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BiomechatronicsDelft University of Technology

Course 2006-2007

(Wb 2432)

Frans van der Helm

Lecture 13

Artificial motion control

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Contents• Artificial motor control

 – Full artificial control

 – Modulation of natural control system

• Model of human controller

 – stability analyis

 – limitations and adaptation

• Supervisory control situations – supervisor over automated control loops

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artificial motor control

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artificial motor controlinteracts with physiological control

Reflexivecontrol

Artificialmotorcontrol

Physiologicalfeedforward

control

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reflexcontroller

Control 

signals 

assistive concepts

Sensory signals 

1.Take over control 

2.

influencing behaviour 

control system 

3.training 

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reflexcontroller

Control 

signals 

Sensory signals 

1.Take over control 

assistive concepts

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Bionic gloveDr. Prochaska, Edmonton

Take over control

Cleveland FES Center

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stimRRD: Dr. Hermens

Dr. KenneyDr. Nene

UT: Ing. Bulstra

Dr. HolsheimerVerloopMST: Dr. v.d. Aa

Dr. Buschman

2 channel stimulator for drop foot 

Take over control

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Take over control

FES for complete spinal cord lesion

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reflexcontroller

Control 

signals 

Sensory signals 

2.

influencing behaviour 

Control system 

assistive concepts

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Influencing behaviour control system

Parkinson patient 

Dr. Lenders, MST

Medtronic

Brain stimulation 

with Parkinson 

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Dr. Holsheimer, UT

Influencing sensation Spinal cord stimulation against pain 

Influencing behaviour control system

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stim

reflexcontroller

attenuationhypersensitive reflexes

by reciprocal inhibition

Influencing behaviour control system

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Spasticity calf muscle

The problem

CVApatient

t (s)0.0 1.0

200

ϕ(deg)

SoleusEMG (uV)

200

-20

ϕ(deg/s)

.

0

0

0

Ankle

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stim

reflexcontroller

Shank front Shank back

Influencing behaviour control systemattenuation

hypersensitive reflexes

by reciprocal inhibition

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     1     0      0 

     V      m   

stretch only

-0.2 0 0.2 0.4

time [s]

stimulation + stretch

200

deg/s

soleus EMG

angular velocity0 200

0

150

0 2002

9

v [deg/s]v [deg/s]

soleus EMG Moment

  m  e  a  n  m  o  m  e  n   t   [   N  m   ]

  p  e  a   k  s   t  r  e   t  c   h

  r  e   f   l  e  x   E   M   G   [    µ   V   ]

no stimulation

stimulation

no stimulation

stimulation

results 

Influencing behaviour control system

Attenuation hypersensitive reflexesby reciprocal inhibition

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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)

   E   M   G    (  u   V   )

During walking

(Voormolen et al, 2000)

Stimulationand stretchduring initialswing phase

of gait

Experiments were performed at Aalborg University

Spinalcontroller

delay

stretchsensors

stimϕ (deg/s)

   E   M   G    (  u   V   )

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artificial motor control

Hierarchical control

Assistive system Human body 

Intention detection

and sensory feedbackto the user

Conscious motor

planning and sensing

Task coordinationMotor coordination

andsensory integration

Low levelactuator control

Muscle controlwith proprioceptive

feedback

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artificial motor control

user interaction

continuous

operator

control

intention

detection

Artificial

reflex

Impedance

control

High 

level 

Low 

level 

Continuous 

control 

Discrete 

time control 

Assistive system Human body 

Intention detectionand sensory feedback

to the user

Conscious motorplanning and sensing

Task coordinationMotor coordination

andsensory integration

Low levelactuator control

Muscle controlwith proprioceptive

feedback

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continuous

operatorcontrol

intention

detection

Artificial

reflex

Impedance

control

High 

level 

Low 

level 

Continuous 

control 

Discrete 

time control 

standing

sitting

Standing(right leg

in front)

Standing(left leg

in front)

stand 

up

Step right 

stand 

up

Step left 

Finite state control

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artificial motor control

PrincipleControl a relation between

position and force

K 

continuous

operatorcontrol

intention

detection

Artificial

reflex

Impedance

control

High 

level 

Low 

level 

Continuous 

control 

Discrete 

time control 

F y 

y r 

r ky = F + ky 

F 

y r 

y 

y 

F 

Z C  Plant + 

load F r 

y r 

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artificial motor control

Physiological Impedance control

of the human body

Crago et al., CWRU

Control ofFES assisted

hand grasp

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MIT, Hogan, Krebs

artificial motor control

artificial Impedance control

of assistive system

Impedance controlled systemfor standing-up training

(Kamnik & Bajd, Ljubljana)

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Physical Therapy

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Lokomat system

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LOPES

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LOPES

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BLEEX

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HAL5

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HAL5