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Rehabilitation robotics using Central Pattern Generators
Student: Sarah MOUSSOUNI: ::::
Master ProjectFinal Presentation
June 25th ,2010
Supervisors : Renaud RONSSE
: Mohamed BOURI
Professor : Auke Jan IJSPEERT
ENSIMAG : Florence MARANINCHI
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
� Project context : BioRob Lab & LSRO� Goals of the project � Presentation of the Adaptive oscillators � Presentation of the Knee-orthosis
SIMULINK modeling
Plan
2
� SIMULINK modeling � Work on the Knee-orthosis
� Transparent mode� Integration of the adaptive oscillators� Results and discussion
� Conclusion and future work
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Biorobotics & LSRO Lab
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
3 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Goal :
To provide a new rehabilitation
method to disabled persons
Goal :
Conception of locomotor re-
education and walking
assistance devices
� Issue
Rehabilitation robotics
It is an application of engineering to design and develop technological
solutions for people suffering from movement disorders
� Solution
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
4 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Goals of the project
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Autonomy
5 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Movement
Goals of the project
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Autonomy
6 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Goals of the project
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Movement
7 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Goals of the project
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Movement
8 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
1) Investigation of a rehabilitation protocol based on the theory of adaptive oscillator.
2) Implementation of the method on the Knee orthosis
Goals of the project
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
9
2) Implementation of the method on the Knee orthosis
3) Test of the method with various movements
4) Validation of the method on healthy people
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
General Project Schema
Biorobotics Lab
Rehabilitation robotics
SIMULINK modeling
LSRO Lab
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Adaptive oscillators Knee-orthosis
10 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
SIMULINK modeling
Implementation and validation
Rehabilitation protocol
Force processing
General Project Schema
Rehabilitation robotics
SIMULINK modeling
LSRO Lab
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Knee-orthosis Adaptive oscillators
Biorobotics Lab
11 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
SIMULINK modeling
Implementation and validation
Rehabilitation protocol
Force processing
� Used in the context of rhythmic movement assistance
� Predict the state evolution in real-time (without delay)
Adaptive oscillators
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
� Modified Hopf oscillator
12 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
� Modified Hopf oscillator
Adaptive oscillators
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Signal F(t) = sin (20t)
13 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
General Project Schema
Knee-orthosis Rehabilitation roboticsAdaptive oscillators
SIMULINK modeling
LSRO Lab
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Biorobotics Lab
14 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
SIMULINK modeling
Implementation and validation
Rehabilitation protocol
Force processing
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
� Rehabilitation robot� One degree of freedom� Position and force sensors
Environment : Knee Orthosis
15
KneeOrthosis
Torque Γ
Orthosis Position
Measuredforce
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Integration of the CPG system
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Timeline
MeasurementSys
characterizationControl
Modeling the System
16
Control
Test & validation SimuLink + Matlab
Test & validation FlexWare + Orthosis
Test & validation FlexWare + Orthosis
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
General Project Schema
Knee-orthosis Rehabilitation roboticsAdaptive oscillators
SIMULINK modeling
LSRO Lab
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Biorobotics Lab
17 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
SIMULINK modeling
Implementation and validation
Rehabilitation protocol
Force processing
Integration of the CPG system
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Timeline : MatLab – Simulink implementation
MeasurementSys
characterizationControl
Modeling the System
18
Control
Test & validation SimuLink + Matlab
Test & validation FlexWare + Orthosis
Test & validation FlexWare + Orthosis
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Model and simulation
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI19
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Model and simulation
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI20
Torque
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
CPG & torque estimator
Dynamical model + Orthosis Position controller
Adaptive oscillator
Measuredposition
x
y
w
SignalEstimato
Position
Velocity
21
w
Amplitude
Offset
Estimator Acceleration
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Simulation & resultsω =2π � ω = 1.5π
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI22
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Simulation & resultsω =2π � ω = 1.5π
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI23
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Simulation & resultsω =2π � ω = 1.5π
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI24
General Project Schema
Knee-orthosis Rehabilitation roboticsAdaptive oscillators
SIMULINK modeling
LSRO Lab
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Biorobotics Lab
25 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
SIMULINK modeling
Implementation and validation
Rehabilitation protocol
Force processing
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Timeline: Force
Integration of the CPG system
MeasurementSys
characterizationControl
Modeling the System
26
Control
Test & validation SimuLink + Matlab
Test & validation FlexWare + Orthosis
Test & validation FlexWare + Orthosis
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Implementation: Transparent mode
� 1st Objective:
Make the orthosis transparent for the user
� 5 Steps :
1
Knee orthosis
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI27
Force measured
Digital analogue value
(Volt) Calibration
Volt => NewtonInterpolation Filtering
ControlApplied torque
2 34
5
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Calibration, Interpolation and filter
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI28
Using the following filter :
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Implementation: Filtering
Using the following filter :
29 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Measuring the stabilization tension for a set of position
Implementation: Transparent mode
30 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Implementation: Transparent mode
Measured position
31
position
Measured force
+-
Desired force =0
+
PID Controller
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Validation of the transparent mode
62.95
80
100
120
Measured force (Newton)
32 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
47.17
25.82
38.29
0
20
40
60
Without any implem With transparent mode
neg
pos
General Project Schema
Knee-orthosis Rehabilitation roboticsAdaptive oscillators
SIMULINK modeling
LSRO Lab
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Biorobotics Lab
33 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
SIMULINK modeling
Implementation and validation
Rehabilitation protocol
Force processing
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Timeline : Integrating CPG
Integration of the CPG system
Processing the force sensors measurement
Modeling the System
34
Test & validation SimuLink + Matlab
Test & validation FlexWare + Orthosis
Test & validation FlexWare + Orthosis
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Validation of the oscillator block
35 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Validation of the system
24.66
30
40
50
60
Human effort
62.95
38.29
80
100
120
Measured force (Newton)
36 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
21.35
0
-15.21
0
-20-40
-30
-20
-10
0
10
20
Without any implem
With transparent mode
With force controller and
assistance K= 0.5
Extension
Flexion
47.17
25.82
10.61
38.29
18.29
0
20
40
60
Without any implem
With transparent
mode
With force controller and assistance K=
0.5
Extension
Flexion
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
DEMO
37 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
� Test of the method with various movements
� Validation of the method on healthy people
Future work
38
� Validation of the method on healthy people
� Work on the LAMBDA robot offering 3 DOF
� Design of a preliminary rehabilitation protocol.
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Questions ?
39 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Additional slide [1] : Schema of the Knee orthosis system
40 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Additional slide [2] : Controller
41 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Additional slide [3] : Part of the Simulink model
42 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Additional slide [4] : E.g. of the measurement procedure
43 Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI
Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion
Additional slide [5] : General schema
Adaptive oscillatorForce
controller
Measured
Measured force
DesiredForce
Rehabilitation robotics using Central Pattern Generators | EPFL | June 2010 | Sarah MOUSSOUNI44
Torque estimator
Measuredposition
Signal estimation : position, velocity and acceleration