jiahui liang - nfpa · 10/3/2015 · jiahui liang1 matthew heinrich 2, courtney mattson , matthew...
TRANSCRIPT
Jiahui Liang1
Matthew Heinrich2, Courtney Mattson2, Matthew Ramuta2, Jacob Stock2
Martin J. Morris, PhD2, Steven R. Tippett, PhD3, Elizabeth T. Hsiao-Wecksler, PhD1, Jacqueline Henderson, PhD1
1Dept Mechanical Science & Engineering, Univ of Illinois at Urbana-Champaign, Urbana, IL
2Dept Mechanical Engineering, 3Dept Physical Therapy, Bradley University, Peoria, IL
1. Background & Motivation
2. Mechanical Design
3. Controls
4. Testing
5. Conclusion
22015 Fluid Power Innovation & Research Conference
Pneumatic Spasticity and Rigidity Simulator
Photo Credit: Bradley Senior Design Project AY 14-15
2015 Fluid Power Innovation & Research Conference 3
2015 Fluid Power Innovation & Research Conference 4
● Hypertonic Muscle Behavior
o Brain or spinal cord injuries1
o Involuntary muscle movement1,2
● Spasticity
o Speed-dependent behavior2
o Affect ~12M people worldwide3
● Rigidity
o Position-dependent behavior2
o Lead-Pipe, Cogwheel
o Affect ~7M people worldwide4
Demonstration of Cogwheel Rigidity
Video Credit: Dr. Yasser Metwally
Spasticity Evaluation
1 Mukherjee et al., 2010 2 Lee et al., 20023 www.aans.org 4 www.medtronic.eu
2015 Fluid Power Innovation & Research Conference 5
● Clinical Evaluation
o In-person assessment using qualitative scales5,6
o Poor reliability and inconsistency5,6,7
o Consistency improves with experience5
● Problems in Training
o Patient availability5
o Muscle tone changes with
multiple stretching5
Demonstration of Spasticity Assessment During Clinical Training
Photo Credit: Stanford university
5 Pandyan et al., 1999 6 Bohannon et al., 19877 Brokaw, 2014
2015 Fluid Power Innovation & Research Conference 6
● Bradley Univ Mech Engr Senior Design Project
o Simulator for clinical training
o One-year long design project
o U Illinois – Mechanical Engr., Bradley – Physical
Therapy, and Bradley – Mechanical Engr.
● Project Goals
o Utilize fluid power
o Replicate spasticity, lead-pipe rigidity and
cogwheel rigidity at the elbow joint during flexion
2015 Fluid Power Innovation & Research Conference 7
2015 Fluid Power Innovation & Research Conference 8
Requirement Approach
Fluid Powered Pneumatic Actuator
Operational Range Force Analysis
Replicate Spasticity Pneumatic Damper
Replicate Lead-Pipe &
Cogwheel Rigidity
Pneumatic Switch
Flexion Only Actuator Mounting
2015 Fluid Power Innovation & Research Conference 9
Concept 1 Concept 2
Concept 3 Concept 4
Preliminary Design Concepts
Photo Credit: Bradley Senior Design Project AY 14-15
Rolling Contact
2015 Fluid Power Innovation & Research Conference 10
● Relationship between force experienced by user and
pressure inside the pneumatic actuator
Force Analysis of the System
Photo Credit: Bradley Senior Design Project AY 14-15
Bore Size: 1.5”
2015 Fluid Power Innovation & Research Conference 11
● Simple metal framework with one degree of freedom
● Rotary potentiometer and proportional valve for
feedback control
Potentiometer
Pneumatic Actuator
Metal Stand
Bracketing System
Final Mechanical Design
Photo Credit: Bradley Senior Design Project AY 14-15
Forearm
Upper Arm
Proportional Valve
Micro-controller
2015 Fluid Power Innovation & Research Conference 12
2015 Fluid Power Innovation & Research Conference 13
● Closed-loop control using Arduino
o Spasticity – adjustable pneumatic damper
o Rigidity – pneumatic switch
● Utilize real time position/velocity data for valve control
Electronics used to execute control algorithmsWiring schematic of the electrical components
Photo Credit: Bradley Senior Design Project AY 14-15
2015 Fluid Power Innovation & Research Conference 14
Photo Credit: Bradley Senior Design Project AY 14-15
2015 Fluid Power Innovation & Research Conference 14
Spasticity
2015 Fluid Power Innovation & Research Conference 14
Lead Pipe
Rigidity
2015 Fluid Power Innovation & Research Conference 14
Cogwheel Rigidity
2015 Fluid Power Innovation & Research Conference 15
● Air freely flowing through tubing to the opposite side of
the cylinder
Schematic showing flow through the pneumatic cylinder
Photo Credit: Bradley Senior Design Project AY 14-15
CylinderPiston
Valve
Tubing
F
2015 Fluid Power Innovation & Research Conference 15
● Air freely flowing through tubing to the opposite side of
the cylinder
CylinderPiston
Valve
Tubing
Schematic showing flow through the pneumatic cylinder
Photo Credit: Bradley Senior Design Project AY 14-15
F
2015 Fluid Power Innovation & Research Conference 15
● Air freely flowing through tubing to the opposite side of
the cylinder
CylinderPiston
Valve
Tubing
Schematic showing flow through the pneumatic cylinder
Photo Credit: Bradley Senior Design Project AY 14-15
F
2015 Fluid Power Innovation & Research Conference 15
● If position threshold is met, signal sent to valve causing
it to close off, preventing free flow
CylinderPiston
Valve
Tubing
Schematic showing flow through the pneumatic cylinder
Photo Credit: Bradley Senior Design Project AY 14-15
F
2015 Fluid Power Innovation & Research Conference 15
● Pressure increase on one side, pressure decrease on
other side
CylinderPiston
Valve
Tubing
Schematic showing flow through the pneumatic cylinder
Photo Credit: Bradley Senior Design Project AY 14-15
F
2015 Fluid Power Innovation & Research Conference 15
● Pressure increase on one side, pressure decrease on
other side
CylinderPiston
Valve
Tubing
Schematic showing flow through the pneumatic cylinder
Photo Credit: Bradley Senior Design Project AY 14-15
F
2015 Fluid Power Innovation & Research Conference 15
● Motion ceases when differential pressure is equal to
pressure resulting from input force
CylinderPiston
Valve
Tubing
Schematic showing flow through the pneumatic cylinder
Photo Credit: Bradley Senior Design Project AY 14-15
F
2015 Fluid Power Innovation & Research Conference 16
2015 Fluid Power Innovation & Research Conference 17
● ¾ turn 10 kΩ potentiometer
● Test Range: 180 deg
● Regression analysis
o R squared: 0.997
o Adjusted R: 0.996
● Total error: +/- 5% Position (deg)
Vo
lta
ge
(V
)
0 100 200
0
2
4
Test Setup for Angular Position
Photo Credit: Bradley Senior Design Project AY 14-15
2015 Fluid Power Innovation & Research Conference 18
● Used motion tracking
software “Tracker”8
● Compared serial output
to motion tracking
analysis from high
speed video at 120 fpsTime (ms)
An
gu
lar
Ve
loc
ity (
rad
/s)
Test Setup for Angular Velocity
Photo Credit: Bradley Senior Design Project AY 14-15
8 www.cabrillo.edu
2015 Fluid Power Innovation & Research Conference 19
● Differentiation of three
muscle behaviors:
spasticity,
lead-pipe rigidity, and
cogwheel rigidity
Pneumatic Spasticity and Rigidity Simulator
Photo Credit: Bradley Senior Design Project AY 14-15
2015 Fluid Power Innovation & Research Conference 20
2015 Fluid Power Innovation & Research Conference 21
● Observation
o Low system torque output
o High gas compressibility
o Limitation of controller frequency (Arduino)
● Conclusion
o Simulation of spasticity and two forms of rigidity
o Received initial feedback for design improvement
o Moving on: Hydraulic design
2015 Fluid Power Innovation & Research Conference 22
● Bradley Student Team
o Matthew Heinrich
o Courtney Mattson
o Matthew Ramuta
o Jacob Stock
● This project is funded by Bradley University Mechanical
Engineering and Physical Therapy departments.
Bradley Senior Design – Team 6
Photo Credit: Dr. Jacqueline Henderson
2015 Fluid Power Innovation & Research Conference 23
[1] Mukherjee, A., and A. Chakravarty. Frontiers in Neurology 1 (2010): 149.
[2] Lee, H-M, Y-Z Huang, J-J Chen, and I-S Huang. J Neurol Neurosurg
Psychiatry. May 2002; 72(5):621‐629.
[3] American Association of Neurological Surgeons. “Spasticity”.
http://www.aans.org/.Web. Accessed Oct 5, 2015
[4] Medtronic. ”About Parkinson’s Disease”. http://www.medtronic.eu/. Web.
Accessed Oct 5, 2015
[5] Pandyan AD, Johnson GR, Price CI, Curless RH, Barnes MP, Rodgers H.
Clin Rehabil. Oct 1999;13(5):373‐383.
[6] Bohannon RW, Smith MB. Phys Ther. Feb 1987;67(2):206‐207.
[7] Brokaw EB. Engineering in Medicine and Biology Annual Meeting 2014;
Chicago, IL.
[8] Brown, D. "Tracker Video Analysis and Modeling Tool for Physics Education."
https://www.cabrillo.edu/~dbrown/tracker/. Web. Accessed Oct 5, 2015.