biomechatronics - lecture 12. artificial motor control i
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BiomechatronicsDelft University of Technology
Course 2006-2007(Wb 2432)
Frans van der Helm
Lecture 13Artificial motion control
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
artificial motor control
artificial motor control interacts with physiological control
Reflexivecontrol
Artificialmotorcontrol
Physiologicalfeedforward
control
reflexcontroller
Controlsignals
assistive concepts
Sensorysignals
1.Take over
control
2.influencingbehaviour
control system
3.training
reflexcontroller
Controlsignals
Sensorysignals
1.Take over
control
assistive concepts
Bionic gloveDr. Prochaska, Edmonton
Take over control
Cleveland FES Center
stimRRD: Dr. Hermens
Dr. KenneyDr. Nene
UT: Ing. BulstraDr. HolsheimerVerloop
MST: Dr. v.d. AaDr. Buschman
2 channel stimulator for drop foot
Take over control
Take over control
FES for complete spinal cord lesion
reflexcontroller
Controlsignals
Sensorysignals
2.influencingbehaviour
Control system
assistive concepts
Influencing behaviour control system
Parkinson patient
Dr. Lenders, MSTMedtronic
Brain stimulationwith Parkinson
Dr. Holsheimer, UT
Influencing sensationSpinal cord stimulation
against pain
Influencing behaviour control system
stim
reflexcontroller
attenuationhypersensitive reflexesby reciprocal inhibition
Influencing behaviour control system
Spasticity calf muscle
The problemCVApatient
t (s)0.0 1.0
200
ϕ(deg)
SoleusEMG (uV)
200
-20
ϕ(deg/s)
.
0
0
0
Ankle
stim
reflexcontroller
Shank front Shank back
Influencing behaviour control systemattenuation
hypersensitive reflexesby reciprocal inhibition
100
Vm
stretch only
-0.2 0 0.2 0.4time [s]
stimulation + stretch
200 d
eg/s
soleus EMG
angular velocity0 200
0
150
0 2002
9
v [deg/s]v [deg/s]
soleus EMG Moment
mea
n m
omen
t [N
m]
peak
str
etch
ref
lex
EM
G [
µV]
no stimulation
stimulation
no stimulation
stimulation
results
Influencing behaviour control systemAttenuation hypersensitive reflexes
by reciprocal inhibition
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)
EM
G (u
V)
During walking
(Voormolen et al, 2000)
Stimulationand stretchduring initialswing phaseof gait
Experiments were performed at Aalborg University
Spinalcontroller
delay
stretchsensors
stimϕ (deg/s)
EM
G (u
V)
artificial motor controlHierarchical 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
artificial motor controluser interaction
continuous operator control
intention detection
Artificialreflex
Impedancecontrol
High level
Low level
Continuouscontrol
Discretetime control
Assistive system Human body Intention detection
and sensory feedbackto the user
Conscious motorplanning and sensing
Task coordinationMotor coordination
andsensory integration
Low levelactuator control
Muscle controlwith proprioceptive
feedback
continuous operator control
intention detection
Artificialreflex
Impedancecontrol
High level
Low level
Continuouscontrol
Discretetime control
standing
sitting
Standing(right legin front)
Standing(left legin front)
standup
Step right
standup
Step left
Finite state control
artificial motor control
Principle Control a relation betweenposition and force
K
continuous operator control
intention detection
Artificialreflex
Impedancecontrol
High level
Low level
Continuouscontrol
Discretetime control
Fy
yr
r ky = F + ky
F
yr y
y
FZ C
Plant+
loadFr
yr
artificial motor controlPhysiological Impedance control
of the human body
Crago et al., CWRU
Control of FES assisted
hand grasp
MIT, Hogan, Krebs
artificial motor controlartificial Impedance control
of assistive system
Impedance controlled systemfor standing-up training
(Kamnik & Bajd, Ljubljana)
Physical Therapy
Lokomat system
LOPES
LOPES
BLEEX
HAL5
HAL5