Posts Tagged Biomechatronics

[BOOK] Intelligent Biomechatronics in Neurorehabilitation – Xiaoling Hu – Google Books

Front Cover
Academic PressOct 19, 2019 – Science – 286 pages

Intelligent Biomechatronics in Neurorehabilitation presents global research and advancements in intelligent biomechatronics and its applications in neurorehabilitation. The book covers our current understanding of coding mechanisms in the nervous system, from the cellular level, to the system level in the design of biological and robotic interfaces. Developed biomechatronic systems are introduced as successful examples to illustrate the fundamental engineering principles in the design. The third part of the book covers the clinical performance of biomechatronic systems in trial studies. Finally, the book introduces achievements in the field and discusses commercialization and clinical challenges.

As the aging population continues to grow, healthcare providers are faced with the challenge of developing long-term rehabilitation for neurological disorders, such as stroke, Alzheimer’s and Parkinson’s diseases. Intelligent biomechatronics provide a seamless interface and real-time interactions with a biological system and the external environment, making them key to automation services.

  • Written by international experts in the rehabilitation and bioinstrumentation industries
  • Covers the current understanding of nervous system coding mechanisms, which are the basis for biological and robotic interfaces
  • Demonstrates and discusses robotic rehabilitation effectiveness and automatic evaluation

via Intelligent Biomechatronics in Neurorehabilitation – Xiaoling Hu – Google Books

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[Abstract] An Elbow Exoskeleton for Upper Limb Rehabilitation With Series Elastic Actuator and Cable-Driven Differential


Movement impairments resulting from neurologic injuries, such as stroke, can be treated with robotic exoskeletons that assist with movement retraining. Exoskeleton designs benefit from low impedance and accurate torque control. We designed a two-degrees-of-freedom tethered exoskeleton that can provide independent torque control on elbow flexion/extension and forearm supination/pronation. Two identical series elastic actuators (SEAs) are used to actuate the exoskeleton. The two SEAs are coupled through a novel cable-driven differential. The exoskeleton is compact and lightweight, with a mass of 0.9 kg. Applied rms torque errors were less than 0.19 Nm. Benchtop tests demonstrated a torque rise time of approximately 0.1 s, a torque control bandwidth of 3.7 Hz, and an impedance of less than 0.03 Nm/° at 1 Hz. The controller can simulate a stable maximum wall stiffness of 0.45 Nm/°. The overall performance is adequate for robotic therapy applications and the novelty of the design is discussed.

via An Elbow Exoskeleton for Upper Limb Rehabilitation With Series Elastic Actuator and Cable-Driven Differential – IEEE Journals & Magazine

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[Abstract] Development of Digital Control System for Wearable Mechatronic Devices: Applications in Musculoskeletal Rehabilitation of the Upper Limb – Thesis


The potential for wearable mechatronic systems to assist with musculoskeletal rehabilitation of the upper limb has grown with the technology. One limiting factor to realizing the benefits of these devices as motion therapy tools is within the development of digital control solutions. Despite many device prototypes and research efforts in the surrounding fields, there are a lack of requirements, details, assessments, and comparisons of control system characteristics, components, and architectures in the literature. Pairing this with the complexity of humans, the devices, and their interactions makes it a difficult task for control system developers to determine the best solution for their desired applications.

The objective of this thesis is to develop, evaluate, and compare control system solutions that are capable of tracking motion through the control of wearable mechatronic devices. Due to the immaturity of these devices, the design, implementation, and testing processes for the control systems is not well established. In order to improve the efficiency and effectiveness of these processes, control system development and evaluation tools have been proposed.

The Wearable Mechatronics-Enabled Control Software framework was developed to enable the implementation and comparison of different control software solutions presented in the literature. This framework reduces the amount of restructuring and modification required to complete these development tasks. An integration testing protocol was developed to isolate different aspects of the control systems during testing. A metric suite is proposed that expands on the existing literature and allows for the measurement of more control characteristics. Together, these tools were used ii ABSTRACT iii to developed, evaluate, and compare control system solutions.

Using the developed control systems, a series of experiments were performed that involved tracking elbow motion using wearable mechatronic elbow devices. The accuracy and repeatability of the motion tracking performances, the adaptability of the control models, and the resource utilization of the digital systems were measured during these experiments. Statistical analysis was performed on these metrics to compare between experimental factors. The results of the tracking performances show some of the highest accuracies for elbow motion tracking with these devices. The statistical analysis revealed many factors that significantly impact the tracking performance, such as visual feedback, motion training, constrained motion, motion models, motion inputs, actuation components, and control outputs.

Furthermore, the completion of the experiments resulted in three first-time studies, such as the comparison of muscle activation models and the quantification of control system task timing and data storage needs. The successes of these experiments highlight that accurate motion tracking, using biological signals of the user, is possible, but that many more efforts are needed to obtain control solutions that are robust to variations in the motion and characteristics of the user.

To guide the future development of these control systems, a national survey was conducted of therapists regarding their patient data collection and analysis methods. From the results of this survey, a series of requirements for software systems, that allow therapists to interact with the control systems of these devices, were collected. Increasing the participation of therapists in the development processes of wearable assistive devices will help to produce better requirements for developers.

This will allow the customization of control systems for specific therapies and patient characteristics, which will increase the benefit and adoption rate of these devices within musculoskeletal rehabilitation programs.

via “Development of Digital Control System for Wearable Mechatronic Devices” by Tyler Desplenter

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[BOOK] Handbook of Biomechatronics – Chapter 9: Upper Extremity Rehabilitation Robots: A Survey – Google Books

Handbook of Biomechatronics

Jacob Segil
Academic Press29 Νοε 2018 – 619 σελίδες

Handbook of Biomechatronics provides an introduction to biomechatronic design and an in-depth explanation of some of the most exciting and groundbreaking biomechatronic devices in the world. Edited by Dr. Jacob Segil and written by a strong team of biomechatronics experts, the book covers biomechatronic design, components, and specific biomechatronic devices that span many disciplines. Sections cover sensors, actuators, processing and control systems, and signal processing. In addition, a chapter on biomechatronic devices contains distinct examples, spanning hearing aids to brain-machine interfaces. Each chapter presents the development phase of a biomechatronic device that is followed by an in-depth discussion of the current state-of-the-art.

  • Covers biomechatronic design, components and devices in one comprehensive source
  • Accessible for readers in multiple areas of study, such as bioengineering, computer science, electrical engineering, mechanical engineering and chemical engineering
  • Includes the most recent and groundbreaking advances in the biomechatronics field

Chapter 9: Upper Extremity Rehabilitation Robots: A Survey

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[Abstract] Biomechatronics design of a robotic arm for rehabilitation – IEEE Conference Publication


Rehabilitation is an important process to restore muscle strength and joint’s range of motion. This paper proposes a biomechatronic design of a robotic arm that is able to mimic the natural movement of the human shoulder, elbow and wrist joint. In a preliminary experiment, a subject was asked to perform four different arm movements using the developed robotic arm for a period of two weeks. The experimental results were recorded and can be plotted into graphical results using Matlab. Based on the results, the robotic arm shows encouraging effect by increasing the performance of rehabilitation process. This is proven when the result in degree value are accurate when being compared with the flexion of both shoulder and elbow joints. This project can give advantages on research if the input parameter needed in the flexion of elbow and wrist.

I. Introduction

According to the United Nations (UN), by 2030 the number of people over 60 years will increase by 56 per cent, from 901 million to more than 1.4 billion worldwide [1]. As the number of older persons is expected to grow, it is imperative that government and private health care providers prepare adequate and modern facilities that can provide quality services for the needs of older persons especially in rehabilitation centers. Implementation of robotic technology in rehabilitation process is a modern method and definitely can contribute in this policy and capable in promoting early recovery and motor learning [2]. Furthermore, systematic application of robotic technology can produce significant clinical results in motor recovery of post-traumatic central nervous system injury by assisting in physical exercise based on voluntary movement in rehabilitation [3].

via Biomechatronics design of a robotic arm for rehabilitation – IEEE Conference Publication

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[ARTICLE] Exoskeleton Robots for Rehabilitation of the Upper Limb – Full Text PDF


The number of cerebrovascular and neuromuscular diseases are increasing in parallel with the rising avarage age of world’s population.

Usage of the rehabilitation robots for physiotherapy of patiens who have lost their limb motor functions, gains importance. The usage of these robots provides treatment for more patients, shortens the time period of treatment and provides doing the excersises accurately and repeatable.

Disuse of the upper limbs adversely affect the human life because this upper limbs are commonly used in daily life. Exoskeletal robot manipulators are one of the important application area of BIOMECHATRONICS.

In this study exoskeleton robots for upper limb rehabilitation available in the literature were examined and compared.

Full Text PDF

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[TED] Hugh Herr: The new bionics that let us run, climb and dance – Talk Video

Hugh Herr is building the next generation of bionic limbs, robotic prosthetics inspired by nature’s own designs. Herr lost both legs in a climbing accident 30 years ago; now, as the head of the MIT Media Lab’s Biomechatronics group, he shows his incredible technology in a talk that’s both technical and deeply personal — with the help of ballroom dancer Adrianne Haslet-Davis, who lost her left leg in the 2013 Boston Marathon bombing, and performs again for the first time on the TED stage.

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