Optimization of design of an Exoskeleton - PPT

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Optimization of design of an Exoskeleton - PPT

  1. 1. MAE 501 INDEPENDENT STUDYModeling ,Analysis & Simulation ofExoskeletons for the Human Arm<br />By<br />Sasi Bhushan Beera<br />&<br />Shreeganesh Sudhindra<br />
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  3. 3.
  4. 4. Hardiman ,GE 1965 (7)<br />
  5. 5. Research Areas <br /><ul><li>Structures
  6. 6. Energy Requirements
  7. 7. Controls
  8. 8. Actuation
  9. 9. Bio Mechanics</li></li></ul><li>Motivation<br />Understanding the mechanics that couple the Human and Robot systems<br />Developing the intrinsic interaction between the Man-Machine systems<br />To study their combined performance under different operating conditions<br />
  10. 10. Wearable Robots in Physiotherapy(11)<br /> Wearable Robots in Haptics(11)<br /> Wearable Robots in Tele-Operation(11)<br /> Wearable Robots in Warfare(11)<br />Advanced Infantry<br />Applications<br />
  11. 11. Virtual Engineering<br />Virtual engineering is defined as integration of<br />geometric models <br />and related engineering<br />tools for analysis,<br /> simulation,<br />optimization,<br />and  decision making<br />within a computer<br />generated environment that facilitates multidisciplinary collaborative product <br />development<br />
  12. 12. Key Features of Virtual Engineering<br />User Centered virtual reality visualization techniques<br />Computer Aided Manufacturing(CAM)<br />Computer Aided Engineering (CAE)<br />Decision making and Engineering support tools<br />
  13. 13. Input Data<br />Documenting and Interpreting results<br />If Convergence <br />Criteria is satisfied<br />Analysis using test loads<br />Simulation<br />Optimizer<br />If convergence criteria is not satisfied<br />Virtual Engineering<br />
  14. 14. Softwares used for the study(12,13)<br />MATLAB - The Language Of Technical Computing<br />
  15. 15. Objective<br />To optimize the design of a powered exoskeleton which can be used as a rehabilitative device or an assistive device.<br />In the rehabilitation mode, the device is intended to provide controllable active resistance as a function of the current configuration of the system.<br />In the assistive mode, it is intended to provide controllable assistance.<br />
  16. 16. Implementation<br />Modeling (Arm Model) <br />Analysis (IDA) <br />Modeling of Exoskeleton <br />Analysis (IDA) and Optimization <br />
  17. 17. Arm Model(12)<br />
  18. 18. Modeling of Exoskeleton Model<br />Two segments identical to Upper and Fore Arm segments are added to the Arm Model and displaced by a distance of 0.03m from the corresponding segments.<br /><ul><li>An exo-elbow joint is created between the two exoskeleton segments
  19. 19. The elbow joint in the actual model is removed to resolve the redundancy in the system.
  20. 20. The UpperArm and UpperExo are connected by a revolute joint.
  21. 21. The UpperExo and LowerExo are connected by a revolute joint
  22. 22. The ForeArm and LowerExo are connected by a prismatic joint</li></li></ul><li>Case Studies<br />Case1: Simple arm model performing arm-curl motion with a dumbbell<br />Case 2:Simple arm model performing Arm-Curl motion against an applied torque at the elbow<br />Case 3: Exoskeleton Assistive Model <br />Case 4:Exoskeleton Rehabilitation Model <br />
  23. 23. Optimization Problem <br /><ul><li>Objective Function: Min Muscle Metabolism
  24. 24. Design Variable : Moment
  25. 25. Subject to : Moment > 0</li></ul> where: MomentMin Moment MomentMax<br />
  26. 26. Input Parameters & Test Loads<br />Body Mass: 60 Kg<br />ExoMass: 10 Kg<br />Height: 1.5 m<br />Simulation Time: 1 sec<br />Driver Position: 90 deg<br />Driver Velocity: 45 deg/sec<br />Applied Force/Torque: 400 N (Nm)<br />MomentMin: 0<br />MomentMax: 300<br />Initial Configuration<br />Final Configuration<br />
  27. 27. Testing the Assistive Functionality of the Exoskeleton<br />Case Study 1: Arm-Curl lifting a dumbbell<br />Case Study 3: Arm-Curl lifting a dumbbell assisted by an exoskeleton<br />
  28. 28. Optimum Moment Profile<br />
  29. 29. Testing the Rehabilitative Functionality of the Exoskeleton<br />Case Study 2: Arm-Curl lifting <br />against a torque at the elbow<br />Case Study 4: Arm-Curl lifting the load of torque at the elbow applied by exoskeleton<br />
  30. 30. Modeling of ExoSkeleton 2<br />Two segments identical to Upper and Fore Arm segments are added to the Arm Model and displaced by a distance of 0.03m from the corresponding segments.<br /><ul><li>An exo-elbow joint is created between the two exoskeleton segments
  31. 31. The Upper Arm and Lower Arm</li></ul> are connected by a revolute joint<br /><ul><li>The UpperArm and the UpperExo</li></ul> are connected by a spherical joint.<br /><ul><li>The UpperExo and the LowerExo</li></ul> are connected by a revolute joint.<br /><ul><li>The ForeArm and the LowerExo</li></ul> are connected by a cylindrical<br /> joint.<br />
  32. 32. Testing the Assistive Functionality of the Exoskeleton<br />Case Study 3: Arm-Curl lifting a dumbbell assisted by an exoskeleton<br />Case Study 1: Arm-Curl lifting a dumbbell<br />
  33. 33. Optimum Moment Profile<br />
  34. 34. Testing the Rehabilitative Functionality of the Exoskeleton<br />Case Study 2: Arm-Curl lifting<br />against a torque at the elbow<br />Case Study 4: Arm-Curl lifting the load of torque at the elbow applied by exoskeleton<br />
  35. 35. Comparison of Performance of the three models<br />Comparison of the peak muscle forces when used as an assistive device<br />
  36. 36. Comparison of Performance of the three models<br />Comparison of the peak muscle forces when used as a loading device<br />
  37. 37. Discussion and Future Scope<br />Develop a more complex model of the human arm that takes into consideration more muscles and actual bone geometry of the human arm.<br />Test the performance of the Exoskeleton system on a musculoskeletal model of the whole human body .<br />Develop a lower exoskeleton model for the human body and to test the combined performance of the upper and lower exoskeleton systems while working in unision.<br />To fabricate an actual prototype.<br />
  38. 38. Implementation Using a GUI<br />
  39. 39. References<br />MUSCULOSKELETAL MODELING OF SMILODON FATALIS FOR VIRTUAL FUNCTIONAL PERFORMANCE TESTING - KIRAN S KONAKANCHI , 2005<br />The Human Arm Kinematics and Dynamics during daily activities – Toward a 7 DOF<br />Upper Limb Powered Exoskeleton - Jacob Rosen , Joel C. Perry , Nathan Manning , Stephen Burns , Blake Hannaford - University of Washington, Seattle WA, 98185, USA<br />Computer Simulation in Gait Analysis Simulation chapter (PM&R STAR) June 02 – Talaty. M<br /> Mechanics of Human Locomotor System - MihailoLazarević (Associate Professor ,Faculty of Mechanical Engineering ,University of Belgrade)<br />http://science.howstuffworks.com/exoskeleton2.htm<br />http://davidszondy.com/future/robot/hardiman.htm<br />http://www.ncac.gwu.edu/research/infrastructure.html<br />http://www.ucsc.edu/news_events/text.asp?pid=2668<br />http://bleex.me.berkeley.edu/bleex.htm<br />http://www.esa.int/TEC/Robotics/SEMA9EVHESE_0.html<br />http://www.anybodytech.com/<br />http://www.mathworks.com/<br />

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