Josep Font Llagunes - McGill Universityfont/downloads/CIM_biomechanics.pdfJosep M. Font Llagunes...
Transcript of Josep Font Llagunes - McGill Universityfont/downloads/CIM_biomechanics.pdfJosep M. Font Llagunes...
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Josep M. Font LlagunesDepartment of Mechanical Engineering Biomedical Engineering Research Centre Technical University of Catalonia (UPC)[email protected]
Simulation and design of an active orthosis for an incomplete spinal cord injured subject
Applied Mechanics GroupBARCELONATECHMontreal, 13 June 2011
CIM Seminar in Robotic Mechanical SystemsMcGill University
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Applied Mechanics GroupBARCELONATECH
Location
Barcelona
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Applied Mechanics GroupBARCELONATECH
The region: Catalonia
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Applied Mechanics GroupBARCELONATECH
The city: Barcelona
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Applied Mechanics GroupBARCELONATECH
UPC Campus in Barcelona
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Applied Mechanics Group
Ana BarjauProfessor
Josep Maria FontProfessor
Rosa PàmiesAssistant Professor
Gil SerrancolíPhD Student
Joaquim AgullóFull Professor
Teaching• Industrial Engineering (UPC) Mechanics and Advanced Mechanics
•Master Biomedical Engineering (UPC‐UB)Biomechanics
Research funding• Technical University of CataloniaResearch in Biomechanics
•Ministry of Science and InnovationAnalysis and design of active orthoses
Applied Mechanics GroupBARCELONATECH
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Applied Mechanics GroupBARCELONATECH
Research of the Group
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Applied Mechanics GroupBARCELONATECH
• “Application of multibody dynamics techniques to active orthosis design for gait assistance”Research Project (2010‐2012)
Muscle, EMG, Control
Muscle, EMG, Control
Mechanical Design, Contact Model
Mechanical Design, Contact Model
Multibody ModelSimulation
Multibody ModelSimulation
Patient Selection, Gait Criteria, TrialsPatient Selection, Gait Criteria, Trials
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Biomechanics Lab
Applied Mechanics GroupBARCELONATECH
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Laboratori de Biomecànica
Motion capture system (12 cameras)
Applied Mechanics GroupBARCELONATECH
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Laboratori de Biomecànica
Foot-ground contact force measurement (2 force plates)
Applied Mechanics GroupBARCELONATECH
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Electromyography
Applied Mechanics GroupBARCELONATECH
Biomechanics Lab
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1. Introduction
2. Musculoskeletal modeling
‐ Biomechanical model‐Muscle modeling: functional and denervated muscles
3. Simultaneous human‐orthosis actuation
4. Mechanical design of an A‐SCKAFO
5. Conclusions
Applied Mechanics GroupBARCELONATECH
Outline
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Applied Mechanics GroupBARCELONATECH1. Introduction
Spinal Cord Injury (SCI)C1
C7
Head, neck, upper limb joints
Cervical vertebrae
T1
T12
Thoracic vertebrae Trunk muscles, abdominal muscles
L1
L5 Hip, knee, ankle, toes
Lumbar vertebrae
S1
S5Sacral vertebrae
L1
T10
ASIA Impairment Scale: Level A: Complete SCI.Level E: Normal motor and sensory function.Levels C‐D: Motor function partially preserved in lower limbs.
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Applied Mechanics GroupBARCELONATECH1. Introduction
Spinal Cord Injury (SCI)
Incomplete spinal cord injured subject at the SCI Unit at Hospital Juan Canalejo (La Coruña, Spain)
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Applied Mechanics GroupBARCELONATECH1. Introduction
Objectives of the work
• Quantify the simultaneous contribution of the musculoskeletal system and an active orthosis to the net joint moments during normal gait.
Fundamental hypothesis: Combined human‐orthosis actuation produces net joint torque patterns similar to those of normal unassisted walking.(Kao et al., J. Biomech, 43, 2010) (Lewis and Ferris, J. Biomech, 44, 2011)
• Present a new design of an active stance‐control knee‐ankle‐foot‐orthosis (A‐SCKAFO) to assist incomplete SCI subjects that preserve motor function at the hip.
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Applied Mechanics GroupBARCELONATECH1. Introduction
MethodologyInverse Dynamic Analysis + Passive torques (muscle atrophy in SCI)
Muscle‐orthosis load sharing optimization problem
net joint torque
muscle‐orthosis torque
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1. Introduction
2. Musculoskeletal modeling
‐ Biomechanical model‐Muscle modeling: functional and denervated muscles
3. Simultaneous human‐orthosis actuation
4. Mechanical design of an A‐SCKAFO
5. Conclusions
Applied Mechanics GroupBARCELONATECH
Outline
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Applied Mechanics GroupBARCELONATECH2. Musculoskeletal modeling
Biomechanical multibody model• Planar biomechanical model in the sagittal plane: 12 rigid bodies, 14 DoF.• Human‐orthosis actuation: 8 muscle groups + 3 external torques
1 – Iliopsoas, 2 − Rectus Femoris, 3 – Glutei, 4 – Hamstrings, 5 – Vasti, 6 – Gastrocnemius, 7 − Tibialis Anterior, 8 – Soleus.
Muscle groups:
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0 0.2 0.4 0.6 0.8 1
0
50
100
ankl
e to
rque
(N
m)
0 0.2 0.4 0.6 0.8 1
-50
0
50
knee
torq
ue (
Nm
)0 0.2 0.4 0.6 0.8 1
-50
0
50
hip
torq
ue (
Nm
)TOr HSr TOr
(+) plantar flexion
(+) extension
(+) flexion
0 0.2 0.4 0.6 0.8 1
0
50
100
ankl
e to
rque
(N
m)
normal pathological
0 0.2 0.4 0.6 0.8 1
-50
0
50
knee
torq
ue (
Nm
)0 0.2 0.4 0.6 0.8 1
-50
0
50
hip
torq
ue (
Nm
)TOr HSr TOr
(+) plantar flexion
(+) extension
(+) flexion
Applied Mechanics GroupBARCELONATECH2. Musculoskeletal modeling
Inverse Dynamic Analysis
(McDonald et al., J. Biomech, 28, 2005) (Lebiedowska and Fisk, Clinical Biomech, 14, 1999)
• 2D walking kinematic benchmark from (Winter, 1991)• Non‐pathological gait, female m=57.75 kg, fs=70 Hz
• Denervation atrophy in partially functional muscles• Modelled by means of stiff and dissipative elements
• K and C estimated from experimental data of SCI
Passive torque in incomplete SCI
Normal gait inverse dynamics
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Applied Mechanics GroupBARCELONATECH2. Musculoskeletal modeling
Muscle modeling: Innervated and denervated muscles
• Spinal cord injuries result in complete or partial paralysis of muscles innervated by spinal segments at or below the trauma.
• Muscle dynamics:
Hill‐type muscle‐tendon model
• Partially denervated muscle dynamics:
p – weakness factor (limits activation)
tendon
tendon
muscle fibers
pennation angle
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1. Introduction
2. Musculoskeletal modeling
‐ Biomechanical model‐Muscle modeling: functional and denervated muscles
3. Simultaneous human‐orthosis actuation
4. Mechanical design of an A‐SCKAFO
5. Conclusions
Applied Mechanics GroupBARCELONATECH
Outline
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Applied Mechanics GroupBARCELONATECH3. Simultaneous human‐orthosis actuation
Physiological static optimization approachStep 1: Calculate the maximum muscle force histories compatible with the
contraction dynamics (assumption a = p):
Step 2: Determine the muscle activations and orthosis actuation solving the following static optimization approach at each time step:
R – Matrix of equivalent moment armsA – Combined muscle‐orthosis activation matrixF* – Vector of maximum actuation forces
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AIS D Subject: At least half of key muscles below the neurological level have a muscle grade of 3 or more.
Applied Mechanics GroupBARCELONATECH3. Simultaneous human‐orthosis actuation
Simulation resultsAIS C Subject: More than half of key muscles below the neurological level have a muscle grade less than 3.
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0 0.2 0.4 0.6 0.8 1
0
50
100
ankl
e to
rque
(N
m)
AIS C subject
orthosismusclestotal
0 0.2 0.4 0.6 0.8 1
-50
0
50
knee
torq
ue (
Nm
)
(+) plantar flexion
(+) extension
TOr HSr TOr
0 0.2 0.4 0.6 0.8 1
0
50
100
ankl
e to
rque
(N
m)
AIS D subject
orthosismusclestotal
0 0.2 0.4 0.6 0.8 1
-50
0
50
knee
torq
ue (
Nm
)
(+) plantar flexion
(+) extension
TOr HSr TOr
Applied Mechanics GroupBARCELONATECH3. Simultaneous human‐orthosis actuation
Simulation results: Joint torquesAIS D Subject: At least half of key muscles below the neurological level have a muscle grade of 3 or more.
AIS C Subject: More than half of key muscles below the neurological level have a muscle grade less than 3.
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Applied Mechanics GroupBARCELONATECH3. Simultaneous human‐orthosis actuation
Simulation results: Muscle forces
0 0.2 0.4 0.6 0.8 10
500
1000
forc
e (N
)1-Iliopsoas
AIS C subject AIS D subject
0 0.2 0.4 0.6 0.8 10
500
1000
forc
e (N
)
2-Rectus Femoris
0 0.2 0.4 0.6 0.8 10
500
1000
forc
e (N
)
3-Glutei
0 0.2 0.4 0.6 0.8 10
500
1000
forc
e (N
)
4-Hamstrings
0 0.2 0.4 0.6 0.8 10
500
1000
forc
e (N
)
5-Vasti
0 0.2 0.4 0.6 0.8 10
500
1000
forc
e (N
)
6-Gastrocnemius
0 0.2 0.4 0.6 0.8 10
500
1000
forc
e (N
)
7-Tibialis Anterior
0 0.2 0.4 0.6 0.8 10
500
1000
forc
e (N
)
8-Soleus
TOr HSr TOr TOr HSr TOr
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1. Introduction
2. Musculoskeletal modeling
‐ Biomechanical model‐Muscle modeling: functional and denervated muscles
3. Simultaneous human‐orthosis actuation
4. Mechanical design of an A‐SCKAFO
5. Conclusions
Applied Mechanics GroupBARCELONATECH
Outline
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Applied Mechanics GroupBARCELONATECH4. Mechanical design of an A‐SCKAFO
Biomechanical and design specifications
• Knee joint specification: ─ Stance phase: Lock the knee flexion at any angle.─ Swing phase: Control of the flexion‐extension motion.
• Ankle joint specification:─ Passive dorsiflexion torque during early stance and swing.
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Applied Mechanics GroupBARCELONATECH4. Mechanical design of an A‐SCKAFO
Biomechanical and design specifications
• Sensors for autonomous control:─ Plantar sensors.─ Angular encoders (knee and ankle joints).
• Total weight: less than 2.5 kg.
• Knee joint specification: ─ Stance phase: Lock the knee flexion at any angle.─ Swing phase: Control of the flexion‐extension motion.
• Ankle joint specification:─ Passive dorsiflexion torque during early stance and swing.
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Applied Mechanics GroupBARCELONATECH4. Mechanical design of an A‐SCKAFO
Actuation and sensors
Actuators/joints Sensors
Electrical rotary motor(swing phase)
Mechanical locking system(stance phase)
Passive klenzak joint
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Applied Mechanics GroupBARCELONATECH4. Mechanical design of an A‐SCKAFO
Actuation and sensors
Actuators/joints Sensors
Electrical rotary motor(swing phase)
Mechanical locking system(stance phase)
Passive klenzak joint
Knee and ankle encoders(joint angles)
Plantar sensors(foot‐ground contact)
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1. Introduction
2. Musculoskeletal modeling
‐ Biomechanical model‐Muscle modeling: functional and denervated muscles
3. Simultaneous human‐orthosis actuation
4. Mechanical design of an A‐SCKAFO
5. Conclusions
Applied Mechanics GroupBARCELONATECH
Outline
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Applied Mechanics GroupBARCELONATECH5. Conclusions
Conclusions
• We have presented a simple and efficient approach to estimate muscle forces and orthosis actuation in powered assisted walking of incomplete SCI subjects.
─ Physiologically consistent results.
─ Considers the weakness and atrophy of partially denervated muscles in SCI.
─ Provides useful results to assist the selection of actuators in the design of active orthoses.
─ Good correlation with experimental measurements reported in literature.
• We have presented the mechanical design of an active stance‐control knee‐ankle‐foot‐orthosis (A‐SCKAFO) aimed at assisting incomplete SCI subjects.
─ Independent knee actuation and locking systems.
─ Equipped with the required sensors for its autonomous operation.
─ Advantages: Light weight, modularity, energy efficiency.
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Josep M. Font LlagunesDepartment of Mechanical Engineering Biomedical Engineering Research Centre Technical University of Catalonia (UPC)[email protected]
Simulation and design of an active orthosis for an incomplete spinal cord injured subject
Applied Mechanics GroupBARCELONATECHMontreal, 13 June 2011
CIM Seminar in Robotic Mechanical SystemsMcGill University