Biomechanics The Bionic Arm

Raelyn RosaJennifer Stoneburgh

2

Presentation Outline

The Human Arm– Structure– Movements– Nerve Stimulation

Prosthesis– Internally and Externally Powered– Terminal Devices

3

Presentation Outline Continued

Bionic Arm– The Team– Specifications– Control Systems

Myoelectric ControlTMR

– Building Blocks and Flexibility– Power Supply

Research Horizons

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Motivation

“The human [upper extremity] is capable of literally an infinite number of movement patterns….Regrettably, even the most sophisticated of available prosthetic terminal devices cannot [satisfy the] number of grasp patterns, and none offer direct sensory feedback.” [1]

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Upper Limb Amputations

Mainly a result of:Congenital DeficiencyA tumorTrauma

Types of amputationsShoulder disarticulationAbove- or below- elbow

[2]

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The Human Arm

[3]

Scapula

Clavicle

Humerus

Radius

Ulna

Deltoid

Pectoralis Major

Biceps BrachiiTriceps Brachii

Brachioradialis

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The Human Arm: Movement

Weight bearing of human armDegrees of freedomPurpose of Movement

– End-effecter

Determination of Movements

– Minimal cost function

[4]

8

The Human Arm: Nerve Stimulation

Travels from brain to arm Action potential makes arm move

[5]

9

The Human Arm: Nerve Stimulation

[6]

10

Upper Limb Prosthesis

[8]

11

Upper Limb Prosthesis: Internally Powered

Pros ConsLightweight, inexpensive,

and easy to repairCosmetic appearance

achievedSimple design

Relies on ability to make movements

Cables and harness can restrict movement

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Upper Limb Prosthesis: Externally Powered

Pros ConsEliminates harnesses and

cablesMinimizes essential body

movements

More expensiveDifficult to repairBattery power needs to

be replaced periodicallyCosmetic appearance

harder to obtain

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Upper Limb Prosthesis: Terminal Devices – 4 Main Types

Functional Terminal Device

Mechanical Hands

[9]

[10]

14

Upper Limb Prosthesis: Terminal Devices – 4 Main Types

Specialized TerminalDevices

Passive or CosmeticTerminal Devices

[11]

[12]

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Bionic Arm: The Team

Government Agencies, Universities, and Private FirmsUnited States, Canada, and European CountriesDefense Advanced Research Projects Agency (DARPA)

– $55 Million GrantDEKA Research and Development Corporation

– Dean KramerJohn Hopkins University

– Applied Physics Laboratory (ALP)Rehabilitation Institute in Chicago (RIC)

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The Bionic Arm: Specifications

[13]

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Targeted Muscle Reinnervation (TMR)

Surgical ProcessDeinnervate spare muscle– Ex – pectoral muscle for lateral shoulder

disarticulationsReinnervate with appropriate nerves– Takes approx. 3 months for nerves to be fully

functional

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Targeted Muscle Reinnervation (TMR)

[7]

19

Bionic Arm: Control System

Myoelectric signaling - the natural electric impulse producing muscle contractionEMG – electromyography– Records myoelectric signal and passes it on

Acts as the inputs to the micro-processors controlling the motorized arm– Progression

[17]

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Sensory Feedback

Mapping of sensory nervesCan react to temperature and pressure

[18]

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Bionic Arm: Structure

Modular ConstructionSecular Arrangement– Power System– Control System– Joints

Lightweight14 degrees of freedomStrength [14]

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Bionic Arm: Structure Modular

[15]

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Bionic Arm: Structure Degrees of Freedom

[16]

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Bionic Arm: Power Supply

Miniaturized monopropellant rocket motor systemHydrogen peroxide canistersHeat produced– Plastic sealant around power supply– Porous surface for steam to evaporate through– “Sweats”

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Research Horizons

IMES– Injectable MyoElectric Signaling– wireless– Measure muscle activity at the

sourceChronic Brain Implants

– Very futuristic– Record signals directly from the

motor cortexBiocompatibility problems

[19]

[20]

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Research Horizons

Fluid JointsDeveloping mesofluidics– Movement of smaller joints– Pump driven by electric motor

controlling flow of fluid– Same energy efficiency of human

muscle (21% of energy input)

[21]

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Research Horizons

FILMskinflexible, integrated, lightweight, multifunctional film Allows feelings of heat, cold and touch (pressure) Vertically aligned nanotubes (VANTA’s)

– Conduct heat quickly– Working on nanocomposite responsive to pressure

[22]

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Questions

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Bibliography

1. BOOK2. http://www.amputee-

coalition.org/inmotion/jan_feb_06/congenital_limb_ part102.jpg

3. http://thumbs.dreamstime.com/thumb_230/120155 7432QdnKAH.jpg

4. http://www.androidworld.com/Ng_hand1.jpg5. His slides6. http://learn-self-defense.net/articles/ulna_nerve.jpg

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Bibliography

7. http://www.sciencedaily.com/images/2007/11/0711 11182522-large.jpg

8. http://www.oandp.com/news/jmcorner/2001- 12/SD_old_arm_lat_flexed.jpg

9. http://openprosthetics.org/images/59.gif10. http://www.popsci.com/files/imagecache/article_ima

ge_small/files/articles/hand.jpg\11. http://igargoyle.com/archives/58-1.jpg12. http://www.amputee-coalition.org/easyread/military-

instep/cosmesis-ez_clip_image002.jpg

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Bibliography

13. http://images.google.ca/imgres?imgurl=http://igargo yle.com/archives/phealthBionic_485.jpg&imgrefurl= http://igargoyle.com/archives/2005/12/bionic_arm.h tml&h=497&w=485&sz=36&hl=en&start=1&sig2=G 0pUXMvPnQCAxGYY6PGgBQ&um=1&usg=__QB 0Nt7xPzHuXUDaHCumlHjef12A=&tbnid=t0t_tItskF 7SzM:&tbnh=130&tbnw=127&ei=J5rhSNLBMqbSg gKhsLzaCA&prev=/images%3Fq%3Dbionic%2Bar m%26um%3D1%26hl%3Den%26rlz%3D1G1GGL Q_ENCA294%26sa%3DN

14. http://www.georgehernandez.com/h/aaBlog/2005/m edia/06-24_JesseSullivanUsingBionicArm.jpg

15. http://dvice.com/pics/proto_2_bionic_arm.jpg

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Bibliography

16. http://www.nextnature.net/research/wp- content/uploads/2007/07/xfinger1.jpg

17. http://www.biomed.drexel.edu/labs/biomechanics/emg_ analy.htm

18. http://www.spectrum.ieee.org/dec07/575619. http://ieeexplore.ieee.org/iel5/4352184/4352185/043526

44.pdf20. http://ieeexplore.ieee.org/iel5/4352184/4352185/043526

44.pdf21. http://www.ornl.gov/info/ornlreview/v40_2_07/article14.s

html22. http://www.ornl.gov/info/ornlreview/v40_2_07/article14.s

html