biomechanics - mcmaster universityibruce/courses/ee3ba3_2010... · 4 motivation “the human [upper...
TRANSCRIPT
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Presentation Outline
The Human Arm– Structure– Movements– Nerve Stimulation
Prosthesis– Internally and Externally Powered– Terminal Devices
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Presentation Outline Continued
Bionic Arm– The Team– Specifications– Control Systems
Myoelectric ControlTMR
– Building Blocks and Flexibility– Power Supply
Research Horizons
4
Motivation
“The human [upper extremity] is capable of literally an infinite number of movement patterns….Regrettably, even the most sophisticated of available prosthetic terminal devices cannot [satisfy the] number of grasp patterns, and none offer direct sensory feedback.” [1]
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Upper Limb Amputations
Mainly a result of:Congenital DeficiencyA tumorTrauma
Types of amputationsShoulder disarticulationAbove- or below- elbow
[2]
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The Human Arm
[3]
Scapula
Clavicle
Humerus
Radius
Ulna
Deltoid
Pectoralis Major
Biceps BrachiiTriceps Brachii
Brachioradialis
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The Human Arm: Movement
Weight bearing of human armDegrees of freedomPurpose of Movement
– End-effecter
Determination of Movements
– Minimal cost function
[4]
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Upper Limb Prosthesis: Internally Powered
Pros ConsLightweight, inexpensive,
and easy to repairCosmetic appearance
achievedSimple design
Relies on ability to make movements
Cables and harness can restrict movement
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Upper Limb Prosthesis: Externally Powered
Pros ConsEliminates harnesses and
cablesMinimizes essential body
movements
More expensiveDifficult to repairBattery power needs to
be replaced periodicallyCosmetic appearance
harder to obtain
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Upper Limb Prosthesis: Terminal Devices – 4 Main Types
Functional Terminal Device
Mechanical Hands
[9]
[10]
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Upper Limb Prosthesis: Terminal Devices – 4 Main Types
Specialized TerminalDevices
Passive or CosmeticTerminal Devices
[11]
[12]
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Bionic Arm: The Team
Government Agencies, Universities, and Private FirmsUnited States, Canada, and European CountriesDefense Advanced Research Projects Agency (DARPA)
– $55 Million GrantDEKA Research and Development Corporation
– Dean KramerJohn Hopkins University
– Applied Physics Laboratory (ALP)Rehabilitation Institute in Chicago (RIC)
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Targeted Muscle Reinnervation (TMR)
Surgical ProcessDeinnervate spare muscle– Ex – pectoral muscle for lateral shoulder
disarticulationsReinnervate with appropriate nerves– Takes approx. 3 months for nerves to be fully
functional
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Bionic Arm: Control System
Myoelectric signaling - the natural electric impulse producing muscle contractionEMG – electromyography– Records myoelectric signal and passes it on
Acts as the inputs to the micro-processors controlling the motorized arm– Progression
[17]
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Bionic Arm: Structure
Modular ConstructionSecular Arrangement– Power System– Control System– Joints
Lightweight14 degrees of freedomStrength [14]
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Bionic Arm: Power Supply
Miniaturized monopropellant rocket motor systemHydrogen peroxide canistersHeat produced– Plastic sealant around power supply– Porous surface for steam to evaporate through– “Sweats”
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Research Horizons
IMES– Injectable MyoElectric Signaling– wireless– Measure muscle activity at the
sourceChronic Brain Implants
– Very futuristic– Record signals directly from the
motor cortexBiocompatibility problems
[19]
[20]
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Research Horizons
Fluid JointsDeveloping mesofluidics– Movement of smaller joints– Pump driven by electric motor
controlling flow of fluid– Same energy efficiency of human
muscle (21% of energy input)
[21]
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Research Horizons
FILMskinflexible, integrated, lightweight, multifunctional film Allows feelings of heat, cold and touch (pressure) Vertically aligned nanotubes (VANTA’s)
– Conduct heat quickly– Working on nanocomposite responsive to pressure
[22]
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Bibliography
1. BOOK2. http://www.amputee-
coalition.org/inmotion/jan_feb_06/congenital_limb_ part102.jpg
3. http://thumbs.dreamstime.com/thumb_230/120155 7432QdnKAH.jpg
4. http://www.androidworld.com/Ng_hand1.jpg5. His slides6. http://learn-self-defense.net/articles/ulna_nerve.jpg
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Bibliography
7. http://www.sciencedaily.com/images/2007/11/0711 11182522-large.jpg
8. http://www.oandp.com/news/jmcorner/2001- 12/SD_old_arm_lat_flexed.jpg
9. http://openprosthetics.org/images/59.gif10. http://www.popsci.com/files/imagecache/article_ima
ge_small/files/articles/hand.jpg\11. http://igargoyle.com/archives/58-1.jpg12. http://www.amputee-coalition.org/easyread/military-
instep/cosmesis-ez_clip_image002.jpg
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Bibliography
13. http://images.google.ca/imgres?imgurl=http://igargo yle.com/archives/phealthBionic_485.jpg&imgrefurl= http://igargoyle.com/archives/2005/12/bionic_arm.h tml&h=497&w=485&sz=36&hl=en&start=1&sig2=G 0pUXMvPnQCAxGYY6PGgBQ&um=1&usg=__QB 0Nt7xPzHuXUDaHCumlHjef12A=&tbnid=t0t_tItskF 7SzM:&tbnh=130&tbnw=127&ei=J5rhSNLBMqbSg gKhsLzaCA&prev=/images%3Fq%3Dbionic%2Bar m%26um%3D1%26hl%3Den%26rlz%3D1G1GGL Q_ENCA294%26sa%3DN
14. http://www.georgehernandez.com/h/aaBlog/2005/m edia/06-24_JesseSullivanUsingBionicArm.jpg
15. http://dvice.com/pics/proto_2_bionic_arm.jpg
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Bibliography
16. http://www.nextnature.net/research/wp- content/uploads/2007/07/xfinger1.jpg
17. http://www.biomed.drexel.edu/labs/biomechanics/emg_ analy.htm
18. http://www.spectrum.ieee.org/dec07/575619. http://ieeexplore.ieee.org/iel5/4352184/4352185/043526
44.pdf20. http://ieeexplore.ieee.org/iel5/4352184/4352185/043526
44.pdf21. http://www.ornl.gov/info/ornlreview/v40_2_07/article14.s
html22. http://www.ornl.gov/info/ornlreview/v40_2_07/article14.s
html