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Conception and Design of a Hardware Simulator for Restoring Lost Biomechanical Function

Conception and Design of a Hardware Simulator for Restoring ...

引用

IEEE International Conference on systems, Man, and Cybernetics

作者： P. Beckerle L. Lahnstein J. Wojtusch S. Rinderknecht O. Von Stryk Dept. of Mechanical Engineering Inst. for Mechatronic Systems in Mech. Eng. Member IEEE Technische Universit?t Darmstadt - Darmstadt Germany Technische Universit?t Darmstadt - Darmstadt Germany Dept. of Computer Science Simulation Systems Optimization and Robotics Group Member IEEE Technische Universit?t Darmstadt - Darmstadt Germany Dept. of Mechanical Engineering Inst. for Mechatronic Systems in Mech. Eng.Technische Universit?t Darmstadt - Darmstadt Germany

ISBN: (纸本)9781479906505

The Prosthesis-User-in-the-Loop simulator concept represents an approach to integrate users to prosthetic development by a holistic simulation of gait with a prosthesis. It aims at a more user-centered design of lower limb prosthetic devices by utilizing user experience and assessment. As this requires a complex mechanical robot design and sophisticated control strategies that allow for restoring lost biomechanical function, this paper presents the conception and design of a hardware simulator for proof-of-concept studies of those issues. For those investigations, the ankle joints of healthy praticpants are locked mechanically to induce a temporary disability. The task of the simulator is to provide a simulation of physiological gait by artificially restoring ankle functionality. Therefore, the biody-namic behaviour of the locked ankle joint and the enviroment have to be mimicked mechnically. After introducing Prosthesis-User-in-the-Loop simulator idea, the conception of a proof-of-concept simulator is presented. From this, an analytical model is derived and inverse dynamics simulation are used for design. The resulting mechanism is limited to sagittal plane movements and thus has three degrees of freedom. The actuators are dimensioned to meet the requirements of walking motions in the human subject with maximum body height among the test population.

关键词： Prosthetics User-centered Development in-the-Loop Evaluation Biomechanics robotics Prosthesis simulator Conception robotics Biomechanics Ankle Joint three degrees of freedom human subject robot design Computer hardware Body Height Locomotion

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Detailed dynamics modeling of BioBiped's monoarticular and biarticular tendon-driven actuation system

Detailed dynamics modeling of BioBiped's monoarticular and b...

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2012 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Katayon Radkhah Thomas Lens Oskar von Stryk Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Darmstadt Germany

ISBN: (纸本)9781467317375

Bio-inspired, musculoskeletal design of bipedal robots offers great potential towards more human-like robot performance but imposes major challenges on their design and control, as it is challenging to analyze the contribution of each active and passive series elastic tendon to the overall joint, leg and robot dynamics. In this paper, detailed mathematical models of the tendon-driven, series elastically actuated mono- and biarticular structures of the BioBiped1 robot are presented. These enable a systematic analysis of the design space and characteristic curves as well as to derive guidelines for the design of improved prototypes. The derived models are applied to investigate the effects of the active and passive, mono- and biarticular structures on different performance criteria of 1D hopping motions by means of a detailed multi-body system dynamics simulation.

关键词： Joints Tendons Legged locomotion Muscles Torque Springs Knee

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Conception and Evaluation of a Novel Variable Torsion Stiffness for Biomechanical Applications

Conception and Evaluation of a Novel Variable Torsion Stiffn...

引用

IEEE RAS & EMBS International Conference on Biomedical robotics and Biomechatronics

作者： J. Schuy P. Beckerle J. Wojtusch S. Rinderknecht O. von Stryk Department of Mechanical Engineering Institute for Mechatronic Systems in Mechanical Engineering Technische Universitat Darmstadt Department of Computer Science Simulation Systems Optimization and Robotics Group Technische Universitat Darmstadt

ISBN: (纸本)9781457711992

This paper proposes a novel variable torsion stiffness (VTS) aiming on biomechanical applications like prosthetic knee joints. By varying the effective length of a torsional elastic element via a relocatable counter bearing, the stiffness of a rotational joint is adjusted. This functional concept is described in detail by the authors as well as the design of such VTS joints. Additionally, analytical models for the transfer behaviour of drivetrain and stiffness control are derived. These are used for a simulative evaluation of a pendulum driven by a VTS unit. Based on the results of this simulation, the power requirements of VTS are analysed. Furthermore, an analysis of its structural strength is presented. For practical comprehensibility, the example of the design of a prosthetic knee joint is taken up for several times in this paper. Finally, the concept, modeling and design of VTS as well as the simulation results are concluded and discussed in a final assessment and in comparison to other contemporary concepts.

关键词： Vessel traffic services VTS Knee Joint Conception Mechanical Torsion Simulation results stiffness control power requirement Clock weights

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Model-based Off-line Compensation of Path Deviation for Industrial Robots in Milling Applications

Model-based Off-line Compensation of Path Deviation for Indu...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics

作者： Reinl, C. Friedmann, M. Bauer, J. Pischan, M. Abele, E. von Stryk, O. Simulation Systems Optimization and Robotics Group Technische Universit&#x00E4 t Darmstadt Germany

ISBN: (纸本)9781457708398

The scope of applications for industrial robots is limited in cases with strong forces at the end effector and high positioning and path accuracies required. Thus, their use in machining applications as a cost-saving, flexible alternative for machining tools is restricted due to mechanical compliance. A model-based off-line concept is presented to analyze, predict, and compensate the resulting path deviation of the robot under process force in milling applications. For this purpose a rigid multi-body dynamics model of the robot extended with additional joint elasticities and tilting effects is coupled with a material removal simulation providing the process forces. After systematically adjusting model parameters, an efficient simulation-based path correction strategy shows significant improvements of path accuracy. The general framework is applicable to any tree structured robots and allows for sensitivity analysis with respect to arbitrary model parameters.

关键词： Computational modeling Force Joints Milling Robot sensing systems Solid modeling end effector end effectors industrial robots industrial robots machining application machining tools manipulator dynamics material removal simulation mechanical compliance milling milling applications model-based offline compensation path deviation rigid multibody dynamics model sensitivity analysis sensitivity analysis simulation-based path correction tree structured robots

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Prosthesis-User-in-the-Loop: A User-Specific Biomechanical Modeling and Simulation Environment

Prosthesis-User-in-the-Loop: A User-Specific Biomechanical M...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： J. Wojtusch P. Beckerle O. Christ K. Wolff O. von Stryk S. Rinderknecht J. Vogt Department of Computer Science Simulation Systems Optimization and Robotics Group Technische Universit?t Darmstadt 64289 Darmstadt Germany Department of Mechanical Engineering Institute of Mechatronic Systems in Mechanical Engineering Technische Universit?t Darmstadt 64287 Darmstadt Germany Department of Human Science Work and Engineering Psychology Research Group Technische Universit?t Darmstadt 64283 Darmstadt Germany

ISBN: (纸本)9781424441198

In this paper, a novel biomechanical modeling and simulation environment with an emphasis on user-specific customization is presented. A modular modeling approach for multi-body systems allows a flexible extension by specific biomechanical modeling elements and enables an efficient application in dynamic simulation and optimization problems. A functional distribution of model description and model parameter data in combination with standardized interfaces enables a simple and reliable replacement or modification of specific functional components. The user-specific customization comprises the identification of anthropometric model parameters as well as the generation of a virtual three-dimensional character. The modeling and simulation environment is associated with Prosthesis-User-in-the-Loop, a hardware simulator concept for the design and optimization of lower limb prosthetic devices based on user experience and assessment. For a demonstration of the flexibility and capability of the modeling and simulation environment, an exemplary application in context of the hardware simulator is given.

关键词： novel biomechanical simulation environment customization comprises

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Prosthesis-User-in-the-Loop: User-Centered Design Parameters and Visual Simulation

Prosthesis-User-in-the-Loop: User-Centered Design Parameters...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： O. Christ J. Wojtusch P. Beckerle K. Wolff J. Vogt O. von Stryk S. Rinderknecht Department of Human Science Work and Engineering Psychology Research Group Technische Universit?t Darmstadt 64283 Darmstadt Germany Department of Computer Science Simulation Systems Optimization and Robotics Group Technische Universit?t Darmstadt 64289 Darmstadt Germany Department of Mechanical Engineering Institute for Mechatronic Systems in Mechanical Engineering Technische Universit?t Darmstadt 64287 Darmstadt Germany

ISBN: (纸本)9781424441198

After an amputation, processes of change in the body image as well as a change in body scheme have direct influences on the quality of living in every patient. Within this paper, a paradigm of experimental induced body illusion (the Rubber Hand Illusion, RHI) is integrated in a prosthetic hardware simulator concept. This concept combines biodynamical and visual feedback to enhance the quality of rehabilitation and to integrate patients' needs into the development of prostheses aiming on user-centered solutions. Therefore, user-centered design parameters are deducted. Furthermore, the basic concept of the visual simulation is presented and a possibility for its implementation is given. Finally, issues and conclusions for future work are described.

关键词： amputation processes conclusions

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Simulation of dynamics and realistic contact forces for manipulators and legged robots with high joint elasticity

Simulation of dynamics and realistic contact forces for mani...

引用

IEEE 15th International Conference on Advanced robotics: New Boundaries for robotics, ICAR 2011

作者： Lens, Thomas Radkhah, Katayon Von Stryk, Oskar Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt Germany

ISBN: (纸本)9781457711589

In this paper, multibody system dynamics simulation for manipulators and legged robots with high joint elasticities, particularly with focus on collision modeling, is addressed. We present the architecture of a newly developed toolbox in conjunction with a detailed discussion of a realistic contact, friction and stiction model, which is validated with real measurement data of a bouncing ball. The work presented is driven and inspired by two concrete robot developments in the authors' group: the manipulator BioRob and the biped BioBiped. The libraries are used to develop kinematic and kinetic models of these bio-inspired and highly elastic robots. Models and simulation of both robots are discussed, as well as occurring forces during collisions of the BioRob-X4 arm with the ground. We are also able to demonstrate good agreement of ground contact forces measured during slow jogging motion of a human subject with simulation results obtained with BioBiped1. © 2011 IEEE.

关键词： Manipulators

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A supporter behavior for soccer playing humanoid robots

引用

14th Annual RoboCup International Symposium, 2010

作者： Petersen, Karen Stoll, Georg von Stryk, Oskar Simulation Systems Optimization and Robotics Group Department of Computer Science Technische Universität Darmstadt Germany

ISBN: (纸本)9783642202162

In this paper, an efficient behavior for a humanoid soccer robot supporting a teammate manipulating the ball is proposed and evaluated. This approach has been derived from human soccer tactics, requires only minimal information about the current state of the game and is therefore well suited for robots with directed vision and limited motion abilities like humanoid robots. The position of the supporter is chosen in a way to reduce the chances of the opponent team for scoring a goal and to increase the chances of the robot to take over the role of its teammate manipulating ball in case the teammate falls down or is being dodged by the opponent team. By different parameterizations more defensive or more offensive player tactics can be realized as well as adaptations to specific tactics and skills of the opposing robot players. The developed behavior was evaluated in a simulation based statistical analysis. Also an evaluation in games during RoboCup 2009 is given. © Springer-Verlag Berlin Heidelberg 2011.

关键词： Anthropomorphic robots

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Bio-inspired motion control of the musculoskeletal BioBiped1 robot based on a learned inverse dynamics model

Bio-inspired motion control of the musculoskeletal BioBiped1...

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2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011

作者： Scholz, Dorian Kurowski, Stefan Radkhah, Katayon Stryk, Oskar Von Simulation Systems Optimization and Robotics Group Computer Science Technische Universität Darmstadt Darmstadt Germany

ISBN: (纸本)9781612848679

Based on the central hypothesis that a humanoid robot with human-like walking and running performance requires a bio-inspired embodiment of the musculoskeletal functions of the human leg as well as of its control structure, a bio-inspired approach for joint position control of the BioBiped1 robot is presented in this paper. This approach combines feed-forward and feedback control running at 1 kHz and 40 Hz, respectively. The feed-forward control is based on an inverse dynamics model which is learned using Gaussian process regression to account for the robot's body dynamics and external influences. For evaluation the learned model is used to control the robot purely feed-forward as well as in combination with a slow feedback controller. Both approaches are compared to a basic feedback PD-controller with respect to their tracking ability in experiments. It is shown, that the combined approach yields good results and outperforms the basic feedback controller when applied to the same set-point trajectories for the leg joints. © 2011 IEEE.

关键词： Anthropomorphic robots

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The musculoskeletal system of the human arm - More than the sum of its parts

The musculoskeletal system of the human arm - More than the ...

引用

2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Klug, Sebastian Lens, Thomas Nogler, Michael Von Stryk, Oskar Institute of Experimental Orthopedics Innsbruck Medical University 6020 Austria Simulation Systems Optimization and Robotics Group Technische Universität Darmstadt 64289 Germany

ISBN: (纸本)9781457721373

Biological systems show outstanding performance in the control of highly redundant and nonlinear systems. The complexity of these systems has raised questions about sufficient strategies of planning and controlling movements. Although many aspects of the musculoskeletal system, like nonlinear muscle properties, redundant actuation, and mechanically coupled joints, seem to make things more complicate from a purely technical point of view, this complexity has positive influence on the control. In this paper we show first aspects on how the nonlinear characteristics of the musculoskeletal system of the human arm may influence and even support the control of movements. © 2011 IEEE.

关键词： robotics

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