foot throttle foot throttle device for lower limb rehabilitation
TRANSCRIPT
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
Project X 1.0 Pagina 17 31 March 2009
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
Project X 1.0 Pagina 21 31 March 2009
Matlab Simulink
Project X 1.0 Pagina 22 31 March 2009
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
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
Project X 1.0 Pagina 30 31 March 2009
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