Biomechatronics - Lecture 6. Control interfaces for mechanical devices
Upcoming SlideShare
Loading in...5
×
 

Biomechatronics - Lecture 6. Control interfaces for mechanical devices

on

  • 989 views

 

Statistics

Views

Total Views
989
Views on SlideShare
765
Embed Views
224

Actions

Likes
1
Downloads
38
Comments
0

1 Embed 224

http://ocw.tudelft.nl 224

Accessibility

Upload Details

Uploaded via as Adobe PDF

Usage Rights

CC Attribution-NonCommercial-ShareAlike LicenseCC Attribution-NonCommercial-ShareAlike LicenseCC Attribution-NonCommercial-ShareAlike License

Report content

Flagged as inappropriate Flag as inappropriate
Flag as inappropriate

Select your reason for flagging this presentation as inappropriate.

Cancel
  • Full Name Full Name Comment goes here.
    Are you sure you want to
    Your message goes here
    Processing…
Post Comment
Edit your comment

    Biomechatronics - Lecture 6. Control interfaces for mechanical devices Biomechatronics - Lecture 6. Control interfaces for mechanical devices Presentation Transcript

    • ARTIFICIAL MECHANICAL SYSTEMS for the UPPER EXTREMITY DICK H. PLETTENBURGBIOMECHATRONICS WB2432 Vermelding onderdeel organisatie
    • 2007-03-07 STATE OF THE ART IN UE PROSTHETICS2007-03-14 CONTROL2007-03-21 ACTUATION © Dick H. Plettenburg, 2007
    • CONTROL OF UPPER EXTREMITY PROSTHETICSVermelding onderdeel organisatie
    • PROSTHESESCONTROL ALWAYS BY THE BODY MECHANICAL ELECTRICALPOWER FROM THE BODY EXTERNALLY © Dick H. Plettenburg, 2007
    • © Dick H. Plettenburg, 2007
    • raw EMG processed EMG ISOLATION ISOLATION AMPLIFIER AMPLIFIER DIFFERENTIAL DIFFERENTIAL BANDPASS BANDPASS POST- POST-electrodes DEMODULATOR DEMODULATOR SMOOTHER SMOOTHER AMPLIFIER AMPLIFIER FILTER FILTER PROCESSOR PROCESSOR ISOLATION ISOLATION AMPLIFIER AMPLIFIER these elements detect EMG from these elements decode the raw EMGreference among the ambient electrical “noise”electrode © Dick H. Plettenburg, 2007
    • CONTROL DEMANDS:• FUNCTION = CONTROL SIGNAL• NO INTERFERENCE• LOW MENTAL LOAD LIMITED NUMBER OF CONTROL SIGNALS AVAILABLE © Dick H. Plettenburg, 2007
    • CONTROL METHODS © Dick H. Plettenburg, 2007
    • STRAPS [Borchardt et.al., 1919] © Dick H. Plettenburg, 2007
    • STRAPS © Dick H. Plettenburg, 2007
    • STRAPS © Dick H. Plettenburg, 2007
    • STRAPS [Bowker & Michael, 1992] © Dick H. Plettenburg, 2007
    • STRAPS © Dick H. Plettenburg, 2007
    • ELBOW CONTROL: BALLIF 1818 [Borchardt et.al., 1919] © Dick H. Plettenburg, 2007
    • ELBOW CONTROL: CHARRIÈRE 1860 [Löffler, 1984] © Dick H. Plettenburg, 2007
    • ELBOW CONTROL: DALISCH [Löffler, 1984] © Dick H. Plettenburg, 2007
    • ELBOW CONTROL: JAKS [Löffler, 1984] © Dick H. Plettenburg, 2007
    • ELBOW CONTROL: ROESER [Püschel, 1954] © Dick H. Plettenburg, 2007
    • ELBOW CONTROL: WILMER CONTROL SHELL UPPER ARM OPERATING CABLE THUMB HAND CLOSES CLOSING SPRING HAND OPENS © Dick H. Plettenburg, 2007
    • ELBOW CONTROL: WILMER © Dick H. Plettenburg, 2007
    • CINEPLASTY: GIULIANO VANGHETTI 1898 © Dick H. Plettenburg, 2007
    • CINEPLASTY: GIULIANO VANGHETTI [Weir, 1998] © Dick H. Plettenburg, 2007
    • CINEPLASTY: FERDINAND SAUERBRUCH 1915 [Klopsteg & Wilson, 1954] © Dick H. Plettenburg, 2007
    • CINEPLASTY: FERDINAND SAUERBRUCH [Klopsteg & Wilson, 1954] © Dick H. Plettenburg, 2007
    • MUSCLE BULGING [Näder, 1970] © Dick H. Plettenburg, 2007
    • MUSCLE BULGING [Craelius, 2002] © Dick H. Plettenburg, 2007
    • MYO-ELECTRICITY raw EMG processed EMG ISOLATION ISOLATION AMPLIFIER AMPLIFIER DIFFERENTIAL DIFFERENTIAL BANDPASS BANDPASS POST- POST-electrodes DEMODULATOR DEMODULATOR SMOOTHER SMOOTHER AMPLIFIER AMPLIFIER FILTER FILTER PROCESSOR PROCESSOR ISOLATION ISOLATION AMPLIFIER AMPLIFIER these elements detect EMG from these elements decode the raw EMGreference among the ambient electrical “noise”electrode © Dick H. Plettenburg, 2007
    • MYO-ELECTRICITY: REITER 1948 [Childress & Billock, 1970] © Dick H. Plettenburg, 2007
    • MYO-ELECTRICITY EMG-SIGNAL: • ONE SITE – ONE FUNCTION • ONE SITE – TWO FUNCTION • TWO SITES – TWO FUNCTIONS • TWO SITES – FOUR FUNCTIONS © Dick H. Plettenburg, 2007
    • MYO-ELECTRICITY • ON-OFF CONTROL • PROPORTIONAL CONTROL • PATTERN RECOGNITION © Dick H. Plettenburg, 2007
    • MYO-ACOUSTICS ADVANTAGES: • NO NEED FOR DIRECT SKIN CONTACT • UNAFFECTED BY CHANGES IN SKIN IMPEDANCE • LESS AMPLIFICATION • LESS SHIELDING • LESS POSITION SENSITIVE © Dick H. Plettenburg, 2007
    • EVALUATION GOOD/PROPER CONTROL? © Dick H. Plettenburg, 2007
    • disturbance+ output controller actuator process- sensor © Dick H. Plettenburg, 2007
    • visionCN MUSCLE BONES hand forces hand position touch, temp human hand © Dick H. Plettenburg, 2007
    • “Prostheses should act as a naturalextension of the human body.We pour ourselves out into them andassimilate them as parts of our ownexistence.” Simpson, 1974 © Dick H. Plettenburg, 2007
    • EXTENDED PHYSIOLOGICAL PROPRIOCEPTIONDISPLACEMENT U CONTROL CONTROL CONTROL CONTROL Y OPENING WIDTHFORCE Fu INTERFACE INTERFACE SYSTEM SYSTEM FY PINCHING FORCE HUMAN PROSTHESIS © Dick H. Plettenburg, 2007
    • vision MUSCLE BONE pinch forceC hand openingNS body powered hand prosthesis © Dick H. Plettenburg, 2007
    • vision MUSCLECNS MUSCLE myo-electrically controlled hand sound, vibration prosthesis © Dick H. Plettenburg, 2007
    • CONTROL BY BODY MOVEMENTS: PROVIDES FEEDBACK!CONTROL WITH MYO-SIGNALS: NO FEEDBACK! © Dick H. Plettenburg, 2007
    • “The EMG-signal is considered a by-product of a muscle contraction in asimular manner to considering theexhaust of a car as a manifestation ofthe engine’s rotation.” Simpson, 1974 © Dick H. Plettenburg, 2007
    • CONTROL OPTIONS WITH FEEDBACK:• MOTION & FORCES OF THE BODY © Dick H. Plettenburg, 2007
    • CONTROL OPTIONS WITH FEEDBACK:• MOTION & FORCES OF THE BODY• CINEPLASTY © Dick H. Plettenburg, 2007
    • [Klopsteg & Wilson, 1954]© Dick H. Plettenburg, 2007
    • CINEPLASTY: CHILDRESS 1989 [Weir & Childress, 2001] © Dick H. Plettenburg, 2007
    • CINEPLASTY: CHILDRESS 1998 CONTROL SIGNAL SKINSUBCUTANEOUS FAT MUSCLE © Dick H. Plettenburg, 2007
    • CONTROL OPTIONS WITH FEEDBACK:• MOTION & FORCES OF THE BODY• CINEPLASTY• NEURO ELECTRODES © Dick H. Plettenburg, 2007
    • NEURO ELECTRODES [DeLuca, 1978] © Dick H. Plettenburg, 2007
    • NEURO ELECTRODESCuff-electrodesSieve-electrodes [Fraunhofer Institue für Biomedizinische Technik] © Dick H. Plettenburg, 2007
    • NEURO ELECTRODESNeedle Array Electrodes [www.icube.co.uk] © Dick H. Plettenburg, 2007
    • NEURO ELECTRODES [Dario, 2004] © Dick H. Plettenburg, 2007
    • SUMMARY • CONTROL vs ACTUATION • LIMITED # CONTROL SIGNALS • CONTROL METHODS • EXTENDED PHYSIOLOGIC PROPRIOCEPTION • CONTROL METHODS with FEEDBACK © Dick H. Plettenburg, 2007
    • Concluding remarks © Dick H. Plettenburg, 2007
    • PROSTHESES: • Many different types available • Many end up not being used: 40% non-wearers 60% non-users • Worldwide research efforts to improve prosthetic performance • Focus of most research is wrong! © Dick H. Plettenburg, 2007
    • I want a prosthesis that:• is beautiful• is easy to wear• is easy to operate © Dick H. Plettenburg, 2007
    • I want a prosthesis that:• is beautiful = cosmesis• is easy to wear = comfort• is easy to operate = control © Dick H. Plettenburg, 2007
    • disturbance+ output controller actuator process- sensor © Dick H. Plettenburg, 2007
    • FEEDBACK A NECESSITYFEEDBACK IS VERY IMPORTANT! FEEDBACK ISIS IMPORTANT! ! © Dick H. Plettenburg, 2007
    • ARTIFICIAL FEEDBACK:• ELECTRICAL SKIN STIMULATION• MECHANICAL SKIN STIMULATION• IMPLANTABLE NERVE STIMULATION• INTERNAL FEEDBACK © Dick H. Plettenburg, 2007
    • © Dick H. Plettenburg, 2007
    • CONTROL DEMANDS:• FUNCTION = CONTROL SIGNAL• NO INTERFERENCE• LOW MENTAL LOAD LIMITED NUMBER OF CONTROL SIGNALS AVAILABLE © Dick H. Plettenburg, 2007
    • INCREASE # CONTROL SIGNALS:• EMG PATTERN RECOGNITION• INTRA MUSCULAR ELECTRODES• NEURO-MUSCULAR REORGANISATION or TARGETED MUSCLE REINNERVATION © Dick H. Plettenburg, 2007
    • EMG PATTERN RECOGNITION • MULTIPLE ELECTRODES • FUZZY LOGIC • WAVELET TECHNOLOGY • ETC. © Dick H. Plettenburg, 2007
    • INTRA MUSCULAR ELECTRODES BION® http://ami.usc.edu/projects/ami/projects/bion/media/ © Dick H. Plettenburg, 2007
    • INTRA MUSCULAR ELECTRODES [Weir et.al., 2004] © Dick H. Plettenburg, 2007
    • NEURO-MUSCULAR REORGANISATION ulnar nerve radial nerve median nerve musculo cuteneous nerve servo controller [Kuiken, 2001] © Dick H. Plettenburg, 2007
    • NEURO-MUSCULAR REORGANISATION [www.ric.org] © Dick H. Plettenburg, 2007
    • NEURO-MUSCULAR REORGANISATION © Dick H. Plettenburg, 2007
    • NEURO-MUSCULAR REORGANISATION [www.ric.org] © Dick H. Plettenburg, 2007
    • BUT: © Dick H. Plettenburg, 2007
    • © Dick H. Plettenburg, 2007
    • © Dick H. Plettenburg, 2007
    • © Dick H. Plettenburg, 2007
    • © Dick H. Plettenburg, 2007
    • Remember Lindsey Wagner as the "Bionic Woman"?Well, we have the new version...Claudia Mitchell ...and this onesfor real.Source: gather.com & usatoday.com; 20060914 © Dick H. Plettenburg, 2007
    • “…. controlled by thoughts alone ….” © Dick H. Plettenburg, 2007
    • © Dick H. Plettenburg, 2007
    • CONTROL OPTIONS WITH FEEDBACK:• MOTION & FORCES OF THE BODY• CINEPLASTY• NEURO ELECTRODES © Dick H. Plettenburg, 2007
    • DELFT INSTITUTE ofPROSTHETICS and ORTHOTICS home of WILMER Vermelding onderdeel organisatie
    • Current research projects: • Prosthetics - update open fitting © Dick H. Plettenburg, 2007
    • Update open fitting:• closer to the arm• ease of assembly• locking mechanism © Dick H. Plettenburg, 2007
    • Current research projects: • Prosthetics - update open fitting - larger sizes cosmetic prosthetic prehensor © Dick H. Plettenburg, 2007
    • Larger sizes cosmetic prehensor:• small [ages 4 – 9]• medium [ages 7 – 14]• large [ages > 12] © Dick H. Plettenburg, 2007
    • Larger sizes cosmeticprehensor: small [ages 4 – 9] medium [ages 7 – 14]• large [ages > 12] © Dick H. Plettenburg, 2007
    • Current research projects: • Prosthetics - update open fitting - larger sizes cosmetic prosthetic prehensor - voluntary closing terminal devices © Dick H. Plettenburg, 2007
    • UPPERVoluntary closing: ARM CONTROL SHELL• literature survey• proprioception OPERATING CABLE• adaptive fingers THUMB• coupling mechanism HAND CLOSES• locking mechanism OPENING SPRING HAND OPENS © Dick H. Plettenburg, 2007
    • Voluntary closing:• start for toddlers © Dick H. Plettenburg, 2007
    • [www.icube.co.uk]Pneumatics - servo mechanism [Fraunhofer Institue für Biomedizinische Technik][Dario, 2004] [DeLuca, 1978] © Dick H. Plettenburg, 2007
    • • Many challenges! • Cosmesis, Comfort, Control • Feedback control • Multiple control sites • Low energy solutions © Dick H. Plettenburg, 2007
    • DELFT INSTITUTE ofPROSTHETICS and ORTHOTICS home of WILMER Vermelding onderdeel organisatie