Download or read book Powered Transtibial Prosthetic Device Control System Design Implementation and Testing written by Jinming Sun and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: A powered lower limb prosthesis, which consists of a four bar mechanism, a torsional spring and a brushed DC motor, was previously designed and fabricated. To regulate the motor power input, a two level controller was proposed and built. The control algorithm includes a higher level finite state controller and lower level PID controllers. To implement the control system, a digital signal processor (DSP) control board and MATLAB Simulink were used to realize the higher level control and a DC motor controller was used to realize the lower level PID control. Sensors were selected to provide the required feedback. The entire control system was implemented on a convenient to carry backpack. Amputee subject testing was performed to obtain some experimental verification of the design. The results showed that the control system performed consistently with the designed control algorithm and did assist in the amputee{u2019}s walking. Compared to a currently available powered prosthesis, this control is simple in structure and able to mimic the nonlinear behavior of the ankle closely.

Download or read book Development of a Powered Transtibial Prosthesis for Ball Room Dancing written by Nathan C. Villagaray-Carski and published by . This book was released on 2014 with total page 38 pages. Available in PDF, EPUB and Kindle. Book excerpt: Research on lower extremity prostheses has primarily focused on activities of daily living, such as walking and running, but has largely overlooked less common activities. As a result, traditional prosthetic devices are designed for a walking/running gait, and are difficult to use for other activities. This study aims to take the first steps to determine if a bionic prosthesis can enable alternate activity modes, not driven by traditional activities of daily living. Specifically, we aim to modify the BiOM, a commercial robotic ankle prosthesis, to allow a professional dancer and below-knee amputee to dance the Rumba. The movements of an able-bodied professional dancer were quantified and analyzed in order to develop a novel dance control system for the BiOM. With minimal hardware modifications, a powered prosthetic device was developed that enables the subject to dance more proficiently than with a traditional prosthesis.

Download or read book Encyclopedia Of Medical Robotics The In 4 Volumes written by and published by World Scientific. This book was released on 2018-08-28 with total page 1555 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Encyclopedia of Medical Robotics combines contributions in four distinct areas of Medical robotics, namely: Minimally Invasive Surgical Robotics, Micro and Nano Robotics in Medicine, Image-guided Surgical Procedures and Interventions, and Rehabilitation Robotics. The volume on Minimally Invasive Surgical Robotics focuses on robotic technologies geared towards challenges and opportunities in minimally invasive surgery and the research, design, implementation and clinical use of minimally invasive robotic systems. The volume on Micro and Nano robotics in Medicine is dedicated to research activities in an area of emerging interdisciplinary technology that is raising new scientific challenges and promising revolutionary advancement in applications such as medicine and biology. The size and range of these systems are at or below the micrometer scale and comprise assemblies of micro and nanoscale components. The volume on Image-guided Surgical Procedures and Interventions focuses primarily on the use of image guidance during surgical procedures and the challenges posed by various imaging environments and how they related to the design and development of robotic systems as well as their clinical applications. This volume also has significant contributions from the clinical viewpoint on some of the challenges in the domain of image-guided interventions. Finally, the volume on Rehabilitation Robotics is dedicated to the state-of-the-art of an emerging interdisciplinary field where robotics, sensors, and feedback are used in novel ways to re-learn, improve, or restore functional movements in humans.Volume 1, Minimally Invasive Surgical Robotics, focuses on an area of robotic applications that was established in the late 1990s, after the first robotics-assisted minimally invasive surgical procedure. This area has since received significant attention from industry and researchers. The teleoperated and ergonomic features of these robotic systems for minimally invasive surgery (MIS) have been able to reduce or eliminate most of the drawbacks of conventional (laparoscopic) MIS. Robotics-assisted MIS procedures have been conducted on over 3 million patients to date — primarily in the areas of urology, gynecology and general surgery using the FDA approved da Vinci® surgical system. The significant commercial and clinical success of the da Vinci® system has resulted in substantial research activity in recent years to reduce invasiveness, increase dexterity, provide additional features such as image guidance and haptic feedback, reduce size and cost, increase portability, and address specific clinical procedures. The area of robotic MIS is therefore in a state of rapid growth fueled by new developments in technologies such as continuum robotics, smart materials, sensing and actuation, and haptics and teleoperation. An important need arising from the incorporation of robotic technology for surgery is that of training in the appropriate use of the technology, and in the assessment of acquired skills. This volume covers the topics mentioned above in four sections. The first section gives an overview of the evolution and current state the da Vinci® system and clinical perspectives from three groups who use it on a regular basis. The second focuses on the research, and describes a number of new developments in surgical robotics that are likely to be the basis for the next generation of robotic MIS systems. The third deals with two important aspects of surgical robotic systems — teleoperation and haptics (the sense of touch). Technology for implementing the latter in a clinical setting is still very much at the research stage. The fourth section focuses on surgical training and skills assessment necessitated by the novelty and complexity of the technologies involved and the need to provide reliable and efficient training and objective assessment in the use of robotic MIS systems.In Volume 2, Micro and Nano Robotics in Medicine, a brief historical overview of the field of medical nanorobotics as well as the state-of-the-art in the field is presented in the introductory chapter. It covers the various types of nanorobotic systems, their applications and future directions in this field. The volume is divided into three themes related to medical applications. The first theme describes the main challenges of microrobotic design for propulsion in vascular media. Such nanoscale robotic agents are envisioned to revolutionize medicine by enabling minimally invasive diagnostic and therapeutic procedures. To be useful, nanorobots must be operated in complex biological fluids and tissues, which are often difficult to penetrate. In this section, a collection of four papers review the potential medical applications of motile nanorobots, catalytic-based propelling agents, biologically-inspired microrobots and nanoscale bacteria-enabled autonomous drug delivery systems. The second theme relates to the use of micro and nanorobots inside the body for drug-delivery and surgical applications. A collection of six chapters is presented in this segment. The first chapter reviews the different robot structures for three different types of surgery, namely laparoscopy, catheterization, and ophthalmic surgery. It highlights the progress of surgical microrobotics toward intracorporeally navigated mechanisms for ultra-minimally invasive interventions. Then, the design of different magnetic actuation platforms used in micro and nanorobotics are described. An overview of magnetic actuation-based control methods for microrobots, with eventually biomedical applications, is also covered in this segment. The third theme discusses the various nanomanipulation strategies that are currently used in biomedicine for cell characterization, injection, fusion and engineering. In-vitro (3D) cell culture has received increasing attention since it has been discovered to provide a better simulation environment of in-vivo cell growth. Nowadays, the rapid progress of robotic technology paves a new path for the highly controllable and flexible 3D cell assembly. One chapter in this segment discusses the applications of micro-nano robotic techniques for 3D cell culture using engineering approaches. Because cell fusion is important in numerous biological events and applications, such as tissue regeneration and cell reprogramming, a chapter on robotic-tweezers cell manipulation system to achieve precise laser-induced cell fusion using optical trapping has been included in this volume. Finally, the segment ends with a chapter on the use of novel MEMS-based characterization of micro-scale tissues instead of mechanical characterization for cell lines studies.Volume 3, Image-guided Surgical Procedures and Interventions, focuses on several aspects ranging from understanding the challenges and opportunities in this domain, to imaging technologies, to image-guided robotic systems for clinical applications. The volume includes several contributions in the area of imaging in the areas of X-Ray fluoroscopy, CT, PET, MR Imaging, Ultrasound imaging, and optical coherence tomography. Ultrasound-based diagnostics and therapeutics as well as ultrasound-guided planning and navigation are also included in this volume in addition to multi-modal imaging techniques and its applications to surgery and various interventions. The application of multi-modal imaging and fusion in the area of prostate biopsy is also covered. Imaging modality compatible robotic systems, sensors and actuator technologies for use in the MRI environment are also included in this work., as is the development of the framework incorporating image-guided modeling for surgery and intervention. Finally, there are several chapters in the clinical applications domain covering cochlear implant surgery, neurosurgery, breast biopsy, prostate cancer treatment, endovascular interventions, neurovascular interventions, robotic capsule endoscopy, and MRI-guided neurosurgical procedures and interventions.Volume 4, Rehabilitation Robotics, is dedicated to the state-of-the-art of an emerging interdisciplinary field where robotics, sensors, and feedback are used in novel ways to relearn, improve, or restore functional movements in humans. This volume attempts to cover a number of topics relevant to the field. The first section addresses an important activity in our daily lives: walking, where the neuromuscular system orchestrates the gait, posture, and balance. Conditions such as stroke, vestibular deficits, or old age impair this important activity. Three chapters on robotic training, gait rehabilitation, and cooperative orthoses describe the current works in the field to address this issue. The second section covers the significant advances in and novel designs of soft actuators and wearable systems that have emerged in the area of prosthetic lower limbs and ankles in recent years, which offer potential for both rehabilitation and human augmentation. These are described in two chapters. The next section addresses an important emphasis in the field of medicine today that strives to bring rehabilitation out from the clinic into the home environment, so that these medical aids are more readily available to users. The current state-of-the-art in this field is described in a chapter. The last section focuses on rehab devices for the pediatric population. Their impairments are life-long and rehabilitation robotics can have an even bigger impact during their lifespan. In recent years, a number of new developments have been made to promote mobility, socialization, and rehabilitation among the very young: the infants and toddlers. These aspects are summarized in two chapters of this volume.

Download or read book Design and Control of Powered Transtibial Prostheses written by Hao Zheng and published by . This book was released on 2017 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: The primary purpose of lower extremity prostheses is to restore the locomotive functions of amputees' lost sections and joints. The objective of this dissertation is to develop energetically active transtibial (TT, also known as below-knee) prostheses with powered ankle joints to generate sufficient power and torque with a compact form factor. Firstly, pneumatic sleeve muscle actuators have been designed and tested to investigate the feasibility of application of such type of actuator in TT prosthesis. Experimental results obtained on the prototypes validated and proved that sleeve muscle is a good fit for robotic systems with asymmetric force/torque requirements. Although the pneumatic sleeve muscle can provide sound force/torque capacities, it is challenging to build a transtibial prosthesis with this type of actuator that can match the size and weight of the human ankle. Hence, the subsequent efforts are directed towards utilizing a more compact actuation unit 0́3 pneumatic cylinder, which is well known for its capability in generating large force/power output with light weight and compact volumetric profile. Thus, a transtibial prosthesis has been designed using pneumatic cylinder. A finite-state impedance controller (FSIC) has been developed as a walking controller, and the parameters are tuned in walking experiments. The results from the experiments proved that the prosthesis is able to provide an improved gait compared with the traditional passive prosthesis. Additionally, a model that characterizes the stiffness and equilibrium point as functions of the chamber air masses in the pneumatic cylinder has been developed and a predictive pressure control algorithm was used to improve pressure control performance while minimizing valve actions. This enables the pneumatic actuator to be used as a variable series elastic actuator (VSEA). Experimental results showed that the proposed approach is able to provide the desired elastic characteristics of an artificial spring in stiffness control and demonstrated the advantages of this new approach for potential prosthetic applications. Lastly, the dissertation presents VSEA-powered TT prosthesis with direct implementation of the finite-state impedance control (FSIC). The human subject walking experiments were also conducted, and the results demonstrated the effectiveness of the direct FSIC prosthesis control approach.

Download or read book Advances in Usability User Experience and Assistive Technology written by Tareq Z. Ahram and published by Springer. This book was released on 2018-06-27 with total page 1026 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on emerging issues in usability, interface design, human–computer interaction, user experience and assistive technology. It highlights research aimed at understanding human interaction with products, services and systems, and focuses on finding effective approaches for improving user experience. It also discusses key issues in designing and providing assistive devices and services to individuals with disabilities or impairment, to assist mobility, communication, positioning, environmental control and daily living. The book covers modelling as well as innovative design concepts, with a special emphasis on user-centered design, and design for specific populations, particularly the elderly. Virtual reality, digital environments, heuristic evaluation and forms of device interface feedback of (e.g. visual and haptic) are also among the topics covered. Based on the AHFE 2018 Conference on Usability & User Experience and the AHFE 2018 Conference on Human Factors and Assistive Technology, held on July 21–25, 2018, in Orlando, Florida, USA, this book reports on cutting-edge findings, research methods and user-centred evaluation approaches.

Download or read book Biomaterials in Orthopaedics and Bone Regeneration written by Preetkanwal Singh Bains and published by Springer Nature. This book was released on 2019-09-09 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the recent advances in the field of orthopaedic biomaterials, with a particular emphasis on their design and fabrication. Biomimetic materials, having similar properties and functions to that of the natural tissue, are becoming a popular choice for making customized orthopaedic implants and bone scaffolds. The acceptability of these materials in the human body depends on the right balance between their mechanical and biological properties. This book provides a comprehensive overview of the state-of-the-art research in this rapidly evolving field. The chapters cover different aspects of multi-functional biomaterials design, and cutting-edge methods for the synthesis and processing of these materials. Advanced manufacturing techniques, like additive manufacturing, used for developing new biomimetic materials are highlighted in the book. This book is a valuable reference for students and researchers interested in biomaterials for orthopaedic applications.

Download or read book Powered Prostheses written by Houman Dallali and published by Academic Press. This book was released on 2020-04-17 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: Powered Prostheses: Design, Control, and Clinical Applications presents the state-of-the-art in design, control and application of assistive technologies used in rehabilitation, including powered prostheses used in lower and upper extremity amputees and orthosis used in the rehabilitation of various joint disorders. The progress made in this field over the last decade is so vast that any new researcher in this field will have to spend years digesting the main achievements and challenges that remain. This book provides a comprehensive vision of advances, along with the challenges that remain on the path to the development of true bionic technology. - Describes the latest assistive technologies that can help individuals deal with joint pain or limb loss - Presents a tangible and intuitive description of scientific achievements made - Highlights the existing technologies and devices that are available and used by amputees or patients with mobility limitations - Suggests solutions and new results that can further enhance assistive technologies

Download or read book Peripheral Nervous System Machine Interfaces 2nd Edition written by Michael Wininger and published by Frontiers Media SA. This book was released on 2018-06-19 with total page 143 pages. Available in PDF, EPUB and Kindle. Book excerpt: For 5 years, the Peripheral Nervous System-Machine Interfaces workgroup has dedicated itself to the recruitment of researchers, clinicians, and general public in a unified effort to advance the frontier of restoration of quality of life to those with limb deficiency. Our group's mission is to bring together experts from various domains to identify promising new technologies and new opportunities for inquiry and discovery in prosthetics research. This e-Book collects 10 cutting edge research articles written by members of the workgroup, covering three domains prioritized by the workgroup: novel prosthetic technology, approaches for reducing device rejection, and prosthetic control. In our summary editorial, we four principals of the workgroup reflect on our first 5 years, and project our vision for the future, as the Society for Prosthetics.

Download or read book Design and Control of Powered Lower Limb Prostheses written by Molei Wu and published by . This book was released on 2016 with total page 129 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the development of powered lower-limb prostheses, providing sufficient power and torque to support amputees' locomotion is a major challenge, considering prostheses' weight and size limits. Furthermore, regulating the power delivery during locomotion is equally important that gives amputees safe and natural movements. This dissertation aims to address these challenges by investigating new approaches in the actuation and control of powered lower-limb prostheses, with the overarching objective to obtain compact, powerful lower-limb prostheses that interact with amputees and the environment in a coordinated manner. The initial efforts were focused on the design and control of transfemoral (TF, also known as above-knee) prostheses powered by pneumatic muscles, an extraordinary actuator with superb power-to-weight ratio. The first prototype incorporates powered knee and ankle joints in a volumetric profile similar to that of human leg. The unique feature is a single-acting-spring-return mechanism, in which a single pneumatic muscle drives the motion in the torque-demanding direction, while a set of mechanical springs drives the motion in the opposite direction. A finite-state impedance controller has been developed for this prosthesis, which was demonstrated to provide a natural gait. Based on previous success, a novel type of pneumatic muscle, namely double-acting sleeve muscle (DASM), was examined to replace traditional pneumatic muscle. Incorporating a second chamber, the DASM is able to provide additional extensional force without using return springs. Therefore, the prosthesis can be significantly simplified into a more compact and lightweight device. Compared with pneumatic muscles, traditional cylinder-type actuators are more technologically mature. Therefore, the subsequent efforts were to develop a pneumatic cylinder-actuated TF prosthesis, which has great potential for real-world applications. All peripheral components were integrated, including a carbon fiber air tank as the energy source, and the prosthesis' capability of independent, untethered operation was demonstrated in human walking test. In addition to the improvement of prosthetic design, control methods were also investigated. The results include an integrated walking -- stair climbing controller and a sit-to-stand controller. Both were developed based on biomechanical analysis of the knee dynamics in human locomotion. In the walking -- stair climbing control system, an improved finite state impedance controller was constructed, which incorporates a unique time function to enable gradual energy injection during weight acceptance phase. An intuitive thigh position-based switching condition was introduced to merge the walking and stair climbing controllers into one system. In the sit-to-stand controller, a similar controller was established, which eliminates the need for a state machine and significantly simplifies the controller tuning and implementation. The human testing was conducted with results demonstrating the effectiveness of both control systems.

Download or read book Control Design and Implementation of an Active Transtibial Prosthesis written by Joseph G. Klein and published by . This book was released on 2018 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Powered Upper Limb Prostheses written by Ashok Muzumdar and published by Springer. This book was released on 2012-12-06 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: Powered Upper Limb Prostheses deals with the concept, implementation and clinical application of utilizing inherent electrical signals within normally innervated residual muscles under voluntary control of an upper limb amputee. This amplifies these signals by battery-powered electrical means to make a terminal device, the prosthetic hand, move to perform intended function. The reader is introduced to various facets of upper limb amputations and their clinical management in both children and adults. The authors from Canada, USA and Great Britain are well known practicioners, academics and researchers in the field. The book has over 130 illustrations and contains an extensive bibliography.

Download or read book Advances for Prosthetic Technology written by Robert LeMoyne and published by Springer. This book was released on 2016-03-10 with total page 145 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the advances in transtibial prosthetic technology and targets research in the evolution of the powered prosthesis such as the BiOM, which was derived from considerable research and development at the Massachusetts Institute of Technology. The concept of the book spans the historical evolution of prosthetic applications from passive to new and futuristic robotic prosthetic technologies. The author describes the reasons for amputation, surgical procedures, and an historical perspective of the prosthesis for the lower limb. He also addresses the phases and sub-phases of gait and compensatory mechanisms arising for a transtibial prosthesis and links the compensatory mechanisms to long-term morbidities. The general technologies for gait analysis central to prosthetic design and the inherent biomechanics foundations for analysis are also explored. The book reports on recent-past to current-term applications with passive elastic prostheses. The core of the book deals with futuristic robotic prostheses including their function and major subsystems, such as actuator technology, state machine control, and machine learning applications. Finally, the envisioned future trends in the prosthetic technology space are presented.

Download or read book Design of Modular Self Contained Knee and Ankle Prostheses written by Jason E. Mitchell and published by . This book was released on 2014 with total page 87 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Controller Design and Implementation for a Powered Prosthetic Knee written by Matthew David Rosa and published by . This book was released on 2012 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: Powered prosthetic knees offer many improvements over passive devices; however, the added actuation is difficult to control due to the lack of input from the user. A means of controlling a powered prosthetic knee is proposed by predicting the type of swing behavior the knee must perform based on the position of the foot relative to the person during toe-off. The software to accomplish this is implemented via a finite state machine which activates specific knee angle reference generators for each state. The reference generators serve as the input of a nonlinear feedback controller to ensure accurate positioning of the knee joint.

Download or read book Lower limb Prosthetics written by Norman Berger and published by . This book was released on 1997 with total page 178 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Special Topics in Structural Dynamics Volume 6 written by Randall Allemang and published by Springer Science & Business Media. This book was released on 2013-06-26 with total page 612 pages. Available in PDF, EPUB and Kindle. Book excerpt: Special Topics in Structural Dynamics, Volume 6: Proceedings of the 31st IMAC, A Conference and Exposition on Structural Dynamics, 2013, the sixth volume of seven from the Conference, brings together contributions to this important area of research and engineering. The collection presents early findings and case studies on fundamental and applied aspects of Structural Dynamics, including papers on: Teaching Experimental & Analytical Structural Dynamics Sensors & Instrumentation Aircraft/Aerospace Bio-Dynamics Sports Equipment Dynamics Advanced ODS & Stress Estimation Shock & Vibration Full-Field Optical Measurements & Image Analysis Structural Health Monitoring Operational Modal Analysis Wind Turbine Dynamics Rotating Machinery Finite Element Methods Energy Harvesting

Download or read book Rehabilitation Engineering written by Alex Mihailidis and published by CRC Press. This book was released on 2022-11-15 with total page 502 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book will provide an overview of the rehabilitation engineering field, including key concepts that are required to provide a solid foundation about the discipline. It will present these concepts through a mix of basic and applied knowledge from rehabilitation engineering research and practice. It's written as an introductory text in order to provide access to the field by those without previous experience or background in the field.These concepts will include those related to engineering and health that are necessary to understand the application of rehabilitation engineering to support human function.