Biomechatronics - Lecture 6. Control interfaces for mechanical devices

Vermelding onderdeel organisatie

ARTIFICIALMECHANICAL SYSTEMS

for theUPPER EXTREMITY

DICK H. PLETTENBURG

BIOMECHATRONICS WB2432

2007-03-07 STATE OF THE ART IN UE PROSTHETICS

2007-03-14 CONTROL

2007-03-21 ACTUATION

2007-03-07 STATE OF THE ART IN UE PROSTHETICS

2007-03-14 CONTROL

2007-03-21 ACTUATION

CONTROLOF

UPPER EXTREMITYPROSTHETICS

PROSTHESESPROSTHESESCONTROL

ALWAYS BY THE BODY

MECHANICAL

ELECTRICAL

POWERFROM THE BODY

EXTERNALLY

DIFFERENTIALAMPLIFIER

BANDPASSFILTER

BANDPASSFILTER DEMODULATORDEMODULATOR SMOOTHERSMOOTHER POST-

PROCESSORPOST-

PROCESSOR

ISOLATIONAMPLIFIERISOLATIONAMPLIFIER

electrodes

these elements detect EMG from among the ambient electrical “noise”

these elements decode the raw EMG

raw EMG processed EMG

referenceelectrode

CONTROL DEMANDS:

• FUNCTION = CONTROL SIGNAL

• NO INTERFERENCE

• LOW MENTAL LOAD

LIMITED NUMBER OF CONTROL SIGNALS AVAILABLE

CONTROL METHODS

STRAPSSTRAPS

[Borchardt et.al., 1919]

STRAPSSTRAPS

[Bowker & Michael, 1992]

STRAPSSTRAPS

ELBOW CONTROL: BALLIF 1818ELBOW CONTROL: BALLIF 1818

[Borchardt et.al., 1919]

ELBOW CONTROL: CHARRIÈRE 1860ELBOW CONTROL: CHARRIÈRE 1860

[Löffler, 1984]

ELBOW CONTROL: DALISCHELBOW CONTROL: DALISCH

[Löffler, 1984]

ELBOW CONTROL: JAKSELBOW CONTROL: JAKS

[Löffler, 1984]

ELBOW CONTROL: ROESERELBOW CONTROL: ROESER

[Püschel, 1954]

ELBOW CONTROL: WILMERELBOW CONTROL: WILMER

CLOSING SPRING

HAND OPENS

CONTROLSHELL UPPER ARM

OPERATING CABLE

THUMB HAND CLOSES

ELBOW CONTROL: WILMERELBOW CONTROL: WILMER

CINEPLASTY: GIULIANO VANGHETTI 1898CINEPLASTY: GIULIANO VANGHETTI 1898

CINEPLASTY: GIULIANO VANGHETTICINEPLASTY: GIULIANO VANGHETTI

[Weir, 1998]

CINEPLASTY: FERDINAND SAUERBRUCH 1915CINEPLASTY: FERDINAND SAUERBRUCH 1915

[Klopsteg & Wilson, 1954]

CINEPLASTY: FERDINAND SAUERBRUCHCINEPLASTY: FERDINAND SAUERBRUCH

MUSCLE BULGINGMUSCLE BULGING

[Näder, 1970]

MUSCLE BULGINGMUSCLE BULGING

[Craelius, 2002]

DIFFERENTIALAMPLIFIER

BANDPASSFILTER

BANDPASSFILTER DEMODULATORDEMODULATOR SMOOTHERSMOOTHER POST-

PROCESSORPOST-

PROCESSOR

ISOLATIONAMPLIFIERISOLATIONAMPLIFIER

electrodes

these elements detect EMG from among the ambient electrical “noise”

these elements decode the raw EMG

raw EMG processed EMG

referenceelectrode

MYO-ELECTRICITYMYO-ELECTRICITY

MYO-ELECTRICITY: REITER 1948MYO-ELECTRICITY: REITER 1948

[Childress & Billock, 1970]

EMG-SIGNAL:

• ONE SITE – ONE FUNCTION

• ONE SITE – TWO FUNCTION

• TWO SITES – TWO FUNCTIONS

• TWO SITES – FOUR FUNCTIONS

• ON-OFF CONTROL

• PROPORTIONAL CONTROL

• PATTERN RECOGNITION

MYO-ACOUSTICSMYO-ACOUSTICS

ADVANTAGES:

• NO NEED FOR DIRECT SKIN CONTACT

• UNAFFECTED BY CHANGES IN SKIN IMPEDANCE

• LESS AMPLIFICATION

• LESS SHIELDING

• LESS POSITION SENSITIVE

EVALUATIONEVALUATION

GOOD/PROPER CONTROL?

-controller actuator process

sensor

disturbance

output

MUSCLE

hand forces

hand position

touch, temp

vision

human hand

“Prostheses should act as a natural extension of the human body.

We pour ourselves out into them and assimilate them as parts of our own existence.”

Simpson, 1974

CONTROLINTERFACECONTROL

INTERFACE

P R O S T H E S I S

CONTROLSYSTEM

DISPLACEMENT U

FORCE Fu

Y OPENING WIDTH

FY PINCHING FORCE

H U M A N

EXTENDED PHYSIOLOGICAL PROPRIOCEPTIONEXTENDED PHYSIOLOGICAL PROPRIOCEPTION

MUSCLE

pinch force

hand opening

vision

body poweredhand prosthesis

S MUSCLE

vision

myo-electrically controlled hand

prosthesis

MUSCLE

sound, vibration

CONTROL BY BODY MOVEMENTS:PROVIDES FEEDBACK!

CONTROL WITH MYO-SIGNALS:NO FEEDBACK!

“The EMG-signal is considered a by-product of a muscle contraction in a simular manner to considering the exhaust of a car as a manifestation of the engine’s rotation.”

Simpson, 1974

CONTROL OPTIONS WITH FEEDBACK:

• MOTION & FORCES OF THE BODY

• CINEPLASTY

CINEPLASTY: CHILDRESS 1989CINEPLASTY: CHILDRESS 1989

[Weir & Childress, 2001]

SKINSUBCUTANEOUS FAT

MUSCLE

CONTROL SIGNAL

CINEPLASTY: CHILDRESS 1998CINEPLASTY: CHILDRESS 1998

• CINEPLASTY

• NEURO ELECTRODES

[DeLuca, 1978]

NEURO ELECTRODES

[Fraunhofer Institue für Biomedizinische Technik]

Sieve-electrodes

Cuff-electrodes

NEURO ELECTRODES

Needle Array Electrodes

[www.icube.co.uk]

[Dario, 2004]

NEURO ELECTRODES

SUMMARYSUMMARY

• CONTROL vs ACTUATION

• LIMITED # CONTROL SIGNALS

• CONTROL METHODS

• EXTENDED PHYSIOLOGIC PROPRIOCEPTION

• CONTROL METHODS with FEEDBACK

Concluding remarks

PROSTHESES:

• Many different types available

• Many end up not being used:

40% non-wearers

60% non-users

• Worldwide research efforts to improve prostheticperformance

• Focus of most research is wrong!

I want a prosthesis that:

• is beautiful

• is easy to wear

• is easy to operate

I want a prosthesis that:

• is beautiful = cosmesis

• is easy to wear = comfort

• is easy to operate = control

-controller actuator process

sensor

disturbance

output

FEEDBACK IS IMPORTANT!FEEDBACK IS VERY IMPORTANT!FEEDBACK IS A NECESSITY!

ARTIFICIAL FEEDBACK:

• ELECTRICAL SKIN STIMULATION

• MECHANICAL SKIN STIMULATION

• IMPLANTABLE NERVE STIMULATION

• INTERNAL FEEDBACK

CONTROL DEMANDS:

• FUNCTION = CONTROL SIGNAL

• NO INTERFERENCE

• LOW MENTAL LOAD

LIMITED NUMBER OF CONTROL SIGNALS AVAILABLE

INCREASE # CONTROL SIGNALS:

• INTRA MUSCULAR ELECTRODES

• NEURO-MUSCULAR REORGANISATION orTARGETED MUSCLE REINNERVATION

• EMG PATTERN RECOGNITION

EMG PATTERN RECOGNITION

• MULTIPLE ELECTRODES

• FUZZY LOGIC

• WAVELET TECHNOLOGY

• ETC.

INTRA MUSCULAR ELECTRODES

BION®

http://ami.usc.edu/projects/ami/projects/bion/media/

[Weir et.al., 2004]

INTRA MUSCULAR ELECTRODES

servo controller

musculo cuteneous nervemedian nerve

radial nerveulnar nerve

[Kuiken, 2001]

NEURO-MUSCULAR REORGANISATION

[www.ric.org]

Remember Lindsey Wagner as the "Bionic Woman"?

Well, we have the new version... Claudia Mitchell ...and this one's for real.

Source: gather.com & usatoday.com; 20060914

“…. controlled by thoughts alone ….”

• CINEPLASTY

• NEURO ELECTRODES

DELFT INSTITUTE

PROSTHETICS and ORTHOTICS

home of WILMER

Current research projects:

• Prosthetics

- update open fitting

Update open fitting:

• closer to the arm

• ease of assembly

• locking mechanism

• Prosthetics

- larger sizes cosmetic prosthetic prehensor

Larger sizes cosmetic prehensor:

• small [ages 4 – 9]

• medium [ages 7 – 14]

• large [ages > 12]

Larger sizes cosmeticprehensor:

small [ages 4 – 9]

medium [ages 7 – 14]

• large [ages > 12]

• Prosthetics

- larger sizes cosmetic prosthetic prehensor

- voluntary closing terminal devices

Voluntary closing:

• literature survey

• proprioception

• adaptive fingers

• coupling mechanism

• locking mechanism

CONTROL SHELL

OPERATING CABLE

OPENING SPRING

THUMB HANDCLOSES

HAND OPENS

UPPERARM

Voluntary closing:

• start for toddlers

Pneumatics

- servo mechanism

[Dario, 2004] [DeLuca, 1978]

[www.icube.co.uk]

[Fraunhofer Institue für Biomedizinische Technik]

• Many challenges!

• Cosmesis, Comfort, Control

• Feedback control

• Multiple control sites

• Low energy solutions

DELFT INSTITUTE

PROSTHETICS and ORTHOTICS

home of WILMER

Biomechatronics - Lecture 6. Control interfaces for mechanical devices

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