Foot Throttle Foot throttle device for lower limb rehabilitation

MRH – Table of contents Introduction Foot Throttle Redesign Foot Throttle II Implementation Foot Throttle Prototype Game-Jam Foot Throttle The future Conclusion

Introduction Mark Stappers Mechatronic Engineer Fontys University of Applied Sciences Eindhoven, the Netherlands

IntroductionFontys University 35 institutes students 3900 employee Bachelor Degree

Foot Throttle Training device for the ankle joint

Muscle training

Muscle Training

Foot Throttle I Rehabilitation device for the ankle muscles The Foot throttle is a passive training device Training exercises are not available No monitoring system No feedback by physiotherapist No safety requirements during the design Foot throttle can also be used for preventing injuries

Requirements Foot throttle II

Redesign Foot Throttle

Redesign Foot Throttle II User Requirements – Client with no knowhow can use the foot throttle – Client can do exercises at home with the Foot Throttle (The physiotherapist) – The physiotherapist will monitor the condition of the client – The physiotherapist will not provide the exercises – Reduce the time at the physiotherapist, not the quality of the treatment Technical requirements – Power supply ~230V - 50Hz/60Hz – Maximum dimensions 60 x 60 x 60 cm – Maximum weight 5kg – Feedback provided by monitor system – Internet connection for feedback with the physiotherapist

Hardware requirements Process Foot Throttle II Foot Throttle Prototype Foot Throttle I Finalizing foot throttle to production device Foot throttle equipped with motors and encoders. (proof of concept) Mechanical foot throttle.

Foot Throttle Protoype

Foot Throttle prototype Proof of concept Prototype will be used for testing the most vital functions – Developing construction – Read out information – Developing algorithms Not included – Communication ethernet – Graphical User Interface for Client/Physiotherapist

Hardware construction Mechanical drawing of the foot throttle are finished Drawings are designed in Autodesk Inventor Parts will be constructed

Setup – Hardware Prototype Project X 1.0 Pagina March 2009 Foot Throttle XPC- Target PC 68 pins connector (2x) Cross cable Matlab/Simulink (non-realtime) XPC-compiler (realtime) Real World

hardware prototype Project X 1.0 Pagina March 2009 Foot Throttle Left Paddle Right Paddle Motor Encoder Amplifier Motor Encoder Amplifier Motor Encoder Amplifier Motor Encoder Amplifier XPC-target PCI6602PCI6703 Desktop PC NIC Desktop application

Foot Throttle (proto) Every pedal has 2 DC motors Every motor has an encoder (S0/S90) Connecting motor/encoder with NI Cards (6703 and 6602)

Electronics Controlling Motors NI PCI voltage outputs Range V 8 digital I/O (5V TTL/CMOS) Encoder information NI PCI up/down, 32 bit counter 80 MHz max source frequencies

Electronics The cards 6602 and 6703 are connected to XPC-target XPC-target is a real-time software environment from Mathworks Using XPC-target in combination with Mathworks software – Matlab – Simulink Easy to set-up software with chosen hardware Set-up can only be used for prototyping Project X 1.0 Pagina March 2009

Matlab Simulink Project X 1.0 Pagina March 2009

PC SOFTWARE REQUIREMENTS Goal Software requirements – Description of the behavior of the complete system Methods that are used: Use Case Diagram – Graphical overview of the functionality – Shows the functions for the practical actor Unified Modeling Language (UML) – Dynamic and static processes can be described – Easy method to describe meta-descriptions – Can be used in every phase of the project

USE CASE DIAGRAM Configuration Program FT Choose Settings New Settings Save Settings Load Settings Reset Settings Print Save log View Feedback View Program Communication View motor Calibrate Init View report

UML-DIAGRAM (class diagram) Class diagram is static diagram Class diagram is divided into several blocks, based on the functionality Every block exist out of 3 parts – Unique name – Attribute – Methods Attribute can only be used with a method of that class

Why these diagrams? Easy for a software designer to design the code Easy for discussion with none technical people (management) Working principle can easily be described to other people Easy to add / Remove functionality For example adding game functionality!

Foot Throttle Game-JAM Developing a game, based on the foot throttle Cooperation between department of mechatronics and computer sciences 3-day event(8.00 – 20.00) Competition between teams Winning team: – Receives award Provided – Foot Throttle equipped: – sensors /Electronics – API-layer software

Foot Throttle GAME-JAM Combine Rehabilitation with gaming Advantages – People like doing games while recovering (All ages) – Keeping the interest into doing rehabilitation exercises – Recovery of the injury can go faster – Downloaded Game application can increase funding's – Easier to setup a business case

Foot throttle – Game Jam

Impression Game-Jam Project X 1.0 Pagina March 2009

Future Nearby – Foot throttle will be assembled – Algorithms are being developed – Testing basic functionality Long term – When basic functionality is realized – Adding physiotherapist program in the software device – Add game functionality in the device – Add communication with physiotherapist – Replace XPC –target and Simulink with embedded board – Realizing a Graphical user interface for client and physiotherapist

hardware prototype Project X 1.0 Pagina March 2009 Foot Throttle Left Paddle Right Paddle Motor Encoder Amplifier Motor Encoder Amplifier Motor Encoder Amplifier Motor Encoder Amplifier Desktop PC Client NIC Desktop application Embedded Board USB Desktop PC Physio NIC Desktop application

Conclusion /Recommendation Prototype Foot Throttle still under development Making mechanical parts Foot Throttle Next phase will be the test-phase – basic functionality – Advanced functionality When concept is proven further development is possible – Embedded software / hardware – Optimizing mechanics for rehabilitation at home – Weight – Construction – Price