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8/3/2019 Treadmill Automation and Physiological Control
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Treadmill Automation and
Physiological Control systems
OO Ajayi
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Introduction:Background
Rehabilitation therapy is required forneurological impairment
Types of rehabilitation therapy:treadmill rehabilitation
mechatronics
robotic devices,....
Treadmill is used in rehabilitationtherapy-by the healthy and disabled people toenhance fitness, walking, balancing and for retraining,...
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ForSpinal Cord Injured (SCI)
patients (complete &incomplete)
Stroke
Paraplegia
Hemilegia
Requires
two or more physiotherapists
effort + time =costs
RehabilitationTherapy
Introduction:Treadmill Automation
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Introduction:Treadmill Automation
Treadmill has walking surfacelimitationand this could lead to tripping andfalling,...
balancing problem
safety concerns
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Research
works(TreadmillAutomation)
Mostly in virtual environment
Omni-Directional Treadmill
(Darken and Cockayne, 1997)Sarcos Treadport
(Christensen et al., 1998)
ATLAS System
(Noma and Miyasato, 1998)
impracticable and unhealthy for disabled people
Introduction:Treadmill Automation
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Omni-Directional Sarcos Treadport
ATLAS System
Introduction:Treadmill Automation
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Control is common in all physiologicalsystems
Physiological control systems are
implemented-by the interaction of various organsthrough processes and functions in living systems in order tomaintain an equilibrium position
Physiological control systems detects
detect changes
initiate certain changes
prevent dangers
Introduction:Physiological Control Systems
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Forfitness improvement, &
therapeutic innovations
However
limited research on
controlling HR, O2uptake
Physiologicalcontrolsystems
Introduction:Physiological Control Systems
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Research
works(Physiological
Control Systems)
Mostly on HR
HR controlled ergometer
(Jacobsen & Johansen, 1974)Self-biofeedback HR control
(Sada et al. ,1999)
Servo-controlled HR
(Kawada et al., 1999 )
HR control equipment are generally slow
Introduction:Physiological Control Systems
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Introduction:
Goals/Objectives
1. To present a new approach to treadmillautomation and physiological control systems
(serves as a platform for rehabilitation therapy)
2. Experimentally develop models for feedbackcontrollers
3. Implement controllers in real-time to validatesimulation results
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Methodology
Approach is based on Model-Based FeedbackControl System.
Modelling.Identify models from series of experiments
using the treadmill (open-loop).
Control Design.Use the models to design feedback controllers(closed-loop).
Plant*speedSpeed,HR,
Speed,HR,
speedPlant*controller
_
desired
Speed/HR
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Methodology:Experimental set-up
ApparatusTreadmill-Tunturi G300
Ultrasonic range sensor(Polaroid 6500 series)
Polar Heart Rate Monitor(transmitter belt)
PC- Matlab/Simulink,C++, Humusoft Real-timetoolbox, Digital I/O &counter/timer board, serialinterface (RS-232)
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TreadmillAutomation
Physiological Control
Systems
Results:Modelling
Modelling and Identification
0 200 400 600 800 1000 120050
100
150
200
HR
[bpm]
Input and output signals
0 200 400 600 800 1000 12000
1000
2000
3000
Time [sec]
Speed[mm/s]
0 20 40 60 80 100 120 140 160 180 200-2000
-1000
0
1000
Speed[mm/s]
Input and output signals
0 20 40 60 80 100 120 140 160 180 200-100
0
100
200
300
400
500
Time [sec]
Speed[mm/s]
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Results:Speed Controller
0 20 40 60 80 100 120 140 160 180 2000
200
400
600
800
1000
1200
1400
1600
Time [sec]
Speed[mm/s]
Measured speed
PRBS input signal
0 20 40 60 80 100 120 140 160 180 2000
200
400
600
800
1000
1200
1400
1600
Time [sec]
Speed[mm/s]
Measured speed
PRBS reference signal
No load On load
Tracking Response
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Results:Speed Controller
0 20 40 60 80 100 120 140 160 180 2000
200
400
600
800
1000
1200
1400
1600
1800
Time [sec]
Speed[mm/s]
Measured speed
PRBS reference signal
0 20 40 60 80 100 120 140 160 180 2000
200
400
600
800
1000
1200
1400
1600
Time [sec]
Speed[mm/s]
Control signal
PRBS reference signal
Abruptly jumping on and off the treadmill
Disturbance Rejection
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Results:Heart Rate Controller
0 50 100 150 200 250 30070
80
90
100
110
120
130
140
150
160
Time [sec]
HR[bpm]
Reference signal
Measured HR
Tracking Response
Series of square load test Constant load test
0 200 400 600 800 1000 120060
70
80
90
100
110
120
130
140
150
Time [s]
HR[bpm]
Reference signal
Measured HR
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Discussion
Models Capability-Demonstrated that a simple ARX model can beused to model the dynamics of the treadmill andHR from measured input-output open-loop data.
Speed Controller Capability-The speed controller has the capacity to rejectdisturbances.
HR Controller Capability-
The HR controller was designed from one of thesubjects model and implemented on othersubjects. This indicates that the controller isrelatively robust and caters for individual(inter/intra individual) differences.
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Conclusion =FeasibilityLimitations, Potentials...
Treadmill Automation
Speed Tracking
performancesatisfactory.
Hardware limitations
affects theperformance of ourposition controller.
Physiological Control
Systems
Good HR Trackingperformance achieved.
Accurate real-time
control of oxygenuptake duringmoderate treadmillexercise has beenachieved.