1. BIOMECHATRONICS WB24321Vermelding onderdeel organisatie

2. BiomechatronicsDelft University of Technology2006-2007 Wb 2432Lecture 1: introduction Frans van der HelmDick Plettenburg2Vermelding onderdeel organisatie 3. Goal Students should have obtained general knowledge about technical aspects of solutions for the rehabilitation of patients with motoric disorders in particular about prostheses and orthoses and about functional electro-stimulation (FES) with emphasis on the sensoric and actuator interfaces (control) Students should be able to make decisions for designing appropriate assistive devices for patients with motoric disorders based on insight on the motor control of these patients 3 4. 4 5. Biology MechanicsBiomechanics Electronics Biomecha tronics 5 6. 6 7. Biomechatronics Biomechatronics describes the research and design ofassistive devices (mechanical or with electroniccompontents) for patients with an impaired motoricsystem. In particular, there will be an emphasis on thedynamics and control of the human in combinationwith the assistive device. 7 8. Biomechatronics Started at University of Twente (Peter Veltink) Biomedical Technology Institute (BMTI) Electrical Engineering Mechanical Engineering Emphasis on lower extremities Standing Walking Together with Delft University of Technology Graduate School Integrated BioMedical Engineering (IBME) Emphasis on upper extremities & motor control 8 9. Topics (Human motion control) Impaired motoric system Neurology Rehabilitation Assistive devices Mechanical devices Electrical devices Actuators Sensors The human in control: Interfaces Training devices Motor system (muscles, joints) Central Nervous System Haptic interfaces Electrical stimulation9 10. Human motion controlKm(u0) -r++Bm (u0)-ru Mex +Skeletal Hact r + + F M inertia KfIb-r+IaMuscle-r II Spindle s d10 11. Motion control of artificial sensor naturalartificial sensor/ stimulator encodersensornerveKintrinsic+ + Bintrinsicsensori- u0 Mex+ motor Hact +1/J cortex +M KfBreflexive+Kreflexive 11 12. Physiological motor control the Central Nervous system is a hierarchical control systemmodulationinside outsidesignal Spinal reflex loopbodybodycontrol signal forcereflexmusclecontrollerinternal externalload sensorload(skeleton) dynamics 12movement 13. Impaired motor controlPatient groups Impairmentcomplete SCIincomplete SCIStrokeMS disabilityCPParkinsonAmputees.. handicapmodulationsignalcontrol reflex signal13controller 14. Impaired motor controlPatient groups Impairmentcomplete SCIincomplete SCIStrokeMS disabilityCPParkinsonAmputees.. handicapmodulationsignalcontrol reflex signal14controller 15. Interaction with the impaired motor control systemGOALStraining artificial real time controlmodulation+ modulationinsideoutsidesignal Spinal reflex loopbody bodycontrol signalforce reflex muscle controller internalexternal loadsensorload (skeleton)dynamics 15movement 16. Interaction with the impaired motor control system mechanics MEANS sensing actuation Sensors Interaction Artificial sensors with CNSController Motors:PlantArtificial Artificialcontroller actuatorsOrthosis/Intention FES Prosthesis movementforceSkeletal Higher CNSspinal activation Motors system + centres cordMusclesexternalController CNSload Sensors Physiological16 Sensory System 17. Interaction with the impaired motor control system MECHANICS 17 18. Interaction with the impaired motor control system MECHANICS 18 19. Interaction with the impaired motor control system MECHANICS 19 20. Interaction with the impaired motor control system MECHANICS 20 21. Interaction with the impaired motor control systemSENSING artificial sensorssignal analysis 3D rate gyroscope signals Kalmanoptimalfilter estimation signals of orientation 3D accelerometer(Ltters et al., 1998, University of Twente)(Luinge et al., 1999, University of Twente) physiological sensors21(Sinkjaer et al., Aalborg Universtiy) 22. Interaction with the impaired motor control systemACTUATIONmuscle stimulation artificial actuators controllable knee damping Electromechanically controlled valve hydraulic cylinder(Franken et al., 1994, University of Twente) (Dyck et al, 1975; Popovic et al, Universities of Belgrade and Alberta) 22 23. Interaction with the impaired motor control systemINTERACTION WITH CNSFrom CNSto CNS EEG / MEG stimulation of reflexes ENG stimulation of sensors EMG mechanical interaction with movements/forcesextremities influence feedbackto CNS Example EMG controlled FES FES EMG The key gripassisted controlledGrasp MeCFESstimulator (R. Thorsen et al., stimulation EMGUniversity of Twente,Politecnico di Milano1999) 23 Slip 24. FES assisted mobility in paraplegics muscleimplantablecontroller stimulatoruserintensionc p snatural sensors paraplegic subjectartificial sensors triaxialaccelerometer standing upwalking24Institute for Biomedical Technology 25. Modulation of reflexes in stroke patients Inhibition of calf muscle stretch reflex instroke patients bystimulation of the deep peroneal nerveSpinalcontrollerstim delaystretchsensorsShank frontShank back25Experiments were performed at Aalborg University 26. Modulation of reflexes in stroke patients soleus EMG 100 mV stimulation + stretchstretch only -0.2 00.20.4 time [s] angular velocity 200 deg/sSpinalcontrollersoleus EMGMoment150 9stimpeak stretch reflex EMG [V] mean moment [Nm] delayno stimulationno stimulation stretch sensorsstimulation260 stimulation 2 0 2000 200v [deg/s]v [deg/s] (Veltink et al, 2000) 27. Modulation of reflexes in stroke patients 300 no stimulationEMG (uV) 200 100Stimulation 0Spinalcontroller 0. 250 500 750(Voormolen et al, accepted) (deg/s) stim delaystretchsensors 27Experiments were performed at Aalborg University 28. Interaction with the impaired motor control systemACTUATIONmuscle stimulation identification of muscle dynamics3000 .. 02(deg/s )(Franken et al., 1994, University of Twente)0t (s) 10stim u activation dynamicsx M been . velocity angle 28dependencydependency 29. Interaction with the impaired motor control systemACTUATIONMuscle dynamics:muscle length and stimulation frequency dependency303030202020252525202020M(Nm)M(Nm)M(Nm)1515151010105 5 50 0 0 0-5 0-5 0-50 1 23 4 5 60 t (s)97 0 0 1 23t (s) 4 5 6 97 00 1 23 t (s)4 5 697Short muscle Long muscle Tibialis anterior, Healthy subject29 (Mela, Veltink, Huijing 1999) 30. Interaction with the impaired motor control systemACTUATION Muscle fatigue: 30(Franken et al., 1994) 31. FES assisted mobility in paraplegics sittingstand standupupstanding StandingStep left Standing (right leg(left legin front)in front)Step right31 32. Interaction with the impaired motor control systemSENSING 32 33. Challenges FES Use FES for open-loop tasks: Bladder control Pain Use of FES as source of energy FES cycling FES in combination with orthoses Use FES for sensor stimulation Cochlear implants (ear) Skin stimulation Use FES in closed-loop tasks Balancing Walking33 34. Course infoContact: Dick Plettenburg (D.H.Plettenburg@tudelft.nl) Frans van der Helm (F.C.T.vanderHelm@tudelft.nl)3rd quarter:Wednesday 3rd+ 4th hour (10.45 12.30), Room J4th quarter:Wednesday 3th + 4th hour (10.45 12.30), Room EExcept for April, 25: 14.30 16.30 at LUMC! June 6: 08.45 12.30, Room EFebruary 7 June 6, 200715 lectures, 1 practical assignment: 4 ECPre-requisites: Human Motion Control (wb 2407) 34 35. Course info Blackboard: Announcements Lecture Notes Assignments Chapters Reader Course Manual: What should be learned Examination: Written examination: June 20, 2007 Grades: 25% oral presentation assignment, 25% assignment report 50% written examination Books (optional)35 36. Publisher: Springer [2000]ISBN-13: 978-1-85233-279-4 Euro 150.0036 37. Publisher: VSSD Delft [2006] www.vssd.nl/hlf/m011.htm ISBN-13: 978-90-71301-75-3 Euro 27.5037 38. Lecture schedule2007-02-07 IntroductionDick Plettenburg2007-02-14 Human motion controlErwin de Vlugt2007-02-21 Artificial mechanical systems for the lower extremities (prostheses and orthoses) Bart Koopman (UT)2007-02-28 Rehabilitation of patients with motion disordersCarel Meskers (LUMC)2007-03-07 Artificial mechanical systems for the upper extremities (prostheses and orthoses) Dick Plettenburg2007-03-14 Actuators for mechanical devicesDick Plettenburg2007-03-21 Control interfaces for mechanical devices Dick Plettenburg 38 39. Lecture schedule (cont.)2007-04-11 Exo-skeletonsJust Herder2007-04-18 Gait analysisJaap Harlaar (VU)2007-04-25 Motion control in patients with neurological disorders Bob van Hilten (LUMC)2007-05-09 Artificial motor control Frans van der Helm2007-05-16 Artificial sensoric interfaces Frans van der Helm2007-05-23 Functional electro-stimulation DirkJan Veeger2007-05-30 Training devices in rehabilitation Dick Plettenburg2007-06-06 Presentation student assignments you 39