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Biomechatronic Systems

Mehdi Delrobaei

Winter 2020

Unit 1: Introduction

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Mechatronics

Source: Wikipedia 2

Biomechatronics

• Biomechatronics = Mechatronics + Biology (Medicine)

• Biomechatronics = Bioelectrics + Biomechanics

• Biomechatronics = Bionics, Biomimetics

Source: Ekso Bionics

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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 %

Course Outline

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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

Topics

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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

Topics

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• 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

Topics

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• 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

Topics

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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.

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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

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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

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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: Google Images13

Nervous System: Neurons

Source: Google Images14

Nervous System: Neuro-transmitter

Source: Google Images 15

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Musculo-Skeletal System

Sources: Google Images

• 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.

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Joints

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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).

Safety and Ethics

Source: Google Images18

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Ethics

• Ethics– Protocol

– Letter of Information

• ProtocolProject 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

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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

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Safety

• Global Harmonization Task Force

• Governmental Regulation

• Standards

• Safety of Medical Devices

• Risk Management

• Quality Control

• Regulatory Resources

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