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Mechatronic systems for rehabilitation| old_uid | 9368 |
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| title | Mechatronic systems for rehabilitation |
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| start_date | 2010/12/06 |
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| schedule | 14h |
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| online | no |
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| location_info | Tour 65, couloir 65/66, etage 3, salle de réunion 304 |
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| summary | I will present a survey of some of the most recent research that we are developing in my research group and department: I will mention the following subjects devoting most of the time to subjects n. 3 and 4 with just a short mention to
1, 2, and 5:
1) Multibody systems: special matrix notation able to describe full kinematics and dynamics in 3D. It is an extension of the Denavit and Hartenberg notation that I extend also to velocity, acceleration, force, momentum. We have the full theory and a free downloadable library http://spacelib.ing.unibs.it (three versions: c language, matlab, and maple for symbolic manipulation).
2) Force control and hybrid force-velocity control for industrial manipulators. One application concerns automatic contour tracking of objects of unknown shape.
3) We have some projects on mechatronic systems for rehabilitation that we have developed (or we are developing) concerning: the hand, knee and ankle, elbow and wrist. Our goal is to design and realize all the aspects: mechanics, electronics, control, safety standard and certification.
4) We have also a project on a sensorized cycloergometer for HandBike. A hand bike is a 3wheel vehicle propelled by hands and used by people with impaired legs. Sport contest are organized also at paralympic level. The cycloergometer is equipped with a brushless motor whose electronic-control can be programmed in order to generate different torque-velocity or power- time protocols. Other instrumentation permits to measure the pedalling force, the muscle activity and the oxygen consumption. This devices is used for biomechanical and physiological study, for optimization of the vehicle, for rehabilitaion and training session.
5) Future study are planned to start in the next month on ReWalk a commercial wearable exoskeleton for paraplegic person. The plan is to insert some force sensors to improve the possibility of walking. Another project is related to SARA a new exoskeleton for Functional locomotion therapy. (Similar to the popular lokomat). |
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| responsibles | <not specified> |
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