Biomechatronics - Lecture 12. Artificial motor control part 2
Biomechatronics - Lecture 6. Control interfaces for mechanical devices
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Transcript of Biomechatronics - Lecture 6. Control interfaces for mechanical devices
Vermelding onderdeel organisatie
ARTIFICIALMECHANICAL SYSTEMS
for theUPPER EXTREMITY
DICK H. PLETTENBURG
BIOMECHATRONICS WB2432
© Dick H. Plettenburg, 2007
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
Vermelding onderdeel organisatie
CONTROLOF
UPPER EXTREMITYPROSTHETICS
© Dick H. Plettenburg, 2007
PROSTHESESPROSTHESESCONTROL
ALWAYS BY THE BODY
MECHANICAL
ELECTRICAL
POWERFROM THE BODY
EXTERNALLY
© Dick H. Plettenburg, 2007
© Dick H. Plettenburg, 2007
DIFFERENTIALAMPLIFIER
DIFFERENTIALAMPLIFIER
BANDPASSFILTER
BANDPASSFILTER DEMODULATORDEMODULATOR SMOOTHERSMOOTHER POST-
PROCESSORPOST-
PROCESSOR
ISOLATIONAMPLIFIERISOLATIONAMPLIFIER
ISOLATIONAMPLIFIERISOLATIONAMPLIFIER
electrodes
these elements detect EMG from among the ambient electrical “noise”
these elements decode the raw EMG
raw EMG processed EMG
referenceelectrode
© Dick H. Plettenburg, 2007
CONTROL DEMANDS:
• FUNCTION = CONTROL SIGNAL
• NO INTERFERENCE
• LOW MENTAL LOAD
LIMITED NUMBER OF CONTROL SIGNALS AVAILABLE
© Dick H. Plettenburg, 2007
CONTROL METHODS
© Dick H. Plettenburg, 2007
STRAPSSTRAPS
[Borchardt et.al., 1919]
© Dick H. Plettenburg, 2007
STRAPSSTRAPS
© Dick H. Plettenburg, 2007
STRAPSSTRAPS
© Dick H. Plettenburg, 2007
STRAPSSTRAPS
[Bowker & Michael, 1992]
© Dick H. Plettenburg, 2007
STRAPSSTRAPS
© Dick H. Plettenburg, 2007
ELBOW CONTROL: BALLIF 1818ELBOW CONTROL: BALLIF 1818
[Borchardt et.al., 1919]
© Dick H. Plettenburg, 2007
ELBOW CONTROL: CHARRIÈRE 1860ELBOW CONTROL: CHARRIÈRE 1860
[Löffler, 1984]
© Dick H. Plettenburg, 2007
ELBOW CONTROL: DALISCHELBOW CONTROL: DALISCH
[Löffler, 1984]
© Dick H. Plettenburg, 2007
ELBOW CONTROL: JAKSELBOW CONTROL: JAKS
[Löffler, 1984]
© Dick H. Plettenburg, 2007
ELBOW CONTROL: ROESERELBOW CONTROL: ROESER
[Püschel, 1954]
© Dick H. Plettenburg, 2007
ELBOW CONTROL: WILMERELBOW CONTROL: WILMER
CLOSING SPRING
HAND OPENS
CONTROLSHELL UPPER ARM
OPERATING CABLE
THUMB HAND CLOSES
© Dick H. Plettenburg, 2007
ELBOW CONTROL: WILMERELBOW CONTROL: WILMER
© Dick H. Plettenburg, 2007
CINEPLASTY: GIULIANO VANGHETTI 1898CINEPLASTY: GIULIANO VANGHETTI 1898
© Dick H. Plettenburg, 2007
CINEPLASTY: GIULIANO VANGHETTICINEPLASTY: GIULIANO VANGHETTI
[Weir, 1998]
© Dick H. Plettenburg, 2007
CINEPLASTY: FERDINAND SAUERBRUCH 1915CINEPLASTY: FERDINAND SAUERBRUCH 1915
[Klopsteg & Wilson, 1954]
© Dick H. Plettenburg, 2007
CINEPLASTY: FERDINAND SAUERBRUCHCINEPLASTY: FERDINAND SAUERBRUCH
[Klopsteg & Wilson, 1954]
© Dick H. Plettenburg, 2007
MUSCLE BULGINGMUSCLE BULGING
[Näder, 1970]
© Dick H. Plettenburg, 2007
MUSCLE BULGINGMUSCLE BULGING
[Craelius, 2002]
© Dick H. Plettenburg, 2007
DIFFERENTIALAMPLIFIER
DIFFERENTIALAMPLIFIER
BANDPASSFILTER
BANDPASSFILTER DEMODULATORDEMODULATOR SMOOTHERSMOOTHER POST-
PROCESSORPOST-
PROCESSOR
ISOLATIONAMPLIFIERISOLATIONAMPLIFIER
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
© Dick H. Plettenburg, 2007
MYO-ELECTRICITY: REITER 1948MYO-ELECTRICITY: REITER 1948
[Childress & Billock, 1970]
© Dick H. Plettenburg, 2007
MYO-ELECTRICITYMYO-ELECTRICITY
EMG-SIGNAL:
• ONE SITE – ONE FUNCTION
• ONE SITE – TWO FUNCTION
• TWO SITES – TWO FUNCTIONS
• TWO SITES – FOUR FUNCTIONS
© Dick H. Plettenburg, 2007
MYO-ELECTRICITYMYO-ELECTRICITY
• ON-OFF CONTROL
• PROPORTIONAL CONTROL
• PATTERN RECOGNITION
© Dick H. Plettenburg, 2007
MYO-ACOUSTICSMYO-ACOUSTICS
ADVANTAGES:
• NO NEED FOR DIRECT SKIN CONTACT
• UNAFFECTED BY CHANGES IN SKIN IMPEDANCE
• LESS AMPLIFICATION
• LESS SHIELDING
• LESS POSITION SENSITIVE
© Dick H. Plettenburg, 2007
EVALUATIONEVALUATION
GOOD/PROPER CONTROL?
© Dick H. Plettenburg, 2007
+
-controller actuator process
sensor
disturbance
output
© Dick H. Plettenburg, 2007
C
N
S
MUSCLE
hand forces
hand position
BONE
touch, temp
vision
human hand
© Dick H. Plettenburg, 2007
“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
© Dick H. Plettenburg, 2007
CONTROLINTERFACECONTROL
INTERFACE
P R O S T H E S I S
CONTROLSYSTEM
CONTROLSYSTEM
DISPLACEMENT U
FORCE Fu
Y OPENING WIDTH
FY PINCHING FORCE
H U M A N
EXTENDED PHYSIOLOGICAL PROPRIOCEPTIONEXTENDED PHYSIOLOGICAL PROPRIOCEPTION
© Dick H. Plettenburg, 2007
C
N
S
MUSCLE
pinch force
hand opening
BONE
vision
body poweredhand prosthesis
© Dick H. Plettenburg, 2007
C
N
S MUSCLE
vision
myo-electrically controlled hand
prosthesis
MUSCLE
sound, vibration
© Dick H. Plettenburg, 2007
CONTROL BY BODY MOVEMENTS:PROVIDES FEEDBACK!
CONTROL WITH MYO-SIGNALS:NO FEEDBACK!
© Dick H. Plettenburg, 2007
“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
© Dick H. Plettenburg, 2007
CONTROL OPTIONS WITH FEEDBACK:
• MOTION & FORCES OF THE BODY
© Dick H. Plettenburg, 2007
CONTROL OPTIONS WITH FEEDBACK:
• MOTION & FORCES OF THE BODY
• CINEPLASTY
© Dick H. Plettenburg, 2007
[Klopsteg & Wilson, 1954]
© Dick H. Plettenburg, 2007
CINEPLASTY: CHILDRESS 1989CINEPLASTY: CHILDRESS 1989
[Weir & Childress, 2001]
© Dick H. Plettenburg, 2007
SKINSUBCUTANEOUS FAT
MUSCLE
CONTROL SIGNAL
CINEPLASTY: CHILDRESS 1998CINEPLASTY: CHILDRESS 1998
© Dick H. Plettenburg, 2007
CONTROL OPTIONS WITH FEEDBACK:
• MOTION & FORCES OF THE BODY
• CINEPLASTY
• NEURO ELECTRODES
© Dick H. Plettenburg, 2007
[DeLuca, 1978]
NEURO ELECTRODES
© Dick H. Plettenburg, 2007
NEURO ELECTRODES
[Fraunhofer Institue für Biomedizinische Technik]
Sieve-electrodes
Cuff-electrodes
© Dick H. Plettenburg, 2007
NEURO ELECTRODES
Needle Array Electrodes
[www.icube.co.uk]
© Dick H. Plettenburg, 2007
[Dario, 2004]
NEURO ELECTRODES
© Dick H. Plettenburg, 2007
SUMMARYSUMMARY
• CONTROL vs ACTUATION
• LIMITED # CONTROL SIGNALS
• CONTROL METHODS
• EXTENDED PHYSIOLOGIC PROPRIOCEPTION
• CONTROL METHODS with FEEDBACK
© Dick H. Plettenburg, 2007
Concluding remarks
© Dick H. Plettenburg, 2007
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!
© Dick H. Plettenburg, 2007
I want a prosthesis that:
• is beautiful
• is easy to wear
• is easy to operate
© Dick H. Plettenburg, 2007
I want a prosthesis that:
• is beautiful = cosmesis
• is easy to wear = comfort
• is easy to operate = control
© Dick H. Plettenburg, 2007
+
-controller actuator process
sensor
disturbance
output
© Dick H. Plettenburg, 2007
FEEDBACK IS IMPORTANT!FEEDBACK IS VERY IMPORTANT!FEEDBACK IS A NECESSITY!
© Dick H. Plettenburg, 2007
ARTIFICIAL FEEDBACK:
• ELECTRICAL SKIN STIMULATION
• MECHANICAL SKIN STIMULATION
• IMPLANTABLE NERVE STIMULATION
• INTERNAL FEEDBACK
© Dick H. Plettenburg, 2007
© Dick H. Plettenburg, 2007
CONTROL DEMANDS:
• FUNCTION = CONTROL SIGNAL
• NO INTERFERENCE
• LOW MENTAL LOAD
LIMITED NUMBER OF CONTROL SIGNALS AVAILABLE
© Dick H. Plettenburg, 2007
INCREASE # CONTROL SIGNALS:
• INTRA MUSCULAR ELECTRODES
• NEURO-MUSCULAR REORGANISATION orTARGETED MUSCLE REINNERVATION
• EMG PATTERN RECOGNITION
© Dick H. Plettenburg, 2007
EMG PATTERN RECOGNITION
• MULTIPLE ELECTRODES
• FUZZY LOGIC
• WAVELET TECHNOLOGY
• ETC.
© Dick H. Plettenburg, 2007
INTRA MUSCULAR ELECTRODES
BION®
http://ami.usc.edu/projects/ami/projects/bion/media/
© Dick H. Plettenburg, 2007
[Weir et.al., 2004]
INTRA MUSCULAR ELECTRODES
© Dick H. Plettenburg, 2007
servo controller
musculo cuteneous nervemedian nerve
radial nerveulnar nerve
[Kuiken, 2001]
NEURO-MUSCULAR REORGANISATION
© Dick H. Plettenburg, 2007
NEURO-MUSCULAR REORGANISATION
[www.ric.org]
© Dick H. Plettenburg, 2007
NEURO-MUSCULAR REORGANISATION
© Dick H. Plettenburg, 2007
NEURO-MUSCULAR REORGANISATION
[www.ric.org]
© Dick H. Plettenburg, 2007
BUT:
© Dick H. Plettenburg, 2007
© Dick H. Plettenburg, 2007
© Dick H. Plettenburg, 2007
© Dick H. Plettenburg, 2007
© Dick H. Plettenburg, 2007
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
© Dick H. Plettenburg, 2007
“…. controlled by thoughts alone ….”
© Dick H. Plettenburg, 2007
© Dick H. Plettenburg, 2007
CONTROL OPTIONS WITH FEEDBACK:
• MOTION & FORCES OF THE BODY
• CINEPLASTY
• NEURO ELECTRODES
Vermelding onderdeel organisatie
DELFT INSTITUTE
of
PROSTHETICS and ORTHOTICS
home of WILMER
© Dick H. Plettenburg, 2007
Current research projects:
• Prosthetics
- update open fitting
© Dick H. Plettenburg, 2007
Update open fitting:
• closer to the arm
• ease of assembly
• locking mechanism
© Dick H. Plettenburg, 2007
Current research projects:
• Prosthetics
- update open fitting
- larger sizes cosmetic prosthetic prehensor
© Dick H. Plettenburg, 2007
Larger sizes cosmetic prehensor:
• small [ages 4 – 9]
• medium [ages 7 – 14]
• large [ages > 12]
© Dick H. Plettenburg, 2007
Larger sizes cosmeticprehensor:
small [ages 4 – 9]
medium [ages 7 – 14]
• large [ages > 12]
© Dick H. Plettenburg, 2007
Current research projects:
• Prosthetics
- update open fitting
- larger sizes cosmetic prosthetic prehensor
- voluntary closing terminal devices
© Dick H. Plettenburg, 2007
Voluntary closing:
• literature survey
• proprioception
• adaptive fingers
• coupling mechanism
• locking mechanism
CONTROL SHELL
OPERATING CABLE
OPENING SPRING
THUMB HANDCLOSES
HAND OPENS
UPPERARM
© Dick H. Plettenburg, 2007
Voluntary closing:
• start for toddlers
© Dick H. Plettenburg, 2007
Pneumatics
- servo mechanism
[Dario, 2004] [DeLuca, 1978]
[www.icube.co.uk]
[Fraunhofer Institue für Biomedizinische Technik]
© Dick H. Plettenburg, 2007
• Many challenges!
• Cosmesis, Comfort, Control
• Feedback control
• Multiple control sites
• Low energy solutions
Vermelding onderdeel organisatie
DELFT INSTITUTE
of
PROSTHETICS and ORTHOTICS
home of WILMER