1. Medical Robotics Application for Motion Emulation of Parkinsonian ECE 7995 Advisor Dr. Abhilash Pandya Group #2 Ranvir Hara Ravanpreet Kaur Gaganjeet Hans Mohammed Hossain College of Engineering Department of Electrical and Computer Engineering Wayne State University, Detroit, Michigan

2. Project Outline Background Significance Project Overview Assumptions Objective Problems Faced

3. Background Parkinson Disease  Motor system disorder in the brain.  Results from the loss of Dopamine.  First described by James Parkinson in 1817. Symptoms (Primary)  Tremor of one or more than one limb.  Rigidity.  Bradykinesia.  Postural instability.

4. Background (Contd.) Type of Tremor  Resting Tremor  Postural Tremor  Precision Tremor Typical tremor found in Parkinson’s disease Person is 3.71 to 4.34 Hz

5. Background (Contd.) Treatment  Drugs: Levodopa, Carbidopa (converts into dopemine).  Drugs: Bromocryptine, Pramipexole (mimic the role of dopamine).  Therapy: Deep Brain Stimulation (DBS). Problems  After a certain time period it comes back.

6. Significance Our system is the combination of medical robotics (robotic arm) and signal processing (tremor cancellation) in rehabilitation of the parkinsonian. Signal Processing Parkinson Patient Signal with tremor Robotics Smoothened Movements Signal without tremor

7. Project Overview Analog Input Signal from Parkinsonian Sensing Device Processing the Signal using MATLAB Interfacing RIOS software Tremor Free movement by Robotic Arm

8. Assumptions No Inertial Parameters ( like gravity) Z Axes Parameters Null (2D) Drawing simple figures

9. OBJECTIVE 1 Sensing the tremor from the Parkinson disease person to computer for processing ST1 : Building the tremor sensing device ST2 : Storing the sensor data into Computer ST3 : Reading the sensor data into MATLAB

10. Flow Diagram Sensing ModuleReading module Accelerometer Computer Procesing To Matlab 2 D- ADIS16006

11. SENSING DEVICE USED 2D Digital Accelerometer ADIS16006 Dual-axis accelerometer SPI Digital Output Interface 3.0 v to 5.25 V single- supply operation

12. Problems Faced IRB Permission Resolution : Generated the data in MATLAB Psychological tremor

13. Accelerometer Signal Read into Software

14. OBJECTIVE 2 Filtering out the signal ST1 : Implementing Filter ST2 : Applying the input signal to filter ST 3: Storing the Filtered data (signal) in the Matlab for further processing

15. FLOW DIAGRAM FILTERATION PROCESS High Pass Filter WFLC Filter (Applying in MATLAB) Signal with tremor Signal without Tremor Processing of the Signal

16. Alternatives Used LABVIEW used for the test cases

17. OBJECTIVE 3 Aim : Integrating the Signal in the Computer with the Hardware ST 1: Writing API for the interface between S/W and H/W ST 2: Transformation of the signal to PWM

18. FLOW DIAGRAM Transforma -tion of matlab data Application Programming Interface Microcontroller To Robotic Arm Filtered Signal ST 1 ST 2 Application Programming Interface Microcontroller CSV File PWM Signal

19. Problems Faced Choosing alternatives for the MATLAB and RIOS interface Resolution: Socket Programming (TCP/IP) Generation of PWM using Microcontroller Writing CSV files (Excel Files) Generate the CSV file in MATLAB.

20. OBJECTIVE 4 Aim : Movement of the Robotics Arm ST1 : Configuration of the Arm geometry ST2: Testing the Motion Module ST 3: Moving the Arm to the desired Position

21. FLOW DIAGRAM From Microcontroller Tremor free movement Lynx 5 Robotic Arm

22. Problems Faced Configuration of geometry of arm Missing Servo motor Limitation in the movement of the arm (forward & Backward)

23. FUTURE WORK This is a prototype we developed for the system, but it can be enhanced further by including the Parkinson patient 3D motion sensor and the gyroscope can be included in the Consideration of the system. Calibration of the Arm can be considered with other optimization factors

24. Questions ???????