sitting control time control stand stand up upHigh continuous intention standinglevel operator detection control Standing Step left StandingLow Impedance Artificial (right leg (left leg in front) in front)level control reflex Step right
  21. 21. artificial motor control Continuous Discrete Control a relation between control time control Principle position and forceHigh continuous intentionlevel operator detection control K ky = F + ky r y yLow Impedance Artificial r rlevel control reflex y F y F Plant F y Z C + r F r load y
  22. 22. artificial motor control Physiological Impedance control of the human body Control ofFES assisted hand grasp Crago et al., CWRU
  23. 23. artificial motor control artificial Impedance control of assistive systemMIT, Hogan, Krebs Impedance controlled system for standing-up training (Kamnik & Bajd, Ljubljana)
  24. 24. Physical Therapy
  25. 25. Lokomat system
  26. 26. LOPES
  27. 27. LOPES
  28. 28. BLEEX
  29. 29. HAL5
  30. 30. HAL5
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