Presentation is loading. Please wait.

Presentation is loading. Please wait.

The Human PoWeR Laboratory Physiology ofof Wearable Robotics Dr. Gregory S. Sawicki

Published byRaymond Mosley Modified over 8 years ago

Similar presentations

Presentation on theme: "The Human PoWeR Laboratory Physiology ofof Wearable Robotics Dr. Gregory S. Sawicki"— Presentation transcript:

1 The Human PoWeR Laboratory Physiology ofof Wearable Robotics Dr. Gregory S. Sawicki e-mail: gssawick@ncsu.edu

2 MECHANICS ENERGETICS NEURAL CONTROL Lower-limb Joints Muscle-Tendon Units Muscles Whole-Body

3 Carbon fiber shank Polypropylene foot Artificial Pneumatic Muscle Load Cell Compressed air via nylon tubing Steel hinge joint Moment arm ~10 cm Bilateral Powered Ankle Exoskeletons Total Mass ~ 1.1 kg < 5% M body

4 Proportional Myoelectric Control Powered Ankle Exoskeleton with Artificial Muscle SOL EMG Computer Interface Plantar Control Signal Pressure Regulator

5 Uphill: 15% grade @ 1.25 m/s Powered Walking: O 2 Consumption

6 Energy Savings: Powered Assistance Net Metabolic Power (W/kg) 0 10 0 5 15 Unpowered Powered -13% * -11% * -12% * -10% * Surface Gradient (%) Sawicki, Ferris J Exp Biol (2009b) 1.25 m/s 9 SUBJECTS

7 Push-Button Control Push ButtonControl Signal Pressure Regulators Computer Interface Therapist Control A. Therapist Control Patient Control B. Patient Control Sawicki et al. JNER (2006).

8 In Vitro Muscle-Tendon Work Loops Specified Muscle Stimulation Timing Specified Muscle-Tendon Length Trajectory Signal Generator Length Stim Muscle-Tendon (MT) Frog Plantaris Muscle Fibers (CE ) Achilles’ Tendon (SEE) Electrical Stim Muscle Stimulation Amplitude, Duration Sonomicrometer CE Length MT Length Muscle Ergometer Muscle Force

9 Protocol: Activation Onset Phase % 250 ms (4 Hz) 0 -4 +4 0% Muscle-Tendon Length Trajectory (mm) + Lengthening - Shortening -12.5% +12.5% +25.0% +37.5% +50.0% 100 ms 40% duty

10 Muscle-Tendon Force and Length N=6 Cycle (%) 4 0 -6 10 5 0 Stimulation Period Muscle (CE) Δ Length (mm) Force (N/g) Tendon (SEE) Δ Length (mm) 7 0 14 10050 0 100 ms

11 Imaging: Manipulate Muscle-Tendon force with Parallel Elastic Ankle Exoskeleton Parallel Elastic Exoskeleton + Rotating Platform Force Platform 1. External Forces 2. Joint Kinematics Ultrasound Probe Muscle-Tendon Junction Position 3. Muscle + Tendon Lengths 4. Electromyography 5. Metabolic Cost In Vivo Muscle-Tendon

12 MUSCLE ERGOMETER SONOMICROMETER ELECTRICAL STIMULATOR or PNEUMATIC VALVES BIOLOGICAL MUSCLE-TENDON or ARTIFICIAL MUSCLE-TENDON Feedback Control: VIRTUAL BODY DYNAMICS Muscle-Tendon Length Change Muscle-Tendon Force VIRTUAL NERVOUS SYSTEM Feedforward + Feedback Muscle Activation Muscle Length and Velocity (i.e. Ia, II) (i.e. Ib) In Vitro Muscle-Tendon

13 Design: Sawicki et al. JNER (2009). Wearable Robots and Elastic Actuators

Download ppt "The Human PoWeR Laboratory Physiology ofof Wearable Robotics Dr. Gregory S. Sawicki"

Similar presentations

Muscle Modeling in Biomechanics Tuesday, October 29, 2013.

Muscle Modeling in Biomechanics Tuesday, October 29, 2013.
Steve Collins  Carnegie Mellon University  biomechatronics.cit.cmu.edu  NSF National Robotics Initiative: Rapid exploration of.

Steve Collins  Carnegie Mellon University  biomechatronics.cit.cmu.edu  NSF National Robotics Initiative: Rapid exploration of.
Neuromechatronics: Frog lab - neither neural nor mechatronic Goal: use muscles to control movement 1)implant intramuscular electrodes 2)stimulate implanted.

Neuromechatronics: Frog lab - neither neural nor mechatronic Goal: use muscles to control movement 1)implant intramuscular electrodes 2)stimulate implanted.
Authors: Sabrina Lee and Stephen Piazza. I. Introduction  The fastest sprinters: Higher proportion of fast-twitch muscle fibers Larger leg muscles A.

Authors: Sabrina Lee and Stephen Piazza. I. Introduction  The fastest sprinters: Higher proportion of fast-twitch muscle fibers Larger leg muscles A.
Moment arms Mechanical levers – Force multiplier – Speed multiplier Lever-like systems – Pulleys – Sesamoids Interaction with muscle architecture.

Moment arms Mechanical levers – Force multiplier – Speed multiplier Lever-like systems – Pulleys – Sesamoids Interaction with muscle architecture.
Kinesiology Andrew L. McDonough, PT, EdD Dominican College

Kinesiology Andrew L. McDonough, PT, EdD Dominican College
How do muscles work? Kimberly S. Topp, PT, PhD Phys Ther & Rehab Sci Anatomy UCSF.

How do muscles work? Kimberly S. Topp, PT, PhD Phys Ther & Rehab Sci Anatomy UCSF.
Lecture 5 Dimitar Stefanov. Definitions: Purpose of the muscles is to produce tension Metabolic efficiency – the measure of a muscle’s ability to convert.

Lecture 5 Dimitar Stefanov. Definitions: Purpose of the muscles is to produce tension Metabolic efficiency – the measure of a muscle’s ability to convert.
Biomechanics of Skeletal Muscle Yi-Ching Tsai Institute of Biomedical Engineering, National Yang-Ming University. Basic.

Biomechanics of Skeletal Muscle Yi-Ching Tsai Institute of Biomedical Engineering, National Yang-Ming University. Basic.
Mechanical Energy, Work and Power D. Gordon E. Robertson, PhD, FCSB Biomechanics Laboratory, School of Human Kinetics, University of Ottawa, Ottawa, Canada.

Mechanical Energy, Work and Power D. Gordon E. Robertson, PhD, FCSB Biomechanics Laboratory, School of Human Kinetics, University of Ottawa, Ottawa, Canada.
Dynamics of Serial Manipulators

Dynamics of Serial Manipulators
Kinematic and Energetic Concepts Dr. Suzan Ayers Western Michigan University (thanks to Amy Gyrkos)

Kinematic and Energetic Concepts Dr. Suzan Ayers Western Michigan University (thanks to Amy Gyrkos)
Musculoskeletal Modeling Colin Smith. A method for Studying Movement Things we can measure in movement: – Kinematics (using motion capture) – Output Forces.

Musculoskeletal Modeling Colin Smith. A method for Studying Movement Things we can measure in movement: – Kinematics (using motion capture) – Output Forces.
Moment Power Analysis and Absolute Power Method D. Gordon E. Robertson, PhD, FCSB Biomechanics Laboratory, School of Human Kinetics, University of Ottawa,

Moment Power Analysis and Absolute Power Method D. Gordon E. Robertson, PhD, FCSB Biomechanics Laboratory, School of Human Kinetics, University of Ottawa,
Mechatronics 1 Week 2. Learning Outcomes By the end of this session, students will understand constituents of robotics, robot anatomy and what contributes.

Mechatronics 1 Week 2. Learning Outcomes By the end of this session, students will understand constituents of robotics, robot anatomy and what contributes.
Modeling and Kinetics: Forces and Moments of Force* * Some of the materials used in this lecture are derived from: 1.Winter, D. A. (1990). Biomechanics.

Modeling and Kinetics: Forces and Moments of Force* * Some of the materials used in this lecture are derived from: 1.Winter, D. A. (1990). Biomechanics.
The Muscle Low-Down. Needs Controllable –React to output from software via controller Fast –Respond and recover quickly Provide 180° of rotation Behave.

The Muscle Low-Down. Needs Controllable –React to output from software via controller Fast –Respond and recover quickly Provide 180° of rotation Behave.
Laboratory for Perceptual Robotics – Department of Computer Science Embedded Systems Motors.

Laboratory for Perceptual Robotics – Department of Computer Science Embedded Systems Motors.
Comparing the Locomotion Dynamics of a Cockroach and a Shape Deposition Manufactured Biomimetic Robot Sean A. Bailey, Jorge G. Cham, Mark R. Cutkosky Biomimetic.

Comparing the Locomotion Dynamics of a Cockroach and a Shape Deposition Manufactured Biomimetic Robot Sean A. Bailey, Jorge G. Cham, Mark R. Cutkosky Biomimetic.
Mechanical Energy, Work and Power D. Gordon E. Robertson, Ph.D. Biomechanics Laboratory, School of Human Kinetics, University of Ottawa, Ottawa, CANADA.

Mechanical Energy, Work and Power D. Gordon E. Robertson, Ph.D. Biomechanics Laboratory, School of Human Kinetics, University of Ottawa, Ottawa, CANADA.

Similar presentations

Ads by Google