Biomechatronic Systems Unit 1: Introduction Mehdi Delrobaei Winter 2020 1 Mechatronics Source: Wikipedia 2 Biomechatronics • Biomechatronics = Mechatronics + Biology (Medicine) • Biomechatronics = Bioelectrics + Biomechanics • Biomechatronics =? Bionics, Biomimetics 3 Source: Ekso Bionics Course Outline 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 % 4 Topics 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 5 Topics 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 6 Topics • 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 7 Topics • 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 8 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. 9 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 11 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: Google13 Images Nervous System: Neurons Source: Google Images 14 Nervous System: Neuro-transmitter Source: Google Images 15 Musculo-Skeletal System • 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. Sources: Google Images 16 Joints 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). 17 Safety and Ethics 18 Source: Google Images Ethics • Ethics – Protocol – Letter of Information • Protocol Project 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 19 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 20 Safety • Global Harmonization Task Force • Governmental Regulation • Standards • Safety of Medical Devices • Risk Management • Quality Control • Regulatory Resources 21.