Biomechatronic Systems · Week 1: Introduction to Biomechatronics Bio-mechanics, Bio-electrics,...
Transcript of Biomechatronic Systems · Week 1: Introduction to Biomechatronics Bio-mechanics, Bio-electrics,...
Biomechatronic Systems
Mehdi Delrobaei
Winter 2020
Unit 1: Introduction
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Mechatronics
Source: Wikipedia 2
Biomechatronics
• Biomechatronics = Mechatronics + Biology (Medicine)
• Biomechatronics = Bioelectrics + Biomechanics
• Biomechatronics = Bionics, Biomimetics
Source: Ekso Bionics
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Course Description
This course will cover the interdisciplinary elements of biomechatronic
systems engineering and provides insight into the diverse applications of
current biomechatronic technologies. Most lectures incorporate examples of
emerging research and development activities across the medical and
engineering fields.
Course Evaluation
Assignments: 10 %
Mid-Term Exam: 25 %
Project: 25 %
Final Exam: 40 %
Course Outline
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Week 1: Introduction to Biomechatronics
Bio-mechanics, Bio-electrics, Bionics, and Bio-mechatronics
Physiological and Bio-mechanical Systems
The Human Factors: Stimulus, Sensing, and Actuation
Nervous System
Musculoskeletal System
Safety and Ethical Aspects
Week 2: Signal Processing
Biomedical and Bioelectric Signals
Signal Acquisition
Amplifiers and Noise
Time Domain Analysis
Frequency Domain Analysis
Practical Considerations
Topics
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Weeks 3-4: Sensors and Actuators
Simple Sensors: Switches, Resistive, Capacitive, Inductive, Magnetic
Sonar and Optical Sensors
Inertial Measurement Units
Temperature, Pressure, and Tactile Sensing
Body-Surface Biopotential Electrodes
Simple Actuators: Solenoids, DC Motors, Stepper Motors, Servo Motors
Linear Actuators
Pneumatic Muscles
Shape Memory Alloys
Weeks 5-6: Feedback and Control Systems
Biological Feedback Mechanisms
Biomechatronic Feedback Mechanisms
Proportional and Higher-Order Controllers
System Representation
Analyzing Complex Models
System Stability
Topics
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• Week 7: Hearing Aids
Introduction: Hearing Aids and Implants
Hearing Loss and Diagnosis
Hearing Aid Technologies
Bone Conduction Devices
Middle Ear Implants
Auditory Brainstem Implants
Current Research Activities
• Week 8: Visual Prostheses
Anatomy and Physiology of the Visual Pathway
Main Causes of Blindness
Optical Prosthetics: Glasses, Thermal Imagers, Night Vision
Sonar-Based Systems: Sonar-Based and Laser-Based Systems
Sensory Substitution: Auditory, Electrotactile, and Vibrotactile Substitution
Visual Neuroprostheses and Implants
Current Research Activities
Topics
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• Weeks 9-10: Active Prosthetic Limbs
A Brief History of Prosthetics
Active Rehabilitation
Structure of the Arm and Kinematic Models
Structure of the Leg and Kinematic Models
Actuation and Control of Upper Limb Prostheses
Actuation and Control of Lower Limb Prostheses
Current Research and Applications
• Weeks 11-12: Case Studies and Design Considerations
Wearable Exoskeletal Rehabilitation
Closed-Loop Deep Brain Stimulation
Motion Capture Systems for Therapy Optimization
Virtual and Augmented Reality in Biomechatronics
Mathematical Models and Biomechatronics design
Topics
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References
Jacob Segil, ed. Handbook of
Biomechatronics, Academic Press, 1st Ed.,
2019.
• G. Brooker, Introduction to Biomechatronics, SciTech Pub., 1st Ed., 2012.
• José L. Pons, Wearable Robots: Biomechatronic Exoskeletons, Wiley, 1st
Ed., 2008.
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Elements of a Biomechatronic system
• Human
• Sensors
• Signal Processing
• Feedback Control
• Actuators
• Displays
Source: Intro. Biomechatronics, G. Brooker10
Human Physiology
Functional study of:
• Nervous system
• Musculo-skeletal system
• Visual System
• Auditory System
• Cardiovascular system
• Respiratory system
• Digestive system
• Urinary system
• Reproductive system
Source: Google Images
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Nervous System
Human nervous system is divided into:
• The central nervous system (CNS)
– the brain
– the spinal cord
• The peripheral nervous system (PNS)
– somatic
– automatic
Source: Google Images 12
Nervous System: Neurons
• Neuron is the fundamental unit of the nervous system.
• Neurons are generally responsible for either receiving sensory input or sending motor commands to the muscles.
• They are also in charge of transforming and relaying the electrical signals in the brain and the spinal cord.
Source: Google Images13
Nervous System: Neurons
Source: Google Images14
Nervous System: Neuro-transmitter
Source: Google Images 15
Musculo-Skeletal System
Sources: Google Images
• The integrated actions of joints, bones, and skeletal muscles produce human movements as well as functions such as posture and stability.
• Skeletal muscles also produce more subtle movements that result in various facial expressions, eye movements, and respiration.
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Joints
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Body joint is any place where adjacent bones come together to form a connection.
• Gliding joints move against each other on a single plane (e.g., bones of ankles).
• Hinge joints move on just one axis. These joints allow for flexion and extension (e.g., the elbow and finger joints).
• A pivot joint provides rotation. At the top of the spine, the atlas and axis form a pivot joint that allows for rotation of the head.
• A condyloid joint allows for circular motion, flexion, and extension (e.g., the wrist joint).
• A saddle joint allows for flexion, extension, and other movements, but no rotation. In the hand, the thumb’s saddle joint lets the thumb cross over the palm, making it opposable.
• The ball-and-socket joint is a freely moving joint that can rotate on any axis (e.g., hip and shoulder joints).
Safety and Ethics
Source: Google Images18
Ethics
• Ethics– Protocol
– Letter of Information
• ProtocolProject Name / Start Date / End Date
Project Members / Funding Source
Background/Objectives/Method/Analysis
Standard of Care / Drug / Preliminary Results
Study Design / Inclusion & Exclusion Criteria
Risks & Benefits / Impact on Society
Consent / Confidentiality / Security
Data Sharing / Conflict of Interest
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Ethics
• Letter of Information
Introduction / Study Funding
Inclusion & Exclusion Criteria
Tasks Involved / Visits / Scheduling
Tools / Drugs
Benefits / Risks / Inconveniences
Use of Information
Reimbursement
Team Members
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Safety
• Global Harmonization Task Force
• Governmental Regulation
• Standards
• Safety of Medical Devices
• Risk Management
• Quality Control
• Regulatory Resources
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