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4 Biomech Control 2024

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4 views

4 Biomech Control 2024

Uploaded by

Sara Ashrafi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Biomechatronic Systems

Unit 4: Control

Mehdi Delrobaei
Spring 2024

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Open-Loop , Closed-Loop , Feed-Forward Control
Open-Loop
- Walking with closed eyes
- Changing sitting position

Feed-Forward
- Visual balance control

Closed-Loop (negative feedback)


- Body temp. control
- Blood sugar control
- Vestibular balance control

Closed-Loop (positive feedback)


- Internal bleeding (hemorrhage)
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Sample of Closed-Loop Control: Blood Glucose control

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Sample of Closed-Loop Control: Body Temperature

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Source: schoolbag.info
Neuro-Musculo-Skeletal System (NMS)

• Human motor control is a combination of three


systems: (1) Neural: the brain, the spinal cord and the
peripheral nerves, (2) Skeletal: body bones and joints,
including the spine, and (3) Muscular: mainly the
muscles and tendons.

• Proprioception: conscious or unconscious awareness


of joint position, posture, and equilibrium condition.

• Sensory-Motor Integration: the process of perception-


action coupling.

• Sensory-Motor Plasticity: changes in the cortex that


are linked to changes in movement or behavior

5
Source: eglaufwellnesscenter.com
Proprioception

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Sample Biomechatronic Control

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Source: M.Sc. Thesis by Roozbeh Borjian
Sample Biomechatronic Control

Deep Brain Stimulation


(Open-Loop Control)

Implantable Cardioverter
Defibrillator (Closed-Loop Control) 8
Source: youtube.com
Sample Biomechatronic Control: Deep Brain
Stimulation*

– DBS is an effective treatment for


movement disorders, including
Parkinson’s disease and essential
tremor.
– However, the mechanisms of
action through which DBS works
are unclear.
– Device tuning is essentially a trial
and error process with associated
difficulties of time, expense, and
patient discomfort.
* Kuncel, Alexis M., and Warren M. Grill. "Selection of stimulus
parameters for deep brain stimulation." Clinical
neurophysiology 115.11 (2004): 2431-2441.

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Anatomical Targeting

– Successful treatment with DBS depends


on accurately placed electrodes.

– Anatomical targeting involves:


• Determining where to put the electrode,
• where to direct the electric current.

Common targets for DBS:


The subthalamic nucleus (STN) for Parkinson’s disease,
The GPi for dystonia and Parkinson’s disease,
The VIM of the thalamus for essential tremor.
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Electrical targeting

– Electrical targeting is used to


control neural activation by
controlling the spread of the
electric field and by selectively
activating neural elements.
– The spread of electric field depends
on:
• the location of the active contact,
• the electrode geometry,
• the electrical properties of the
surrounding tissue.

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Electrical targeting: Effect of electrode geometry on
distribution of electric field

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Stimulus parameters
Medtronic’s Soletra Model 7426:
• voltage ranging from 0–10.5 V in 0.115 V
increments,
• pulse widths from 60–450 ms in 30 ms
increments,
• frequencies from 2–185 Hz in 5 Hz increments.

(a) 25,480 available combinations of pulse width,


frequency, and voltage.
(b) - The manufacturer has recommended a charge density
limit of 30 μC⁄cm2;
Charge density = (Amplitude * Duty-cycle)/30.

- Even with the charge density restriction, there are still


12,964 combinations of voltage, pulse width, and
frequency available.

- Typical DBS parameter settings to treat PD:


For STN DBS: 3 V, 82 ms, 152 Hz
For GPi DBS: 3.2 V, 125 ms, 162 Hz

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Closed-Loop Deep Brain Stimulation

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