Hönnun X Legged robot.

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Presentation transcript:

Hönnun X Legged robot

Legged robot Machine that walks prosthetics ossur.is

Testing http://www.mts.com/ucm/groups/public/documents/library/dev_004315.pdf http://www.mts.com/ucm/groups/public/documents/library/dev_004315.pdf

International Össur Ekso bionics MIT Grensás http://eksobionics.com

Company X CEO CTO CFO Sales and marketing Business plan (vision, mission, market, sales, cost)

Anthropometry Measurement of the body http://en.wikipedia.org/wiki/Anthropometry http://ihome.ust.hk/~imhcf/papers/aseanfoo.pdf http://en.wikipedia.org/wiki/Anthropometry

Motion coordination

Sensory motor control http://www.vestibular.org/publications-membership/pubs.-amp-dvd/free-publications.php http://www.vestibular.org/publications-membership/pubs.-amp-dvd/free-publications.php

Neural system

receptors Mechanoreceptors: Tactile: touch, pressure, vibration Baroreceptors: pressure in blood, lung, digestive, urinary Proprioceptors: position of joints, tension in tendons and ligaments, state of muscular contraction http://www.innvista.com/health/anatomy/osenses.htm http://www.innvista.com/health/anatomy/osenses.htm

Motion 1 http://faculty.weber.edu/nokazaki/Human%20Anatomy/Notes/Articulations.htm

Motion 2 http://www.google.is/imgres?q=hip+rotation+flexion&hl=is&biw=1264&bih=799&tbm=isch&tbnid=i6OzlNxB124yGM:&imgrefurl=http://ovrt.nist.gov/projects/vrml/h-anim/jointInfo.html&docid=fXZwzwuC7RfqLM&imgurl=http://ovrt.nist.gov/projects/vrml/h-anim/hip.gif&w=753&h=413&ei=HTMLT4rOM4TP4QT21syNCA&zoom=1&iact=hc&vpx=647&vpy=354&dur=13921&hovh=166&hovw=303&tx=153&ty=69&sig=105935774567560375439&page=2&tbnh=109&tbnw=199&start=24&ndsp=24&ved=1t:429,r:10,s:24

Gait analysis Kinematics Kinetics Physiological signals (EMG) http://www.clinicalgaitanalysis.com/faq.html

Kinetics

Kinematics

EMG

Presentation Hip, knee, ankle angles Hip knee, angle torque EMG

Modelling http://biomed.brown.edu/Courses/BI108/BI108_2002_Groups/neuromotor/webpage/Future.htm http://biomed.brown.edu/Courses/BI108/BI108_2002_Groups/neuromotor/webpage/Future.htm

Input from sensors Central processing Output to motors Level ground Slope Stairs

processing Plan a movement Correct a movement Terrain detection Individual variability

Gait http://www.youtube.com/watch?v=fwtvgZptJCw http://www.youtube.com/watch?v=NmjfV7KG86w http://www.biomotionlab.ca/Demos/BMLwalker.html

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