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Published byOwen Whitehead Modified over 8 years ago
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Sofia d’Orey Advisors: Jorge Martins and Miguel Silva (IST), Hugh Herr and Dava Newman (MIT)
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The total number of persons with paralysis, deformity or orthopedic impairments that use orthoses is expected to reach 7.3 million by the year 2020. American Academy of Orthotists and Prosthetists
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Aim: Contribution to the development of a hybrid active ankle foot orthosis, with particular reference to: Experimental data collection Data analysis, e.g. inverse kinematics, inverse dynamics, EMG processing Controller development, based on EMG and potentially IMU sensing schemes AFO Ankle Foot Orthoses PassiveActiveFES ISTMITELMETEC
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Use of a human model for walking instead of the passive model originally developed; Focus on FES has been assigned to Paulo Melo’s thesis
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Collected Data Labelled and pre-processed File format conversion, filtering and syncing Post- processing
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Labelling of markers Interpolation of small gaps, copy pattern in larger ones
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Vicon OpenSim Coordinate Data Analog Data Force plate, EMG, FS Analog Data Force plate, EMG, FS C3D File Binary TRC File MOT File C3D Server SDK and ASCII Files
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Scaling of generic model to match subject’s dimensions and mass
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Use subject-specific scaled model and adjusted markers to track the motion Optimization: minimize the difference between the model and experimental marker positions by adjusting the model’s degrees of freedom (i.e. rotations, translations and joint angles)
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Stance Phase
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Toe Off Heel Strike Swing Phase
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Toe Off Heel Strike
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Inverse dynamics analysis for quantification of joint torques; Analysis of EMG data collected for determination of muscle activation; Development of an EMG-based controller for the orthosis.
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Diana Young, Roedolph Opperman, Christopher Hainley, Avi Wolfson
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Time sequence of IMU and Vicon data acquisition Difference [ms] = imu_time + T4 + T2 - vicon_time + (5/Sample_rate)) 36
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Features Three inertial sensing components ▪ Accelerometer (+/- 10g) ▪ Gyroscope (1200 deg/sec) ▪ Magnetometer (+/- 1.2 gauss) ▪ 16 bits of resolution Drawbacks Limited sampling rate (1 – 155 Hz) Microstrain software ▪ couldn’t acquire from all components
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41 Validation trials performed in Holodeck IMU angles compared to Opensim angles
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42 Close alignment in vertical direction (3 degree offset) Time synchronization (horizontal alignment) very accurate (<10ms)
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