biomechatronics: a new dawnusers.wpi.edu/~mpopovic/pages/biomechatronics_chapter_18.pdf[19] e....
TRANSCRIPT
excerpt from the book: Biomechatronics, Popovic, Academic Press, Elsevier, 2019. (No of pages 668) ISBN 978-0-12-812939-5 https://doi.org/10.1016/C2016-0-04132-3 Copyright © 2019 Elsevier Inc. All rights reserved. Chapter 18, Pages 543-566
Biomechatronics: A New Dawn Minas Liarokapis*, Kathleen A. Lamkin-Kennard†, Marko B. Popovic‡
*THE UNIVERSITY OF AUCKLAND, AUCKLAND, NEW ZEALAND †ROCHESTER INSTITUTE OF TECHNOLOGY, ROCHESTER, NY,
UNITED STATES ‡WORCESTER POLYTECHNIC INSTITUTE,
WORCESTER, MA, UNITED STATES
Abstract
This chapter summarizes the content presented in this book, focuses on the new developments in the
field of biomechatronics, how these technologies may improve our everyday life and discusses some
future directions that may deeply redefine humankind. More precisely, it presents new results in the fields
of materials, sensors, and actuators, new approaches for the development of brain-machine interfaces,
new directions in the fields of control, artificial intelligence, and machine learning, and new paradigms
and designs in prosthetics, orthotics, and rehabilitation devices. Moreover, it discusses some future
directions on artificial organs, tissues, implants and robotic surgery, the current trends in wearable
devices, examples of biomechatronic technologies for animals and other human-oriented uses of
biomechatronic technologies (e.g., biomechatronics in sports, exercise, and entertainment). In the last
part, the chapter focuses on the future in an attempt to address difficult questions, such as “what are the
boundaries of human existence?” and “what is the future of the biomechatronics age human?” The idea
of a biomechatronics age human is rapidly transforming from a science fiction topic to a fast approaching
reality. Is the world surrounding us ready? Are we ready to decide and design our next “evolution step,”
to accelerate our progress? Are we ready to redefine what it means to be human? These are some
discussions and debates that conclude an amazing journey into the new dawn of biomechatronic systems.
CHAPTER OUTLINE
18.1 Introduction .......................................................................................................................... 543
18.2 New Sensors and Actuators .................................................................................................... 544
18.3 Brain Machine Interfaces ....................................................................................................... 547
18.3.1 Alternatives to the Surface Electromyography (EMG) Based Control ................................. 548
18.3.2 Novel Neural Interfaces ...................................................................................................... 549
18.4 Control Strategies, AI, and Machine Learning .......................................................................... 550
18.4.1 Shared Control of Biomechatronic Devices ........................................................................ 550
18.4.2 Reinforcement and Deep Learning ..................................................................................... 551
18.5 Bionic Tissue, Artificial Organs, and Implants .......................................................................... 552
18.5.1 Multimodal Artificial Skin ................................................................................................... 553
18.5.2 Future Directions: Bioprinting, Bioartificial Organs,
and Biodegradable Electronics ...................................................................................................... 553
18.6 Prosthetic, Assistive, and Human Augmentation Devices ........................................................ 554
18.6.1 Current Trends in Prosthetic Devices .................................................................................. 554
18.6.2 Assistive and Human Augmentation Devices ...................................................................... 555
18.6.3 Techno-Biological, Bioartificial Devices .............................................................................. 556
18.7 Biomechatronic Technologies for Animals .............................................................................. 557
18.7.1 Prosthetics ..........................................................................................................................558
18.7.2 Orthotics ............................................................................................................................ 559
18.7.3 Additive Manufacturing of Veterinary Prosthetics and Orthotics ....................................... 559
18.8 Other Human Oriented Applications ....................................................................................... 560
18.9 The Future of the Biomechatronics Age Human ....................................................................... 561
References .................................................................................................................................... 563
Biomechatronics. https://doi.org/10.1016/B978-0-12-812939-5.00018-5
© 2019 Elsevier Inc. All rights reserved.
[chapter content intentionally omitted]
References
[1] http://www.imdb.com/title/tt0071054/.
[2] http://www.imdb.com/title/tt0073965/.
[3] M. Caidin, Cyborg, Ballantine Books, 1978.
[4] A. Miriyev, K. Kenneth Stack, H. Lipson, Soft material for soft actuators, Nat. Commun. 8 (2017).
[5] S. Ogden, L. Klintberg, G. Thornell, K. Hjort, R. Bod_en, Review on miniaturized paraffin phase change
actuators, valves, and pumps, Microfluid. Nanofluid. 17 (2014) 53–71.
[6] E.T. Carlen, C.H. Mastrangelo, Electrothermally activated paraffin microactuators, J.
Microelectromech. Syst. 11 (2002) 165–174.
[7] J.I. Lipton, S. Angle, R.E. Banai, E. Peretz, H. Lipson, Electrically actuated hydraulic solids, Adv. Eng.
Mater. 18 (2016) 1710–1715.
[8] R. Altmuller, R. Schwodiauer, R. Kaltseis, S. Bauer, I.M. Graz, Large area expansion of a soft dielectric
membrane triggered by a liquid gaseous phase change, Appl. Phys. A Mater. Sci. Process. 105 (2011) 1–3.
[9] B.C. MacMurray, X. An, S. Robinson, I. van Meerbeek, K. O’Brien, H. Zhao, R. Shepherd, Poroelastic
foams for simple fabrication of complex soft robots, Adv. Mater. 27 (2015) 41.
[10] B. MacMurray, C. Futran, J.C. Lee, K. O’Brien, M. Amiri, B. Mosadegh, M. Silberstein, J. Min, R.
Shepherd, Compliant buckled foam actuators and application in patient-specific direct cardiac
compression, Soft Robot. (2017).
[11] https://softroboticstoolkit.com/foam-based-soft-actuators/design (02.04.18).
[12] https://spectrum.ieee.org/automaton/robotics/robotics-hardware/an-edible-actuator-
foringestible-robots (02.04.18).
[13] J. Wade, T. Bhattacharjee, C. Kemp, Force and thermal sensing with a fabric-based skin, in: IROS
Workshop on See, Touch, and Hear: 2nd Workshop on Multimodal Sensor-Based Robot Control for HRI
and Soft Manipulation, 2016.
[14] D. Graupe, J. Salahi, K.H. Kohn, Multifunctional prosthesis and orthosis control via microcomputer
identification of temporal pattern differences in single site myoelectric signals, J. Biomed. Eng. 4 (1) (1982)
17–22.
[15] P.K. Artemiadis, K.J. Kyriakopoulos, EMG-based control of a robot arm using low-dimensional
embeddings, IEEE Trans. Robot. 26 (2) (2010) 393–398.
[16] J. Vogel, C. Castellini, P.P. van der Smagt, EMG-based teleoperation and manipulation with the DLR
LWR-III, in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011, pp. 672–
678.
[17] C. Cipriani, F. Zaccone, S. Micera, M.C. Carrozza, On the shared control of an EMG-controlled
prosthetic hand: analysis of user prosthesis interaction, IEEE Trans. Robot. 24 (1) (2008) 170–184.
[18] L. Lucas, M. DiCicco, Y. Matsuoka, An EMG-controlled hand exoskeleton for natural pinching, J. Robot.
Mechatr. 16 (5) (2004) 482–488.
[19] E. Costanza, S.A. Inverso, R. Allen, P. Maes, Intimate interfaces in action: assessing the usability and
subtlety of EMG-based motionless gestures, in: Proceedings of the SIGCHI conference on Human factors
in computing systems, ACM, New York, NY, 2007, pp. 819–828.
[20] H. Benko, S. Saponas, D. Morris, D. Tan, Enhancing input on and above the interactive surface with
muscle sensing, in: ITS ’09 Proceedings of the ACM International Conference on Interactive Tabletops and
Surfaces, 2009.
[21] D. Sierra Gonzalez, C. Castellini, A realistic implementation of ultrasound imaging as a human–
machine interface for upper-limb amputees, Front. Neurorobot. 7 (2013)17
https://doi.org/10.3389/fnbot.2013.00017.
[22] D. Yungher, M. Wininger, W. Baar, W. Craelius, A. Threlkeld, Surface muscle pressure as a means of
active and passive behavior of muscles during gait, Med. Eng. Phys. 33 (2011) 464–471.
https://doi.org/10.1016/j.medengphy.2010.11.012.
[23] T.D. Lalitharatne, K. Teramoto, Y. Hayashi, K. Kiguchi, Towards hybrid EEG-EMG-based control
approaches to be used in bio-robotics applications: current status, challenges and future directions,
Paladyn, J. Behav. Robot. 4 (2) (2013) 147–154.
[24] M. Markovic, S. Dosen, C. Cipriani, D.B. Popovic, D. Farina, Stereovision and augmented reality closed
loop control of grasping in hand prostheses, J. Neural Eng. 11 (2013) 046001.
[25] C. Castellini, P. Artemiadis, M. Wininger, A. Ajoudani, M. Alimusaj, Bicchi, D. Farina, Proceedings of
the first workshop on peripheral machine interfaces: going beyond traditional surface electromyography,
Front. Neurorobot. 8 (2014) 22.
[26] R.M. Neely, D.K. Piech, S.R. Santacruz, M.M. Maharbiz, J.M. Carmena, Recent advances in neural dust:
towards a neural interface platform, Curr. Opin. Neurobiol. 50 (2018) 64–71.
[27] A. Gijsberts, R. Bohra, D. Sierra Gonza´lez, A. Werner, M. Nowak, B. Caputo, C. Castellini, Stable
myoelectric control of a hand prosthesis using non-linear incremental learning, Front. Neurorobot. 8 (8)
(2014).
[28] P.M. Pilarski, M.R. Dawson, T. Degris, F. Fahimi, J.P. Carey, R.S. Sutton, Online human training of a
myoelectric prosthesis controller via actor-critic reinforcement learning, in: IEEE International Conference
on Rehabilitation Robotics (ICORR), 2011, pp. 1–7.
[29] P. Xia, H. Jie, P. Yinghong, EMG-based estimation of limb movement using deep learning with
recurrent convolutional neural networks. Artif. Organs 42 (5) (2018) E67–E77, doi:10.1111/aor.13004.
[30] Z. Zou, C. Zhu, Y. Li, X. Lei, W. Zhang, J. Xiao, Rehealable, fully recyclable, and malleable electronic
skin enabled by dynamic covalent thermoset nanocomposite, Sci. Adv. 4 (2) (2018).
[31] B.J. Jank, L. Xiong, P.T. Moser, J.P. Guyette, X. Ren, C.L. Cetrulo, D.A. Leonard, L. Fernandez, S. P.
Fagan, H.C. Ott, Engineered composite tissue as a bioartificial limb graft, Biomaterials 61 (2015) 246–256.
[32] M.S. Mannoor, Z. Jiang, T. James, Y.L. Kong, K.A. Malatesta, W.O. Soboyejo, N. Verma, D.H. Gracias,
M. C. McAlpine, 3D printed bionic ears, Nano Lett. 13 (6) (2013) 2634–2639.
[33] V. Mironov, T. Boland, T. Trusk, G. Forgacs, R.R. Markwald, Organ printing: computer-aided jet-based
3D tissue engineering, Trends Biotechnol. 21 (4) (2003) 157–161.
[34] A.M. Dollar, R.D. Howe, The SDM hand as a prosthetic terminal device: a feasibility study, in: IEEE
10th International Conference on Rehabilitation Robotics, 2007.
[35] A.M. Dollar, R.D. Howe, The highly adaptive SDM hand: design and performance evaluation, Int. J.
Robot. Res. 29 (5) (2010) 585–597.
[36] M.-S. Scholz, J.P. Blanchfield, L.D. Bloom, B.H. Coburn, M. Elkington, J.D. Fuller, M.E. Gilbert, S. A.
Muflahi, M.F. Pernice, S.I. Rae, J.A. Trevarthen, S.C. White, P.M. Weaver, I.P. Bond, The use of composite
materials in modern orthopaedic medicine and prosthetic devices: a review, Compos. Sci. Technol. 71 (16)
(2011) 1791–1803.
[37] F. Thorsteinsson, I. Gudmundsson, C. Lecomte, Prosthetic and Orthotic Devices Having
Magnetorheological Elastomer Spring with Controllable Stiffness,
https://patents.google.com/patent/US9724210B2/en.
[38] M.K. Shepherd, E.J. Rouse, The VSPA foot: a quasi-passive ankle-foot prosthesis with continuously
variable stiffness, IEEE Trans. Neural Syst. Rehabil. Eng. 25 (12) (2017) 2375–2386.
[39] E. Saint-Elme, et al., Design of a biologically accurate prosthetic hand, in: 2017 International
Symposium on Wearable Robotics and Rehabilitation (WeRob), IEEE, 2017.
[40] G.P. Kontoudis, M.V. Liarokapis, A.G. Zisimatos, C.I. Mavrogiannis, K.J. Kyriakopoulos, Open-source,
anthropomorphic, underactuated robot hands with a selectively lockable differential mechanism: towards
affordable prostheses, in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Hamburg (Germany), 2015.
[41] http://www.bionicboot.com/.
[42] http://www.air-trekkers.com/.
[43] B.B. Kang, et al., Development of a polymer-based tendon-driven wearable robotic hand, in: IEEE
International Conference on Robotics and Automation (ICRA), 2016.
[44] https://en.wikipedia.org/wiki/IBOT#/media/File:Clinton-kamen.jpg.
[45] P. Mich, The emerging role of veterinary orthotics and prosthetics (V-OP) in small animal
rehabilitation and pain management, Topics Compan. Anim. Med. 29 (2014) 10–19.
[46] A. Desrochers, G. St. Jean, D. Anderson, Limb amputation and prosthetics, Vet. Clin. Food Anim. 30
(2014) 143–155.
[47] http://cal.vet.upenn.edu/projects/saortho/chapter_48/48mast.htm (02.04.18).
[48] B. Goldner, A. Fuchs, I. Nolte, N. Schilling, Kinematic adaptations to tripedal locomotion in dogs, Vet.
J. 204 (2) (2015) 192–200.
[49] S. Jarvis, D.Worley, S. Hogy, A. Hill, K. Haussler, R. Reiser, Kinematic and kinetic analysis of dogs during
trotting after amputation of a thoracic limb, Am. J. Vet. Res. 74 (9) (2013) 1155–1163.
[50] G. Cole, D. Millis, The effect of limb amputation on standing weight distribution in the remaining three
limbs in dogs, Vet. Comp. Orthop. Traumatol. 30 (1) (2017) 59–61.
[51] W. Kano, S. Rahal, L. Mesquita, F. Agostinho, L. de Faria, Gait analysis in a cat with scapular luxation
and contralateral forelimb amputation, Can. Vet. J. 54 (10) (2013) 990–991.
[52] M. Goldberg, J. Tomlinson, Physical Rehabilitation for Veterinary Technicians and Nurses, John Wiley
& Sons Inc., 2018
[53] F. Diep,How 3-D printing made the perfect prosthetic legs for Derby the dog, Pop. Sci. (2014).
https://www.popsci.com/how-3-d-printing-made-perfect-prosthetic-legs-derby-dog.
[54] http://www.k-9orthotics.com (02.04.18).
[55] http://advocacy.britannica.com/blog/advocacy/2010/02/animal-prosthetics-surviving-on-
humaningenuity-and-compassion/ (02.04.18).
[56] N. Fitzpatrick, T. Smith, C. Pendegrass, R. Yeadon, M. Ring, A. Goodship, G. Blunn, Intraosseous
transcutaneous amputation prosthesis (ITAP) for limb salvage in 4 dogs. Vet. Surg. 40 (8) (2011) 909–925,
doi:10.1111/j.1532-950X.2011.00891.x.
[57] http://www.horsetalk.co.nz/news/2011/02/026.shtml (02.04.18).
[58] https://3dprintingindustry.com/news/10-animals-who-got-a-2nd-chance-in-lifewith-3d-printing-
51221 (02.04.18).
[59] K. Ten, G. Smit, P. Breedveld, 3D-printed upper limb prostheses: a review, Disabil. Rehabil. Assist.
Technol. 12 (3) (2017) 300–314.
[60] M. Barry, Machine Man, Vintage, 2011.
[61] http://www.imdb.com/title/tt1219827/.
[62] E. Saint-Elme, M.A. Larrier Jr., C. Kracinovich, D. Renshaw, K. Troy, M. Popovic, Design of a biologically
accurate prosthetic hand, in: IEEE RAS International Symposium onWearable & Rehabilitation Robotics
Houston, TX, November 5–8, 2017.
[63] S.B. Kesner, L. Jentoft, F.L. Hammond, R.D. Howe, M.B. Popovic, Design considerations for an active
soft orthotic system for shoulder rehabilitation, in: 33rd Annual International IEEE EMBS Conference,
August 30–September 02, Boston, USA, 2011.
[64] I. Galiana, F.L. Hammond, R.D. Howe, M.B. Popovic, Wearable soft robotic device for post-stroke
shoulder rehabilitation: identifying misalignments, in: 2012 IEEE/RSJ International Conference on
Intelligent Robots and Systems, October 7–12, Portugal, 2012.
[65] WPI Popovic Labs, Towards a Biomimetic Musculoskeletal Humanoid Robot with Human Movement
Capabilities, 2018, http://users.wpi.edu/~mpopovic/pages/BiomimeticHumanoidRobot.html (Accessed
on 2/12/2019).