foot throttle foot throttle device for lower limb rehabilitation

Foot Throttle

Foot throttle device for lower limb rehabilitation

MRH – Table of contents

• Introduction

• Foot Throttle

• Redesign Foot Throttle II

• Implementation Foot Throttle Prototype

• Game-Jam Foot Throttle

• The future

• Conclusion

Introduction• Mark Stappers

• Mechatronic Engineer

• Fontys University of Applied Sciences

• Eindhoven, the Netherlands

IntroductionFontys University

•35 institutes

• 36000 students

• 3900 employee

Bachelor Degree

http://www.fontys.nl

Foot Throttle

• Training device for the ankle joint

Muscle training

Muscle training

Muscle Training

Foot Throttle I

• Rehabilitation device for the ankle muscles

• The Foot throttle is a passive training device

• Training exercises are not available

• No monitoring system

• No feedback by physiotherapist

• No safety requirements during the design

• Foot throttle can also be used for preventing injuries

Requirements Foot throttle II

Redesign Foot Throttle

Redesign Foot Throttle II

• User Requirements– Client with no knowhow can use the foot throttle – Client can do exercises at home with the Foot Throttle (The

physiotherapist)– The physiotherapist will monitor the condition of the client

– The physiotherapist will not provide the exercises– Reduce the time at the physiotherapist, not the quality of the

treatment

• Technical requirements– Power supply ~230V - 50Hz/60Hz– Maximum dimensions 60 x 60 x 60 cm– Maximum weight 5kg– Feedback provided by monitor system– Internet connection for feedback with the physiotherapist

Hardware requirements

Process• Finalizing foot throttle to

production device

• Foot throttle equipped with motors and encoders. (proof of concept)

• Mechanical foot throttle.

Foot Throttle Protoype

Foot Throttle prototype

• Proof of concept

• Prototype will be used for testing the most vital functions– Developing construction– Read out information– Developing algorithms

• Not included– Communication ethernet– Graphical User Interface for Client/Physiotherapist

Hardware construction

• Mechanical drawing of the foot throttle are finished

• Drawings are designed in Autodesk Inventor

• Parts will be constructed

Setup – Hardware Prototype

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Foot ThrottleXPC-

Target PC

68 pins connector (2x)

Cross cable

Matlab/Simulink(non-realtime)

XPC-compiler(realtime)

Real World

hardware prototype

Project X 1.0 Pagina 18 31 March 2009

Foot Throttle

Left Paddle Right Paddle

Motor

Encoder

Amplifier

Motor

Encoder

Amplifier

Motor

Encoder

Amplifier

Motor

Encoder

Amplifier

XPC-target

PCI6602

PCI6703

Desktop PC

NIC NIC

Desktop application

Foot Throttle (proto)

• Every pedal has 2 DC motors

• Every motor has an encoder (S0/S90)

• Connecting motor/encoder with NI Cards (6703 and 6602)

Electronics

• Controlling Motors

• NI PCI 6703

• 16 voltage outputs

• Range -10 .. +10V

• 8 digital I/O (5V TTL/CMOS)

• Encoder information

• NI PCI 6602

• 8 up/down, 32 bit counter

• 80 MHz max source frequencies

Electronics

• The cards 6602 and 6703 are connected to XPC-target

• XPC-target is a real-time software environment from Mathworks

• Using XPC-target in combination with Mathworks software – Matlab– Simulink

• Easy to set-up software with chosen hardware

• Set-up can only be used for prototyping

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Matlab Simulink

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PC SOFTWARE REQUIREMENTS

• Goal Software requirements– Description of the behavior of the complete system

• Methods that are used:

• Use Case Diagram– Graphical overview of the functionality– Shows the functions for the practical actor

• Unified Modeling Language (UML)– Dynamic and static processes can be described– Easy method to describe meta-descriptions – Can be used in every phase of the project

USE CASE DIAGRAM

Configuration

Program FT

Choose Settings

New Settings

Save Settings

Load Settings

Reset Settings

Print

Save log

View Feedback

View Program Communicati

onView

motor

Calibrate

Init

Viewreport

UML-DIAGRAM (class diagram)

• Class diagram is static diagram

• Class diagram is divided into several blocks, based on the functionality

• Every block exist out of 3 parts– Unique name– Attribute– Methods

• Attribute can only be used with a method of that class

Why these diagrams?

• Easy for a software designer to design the code

• Easy for discussion with none technical people (management)

• Working principle can easily be described to other people

• Easy to add / Remove functionality

• For example adding game functionality!

Foot Throttle Game-JAM

• Developing a game, based on the foot throttle

• Cooperation between department of mechatronics and computer sciences

• 3-day event (8.00 – 20.00)

• Competition between teams

• Winning team: – Receives award

• Provided– Foot Throttle equipped:

– sensors /Electronics– API-layer software

Foot Throttle GAME-JAM

• Combine Rehabilitation with gaming

• Advantages– People like doing games while recovering (All ages) – Keeping the interest into doing rehabilitation exercises– Recovery of the injury can go faster– Downloaded Game application can increase funding's– Easier to setup a business case

Foot throttle – Game Jam

Impression Game-Jam

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Future

• Nearby– Foot throttle will be assembled– Algorithms are being developed– Testing basic functionality

• Long term– When basic functionality is realized – Adding physiotherapist program in the software device– Add game functionality in the device– Add communication with physiotherapist– Replace XPC –target and Simulink with embedded board– Realizing a Graphical user interface for client and

physiotherapist

hardware prototype

Project X 1.0 Pagina 32 31 March 2009

Foot Throttle

Left Paddle Right Paddle

Motor

Encoder

Amplifier

Motor

Encoder

Amplifier

Motor

Encoder

Amplifier

Motor

Encoder

Amplifier

Desktop PC Client

NIC

Desktop application

EmbeddedBoard

USB

Desktop PC Physio

NIC

Desktop application

Conclusion /Recommendation

• Prototype Foot Throttle still under development

• Making mechanical parts Foot Throttle

• Next phase will be the test-phase – basic functionality– Advanced functionality

• When concept is proven further development is possible– Embedded software / hardware– Optimizing mechanics for rehabilitation at home

– Weight – Construction– Price