artificial motion control I
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Transcript of artificial motion control I
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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
