Rehabilitation robotics using Central Pattern Generators · Rehabilitation robotics using Central Pattern Generators Student : Sarah MOUSSOUNI Supervisors: ... 2 Rehabilitation robotics

Rehabilitation robotics using Central Pattern Generators

Student: Sarah MOUSSOUNISupervisors : Renaud RONSSE

Mohamed BOURIProfessor : Auke Jan IJSPEERT

Master ProjectMid-term Presentation

April 28th,2010

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

� Investigation of a rehabilitation protocol based on the theory of adaptive oscillator.

� Implementation of the method on the Knee orthosis

Goals of the project

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI2

� Test of the method with various movements

� Validation of the method on healthy people

� Design of a preliminary rehabilitation protocol.

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

� Presentation of the Knee orthosis� SIMULINK modeling

Preliminary work on the Knee-orthosis

Plan

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI3

� Preliminary work on the Knee-orthosis� First implementation : transparent mode� Conclusion and future work

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

� Rehabilitation robot� One degree of freedom� Position and force sensors

Environment : Knee Orthosis

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI4

KneeOrthosis

Torque Γ

Orthosis Position

Measuredforce

Integration of the CPG system

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

Timeline

MeasurementSys

characterizationControl

Modeling the System

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI5

Control

Test & validation SimuLink + Matlab

Test & validation FlexWare + Orthosis

Test & validation FlexWare + Orthosis

Integration of the CPG system

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

Timeline : MatLab – Simulink implementation

MeasurementSys

characterizationControl

Modeling the System

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI6

Control

Test & validation SimuLink + Matlab

Test & validation FlexWare + Orthosis

Test & validation FlexWare + Orthosis

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

Model and simulation

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI7

Torque

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

CPG & torque estimator

Adaptive oscillatorForce

controller

Measured

Measured force

DesiredForce

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI8

Torque estimator

Measuredposition

Signal estimation : position, velocity and acceleration

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

CPG & torque estimator

Dynamical model + Orthosis Position controller

Adaptive oscillator

Measuredposition

x

y

wSignal

Estimator

Position

Velocity

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI9

w

Amplitude

Offset

EstimatorAcceleration

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

Timeline: Force

Integration of the CPG system

MeasurementSys

characterizationControl

Modeling the System

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI10

Control

Test & validation SimuLink + Matlab

Test & validation FlexWare + Orthosis

Test & validation FlexWare + Orthosis

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

Implementation : Material

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI11

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

Implementation: Transparent mode

� 1st Objective:

Make the orthosis transparent for the user

� 5 Steps :

1

Knee orthosis

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI12

Force measured

Digital analogue value

(Volt) Calibration

Volt => NewtonInterpolation Filtering

ControlApplied torque

2 34

5

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

Implementation: Calibration & Interpolation

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI13

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

Implementation: Filtering

Using the following filter :

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI14

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

Implementation: Filtering

Using the following filter :

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI15

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

Measuring the stabilization tension for a set of position

Implementation: Transparent mode

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI16

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

Implementation: Transparent mode

Measuredposition

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI17

Measuredforce

+-

Desired force =0

+

PID Controller

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

Implementation: Transparent mode

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI18

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

Timeline : Integrating CPG

Integration of the CPG system

Processing the force sensors measurement

Modeling the System

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI19

Test & validation SimuLink + Matlab

Test & validation FlexWare + Orthosis

Test & validation FlexWare + Orthosis

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

� Test of the method with various movements

� Validation of the method on healthy people

Future work

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI20

� Design of a preliminary rehabilitation protocol.

� Work on the LAMBDA robot

Introduction | Plan | Environment | Model & simulation | Implementation | Conclusion

Questions ?

Rehabilitation robotics using Central Pattern Generators | EPFL | April 2010 | Sarah MOUSSOUNI21