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1 BIOMECHATRONICS WB2432
Vermelding onderdeel organisatie
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BIOMECHATRONICS
WB2432
Vermelding onderdeel organisatie
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Biomechatronics
Delft University of Technology2006-2007
Wb 2432Lecture 1: introduction
Frans van der HelmDick Plettenburg
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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
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5
Electronics
tronics
Biomechanics
Biology
mecha
Mechanics
Bio
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Biomechatronics
• Biomechatronics describes the research and design of assistive devices (mechanical or with electronic compontents) for patients with an impaired motoricsystem.
• In particular, there will be an emphasis on the dynamics and control of the human in combination with the assistive device.
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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
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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 stimulation
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Human motion control
Skeletalinertiar ∫ ∫
F M θ
-r
-r
u MexHact
+
Km(u0)
Bm (u0)
+
++
KfτIb
α
-r
-r+
+
Muscle
Spindle
γs
γd
τ
τ
Ia
II
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Motion control of artificial sensor
∫ ∫M θ
u0 MexHact
+
Kintrinsic
Bintrinsic
+
++
Kfτ
α
+
+
Kreflexive
Breflexive
encoder
1/J
artificialsensorstimulator
sensori-motorcortex
naturalsensor/nerve
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reflexcontroller
Physiological motor controlthe Central Nervous system is a hierarchical control system
muscle
sensordynamics
internalload(skeleton)
externalload
controlsignal
modulationsignal
insidebody
outsidebodySpinal reflex loop
force
movement
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complete SCIincomplete SCIStrokeMSCPParkinsonAmputees…..
Patient groups Impairment
disability
handicap
Impaired motor control
controlsignal
modulationsignal
reflexcontroller
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complete SCIincomplete SCIStrokeMSCPParkinsonAmputees…..
Patient groups Impairment
disability
handicap
Impaired motor control
controlsignal
modulationsignal
reflexcontroller
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Interaction with the impaired motor control system
GOALSartificial real time control
training
modulation
+
reflexcontroller muscle
sensordynamics
internalload(skeleton)
externalload
controlsignal
modulationsignal
insidebody
outsidebodySpinal reflex loop
force
movement
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SensorsPhysiologicalSensory System
Higher CNS centres
ControllerArtificialcontroller
SensorsArtificialsensors
Motors:Artificialactuators
MotorsMuscles
forceSkeletalsystem +externalload
activation
movement
Interaction with the impaired motor control systemMEANS
FES
• actuation
Intention
• Interactionwith CNS
Controller CNS
spinalcord
• sensing
Plant
Orthosis/Prosthesis
• mechanics
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Interaction with the impaired motor control systemMECHANICS
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Interaction with the impaired motor control systemMECHANICS
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Interaction with the impaired motor control systemMECHANICS
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Interaction with the impaired motor control systemMECHANICS
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Interaction with the impaired motor control systemSENSING
physiological sensors
(Sinkjaer et al., Aalborg Universtiy)
artificial sensors
(Lötters et al., 1998, University of Twente) (Luinge et al., 1999, University of Twente)
Kalmanfilter
optimalestimationof orientation
3D rate gyroscopesignals
signals3D accelerometer
signal analysis
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Interaction with the impaired motor control systemACTUATION
muscle stimulation
(Franken et al., 1994, University of Twente) (Dyck et al, 1975;Popovic et al, Universities of Belgrade and Alberta)
artificial actuators
hydrauliccylinder
Electromechanicallycontrolled valve
controllableknee damping
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Interaction with the impaired motor control systemINTERACTION WITH CNS
to CNS• stimulation of reflexes• stimulation of sensors• mechanical interaction withextremities influence feedbackto CNS
From CNS• EEG / MEG• ENG• EMG• movements/forces
(R. Thorsen et al.,University of Twente,Politecnico di Milano
1999)
ExampleEMG controlled FES
FESassistedGrasp
Slip
The keygrip MeCFES
EMGcontrolledstimulator
EMGstimulation
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FES assisted mobility in paraplegics
Institute for Biomedical Technology
paraplegic subject
walking
artificial sensors
triaxialaccelerometer
userintension
muscleimplantablestimulatorcontroller
c
s
p
natural sensors
standing up
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Inhibition of calf muscle stretch reflex in stroke patients by
stimulation of the deep peroneal nerve
Shank front Shank back
Experiments were performed at Aalborg University
Modulation of reflexes in stroke patients
Spinalcontroller
delay
stretchsensors
stim
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Spinalcontroller
delay
stretchsensors
0 2000
150
0 2002
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v [deg/s]v [deg/s]
soleus EMG Moment
mea
n m
omen
t [N
m]
peak
stre
tch
refle
x EM
G [ μ
V]
no stimulation
stimulation
no stimulation
stimulation
100
V�
stretch only
-0.2 0 0.2 0.4time [s]
stimulation + stretch
200
deg
/s
soleus EMG
angular velocity
Modulation of reflexes in stroke patients
stim
(Veltink et al, 2000)
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Modulation of reflexes in stroke patients
Spinalcontroller
delay
stretchsensors
stim(Voormolen et al, accepted)
Experiments were performed at Aalborg University
0 2 5 0 5 0 0 7 5 0
0
1 0 0
2 0 0
3 0 0
Stimulation
no stimulation
.ϕ (deg/s)
EM
G (u
V)
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(Franken et al., 1994, University of Twente)
muscle stimulation
Interaction with the impaired motor control systemACTUATION
activation dynamics
u x Mbeen
velocitydependency
angledependency
ϕϕ.stim
identification of muscle dynamics
t (s)
ϕ..
0
10
3000
2(deg/s )
0
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Muscle dynamics: muscle length and stimulation frequency dependency
(Mela, Veltink, Huijing 1999)
Tibialis anterior, Healthy subject
Short muscle Long muscle
Interaction with the impaired motor control systemACTUATION
0 1 2 3 4 5 6 7-5
0
5
10
15
20
25
30
90
20
0
M(N
m)
t (s) 0 1 2 3 4 5 6 7-5
0
5
10
15
20
25
30
90
20
0
M(N
m)
t (s)0 1 2 3 4 5 6 7-5
0
5
10
15
20
25
30
90
20
0
M(N
m)
t (s)
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Muscle fatigue:
Interaction with the impaired motor control systemACTUATION
(Franken et al., 1994)
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FES assisted mobility in paraplegics
standing
sitting
Standing(right legin front)
Standing(left legin front)
standup
Step right
standup
Step left
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Interaction with the impaired motor control systemSENSING
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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• Walking
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Course info
Contact:Dick Plettenburg ([email protected])Frans van der Helm ([email protected])
3rd quarter:Wednesday 3rd+ 4th hour (10.45 – 12.30), Room J
4th 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 E
February 7 – June 6, 2007
15 lectures, 1 practical assignment: 4 EC
Pre-requisites: Human Motion Control (wb 2407)
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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 report50% written examination
• Books (optional)
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Publisher: Springer [2000]
ISBN-13: 978-1-85233-279-4
± Euro 150.00
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Publisher: VSSD – Delft [2006]
www.vssd.nl/hlf/m011.htm
ISBN-13: 978-90-71301-75-3
Euro 27.50
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Lecture schedule
2007-02-07 Introduction Dick Plettenburg2007-02-14 Human motion control Erwin de Vlugt2007-02-21 Artificial mechanical systems for
the lower extremities (prosthesesand orthoses) Bart Koopman (UT)
2007-02-28 Rehabilitation of patients withmotion disorders Carel Meskers (LUMC)
2007-03-07 Artificial mechanical systems forthe upper extremities (prosthesesand orthoses) Dick Plettenburg
2007-03-14 Actuators for mechanical devices Dick Plettenburg
2007-03-21 Control interfaces for mechanicaldevices Dick Plettenburg
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Lecture schedule (cont.)
2007-04-11 Exo-skeletons Just Herder
2007-04-18 Gait analysis Jaap Harlaar (VU)
2007-04-25 Motion control in patients withneurological disorders Bob van Hilten (LUMC)
2007-05-09 Artificial motor control Frans van der Helm
2007-05-16 Artificial sensoric interfaces Frans van der Helm
2007-05-23 Functional electro-stimulation DirkJan Veeger
2007-05-30 Training devices in rehabilitation Dick Plettenburg
2007-06-06 Presentation student assignments you
