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Transcript of Bio Mech Presentation.
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Human Movement Biomechanics
and BiomechatronicsProf. Kamran Iqbal
University of Arkansas at Little Rock
Little Rock, Arkansas, [email protected]
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Biomechatronics
Biomechatronics is the interdisciplinary study of biology,mechanics and electronics. It focuses on the research and
design of assistive and diagnostic devices for patients with
disorders of the neuromuscular-skeletal system.
Biomechatronics
is a contraction of biomechanics andmechatronics. [Its] central focus is on the function and
coordination of the human motion apparatus, and the design
of assistive devices for its support. Examples are assistive
devices like an orthosis, prosthesis or functional electrical
stimulation of muscles. The goal is to provide some functionto patients with functional deficiencies.
From TU Delft, Netherlands
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Biomechatronics
Our mission is to develop wearable robots that improvehuman mobility, in particular for individuals whose strength
and coordination have been affected by amputation, stroke,
cerebral palsy, or aging. At present, we are studying ways to
improve stability and energy efficiency using robotic
prostheses and exoskeletons. We believe appropriate
mechanical assistance can not only restore function, but
enhance performance beyond typical human limits.
Experimental Biomechatronics Lab at Carnegie-Mellon University
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Biomechatronics
MIT media lab
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Course Goals
To explore biomechanical and neuro-scientific principlesgoverning human movement
To learn how biomechatronic devices and prostheses can help
amputees regain motor skills
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Biomechatronics
Credit: D. Naidu, Int J Adv Robotic Sys, vol. 9, InTech Pub. 2012
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Biomechatronics
Biomechatronics combines the knowledge of biomechanicsand biological movement control to design human
rehabilitation and augmentation technologies.
Typical application areas in biomechatronics include:
Prosthetic arms and legs Orthotics or assistive technologies
Exoskeletons
Rehabilitation robots
Neuroprosthesis
http://www.robaid.com
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Biomechatronics devices
Upper extremity prostheses Transradial/ prosthetic hand
Prosthetic arm
Lower extremity prostheses
Trans-tibial/ankle-foot prostheses
Transfemoral prosthetic leg
Wheel-chair mounted assistive robotic arms
Rehabilitation and training robots
Exoskeletons
Neuro-prostheses (FES systems)
Neuromodulation
drop foot stimulator
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Biomechatronics Closely Related Fields
Bioengineering Bioengineering integrates physical, chemical, ormathematical sciences and engineering principles for the study ofbiology, medicine, behavior, or health.
Biomechanics the field of study which makes use of the laws ofphysics and engineering concepts to describe motion of bodysegments, and the forces which act upon them
Bionics
the application of methods and systems found in nature to
the study and design of engineering systems and moderntechnology
Neural Engineering the merger of systems neurophysiology andengineering in approaches that link brain activity with man-madedevices to replace lost sensory and motor function
Rehabilitation Technology
systematic application of technologies,engineering methodologies, or scientific principles to meet theneed of and address the barriers confronted by people withdisabilities
Credit: http://www.aimbe.org/resources/medical-biological-engineering-glossary/
http://www.aimbe.org/resources/medical-biological-engineering-glossary/http://www.aimbe.org/resources/medical-biological-engineering-glossary/http://www.aimbe.org/resources/medical-biological-engineering-glossary/http://www.aimbe.org/resources/medical-biological-engineering-glossary/http://www.aimbe.org/resources/medical-biological-engineering-glossary/http://www.aimbe.org/resources/medical-biological-engineering-glossary/http://www.aimbe.org/resources/medical-biological-engineering-glossary/http://www.aimbe.org/resources/medical-biological-engineering-glossary/ -
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Motor Control in Humans
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Central Nervous System (CNS)
The central nervous system includes brain and spinal cord Brain is composed of six regions: cerebral hemispheres,
medulla, pons, cerebellum, midbrain, and diencephalon
The cerebral hemispheres are concerned with perceptual,
motor, and cognitive functions, including memory and emotion
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Motor Regions in the Brain
Premotor cortex. It plays an important role in sensoryguidance; also active in controlling proximal and axial muscles
Motor cortex. It is responsible for generating motor neuron
commands that activate muscles involved in movement
Posterior parietal cortex. It provides spatial information fortargeted movements
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The Cortico-spinal Tract
Corticospinal tract is the main information highway (backbone)of the CNS that contains about one million axons; about 40% of
the corticospinal neurons originate in the motor cortex
The descending motor information carried in the corticospinal
tract is modulated by sensory, proprioceptive, tactile, and
visual information that contributes to movement accuracy
In addition, other motor regions of the brain, such as the
cerebellum and basal ganglia, also modulate motor neurons to
ensure smooth execution of movements
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The Corticospinal Tract
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Somatosensory and Motor Homunculus
The homunculus illustrates the location and amount of corticalarea dedicated to a particular sensory/motor function
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The nerve cell
A neuron has four morphologically defined
regions:
The cell body, that contains the nucleus and
the genetic information (DNA)
Dendrites, for receiving signals from other
neurons
The axon, which projects over long distances
(up to 3 m) to target cells
Presynaptic nerve terminals, for release ofneurotransmitters at synapses with targets
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Action Potentials
Action potentials are nerve impulses used by the CNS toreceives, analyzes, and conveys information
A typical action potential has an amplitude of 100 mV and a
duration of about 1 ms
Action potentials are regenerated at regular intervals and areconducted down the axon at rates of 1100 m per sec
Hodgkin and Huxley 1939
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The Synapse
An average neuron forms more than 1000 synaptic connections Two basic forms of synaptic transmission are:
An electrical transmission that allows the rapid and synchronous
firing of interconnected cells
A chemical transmission that releases a neurotransmitter fromthe presynaptic neuron that binds to specific receptors in the
postsynaptic cell membrane
A peripheral synapse occurs at the junction of motor neuron
with muscle fibers; a single muscle fiber is innervated by just
one motor neuron
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Peripheral Nervous System
The peripheral nervous system consists of sensory and motorneurons leading to and from the spinal cord
The sensory neurons conduct information from the periphery to
the central nervous system
The motor neurons convey central motor commands to the
muscle fibers
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Sensory Neuron
Nerve endings from sensory neurons transforms a physicalstimulus (such as a stretch) into electrical activity in the cell
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Motor Neurons
Motor neurons conveys motor commands to the skeletalmuscle fibers; they receive multiple inputs:
recurrent excitatory inputs from other motor neurons
both excitatory and inhibitory inputs from interneurons
excitatory input from the primary sensory neurons inhibitory input from Renshaw cells
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Hierarchy of the Motor Apparatus
The sensorimotor modalities are hierarchicallyorganized in the CNS
At the lowest level, the spinal cord, contains neuralcircuits that mediate reflexes and perform rhythmicautomatism (phasic movements)
The brain stem integrates visual, vestibular, andsomatosensory information to mediates posture, andcontrol head and eye movements
The primary motor cortex regulates corticospinal andother motor tracts; the premotor areas mediatecoordinating and planning of complex movements
The cerebellum compares descending signals withafferent signals and updates movement if needed(afferent copy)
Spinal cord
Brain stem
Primary
motor cortex
Cerebellum
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Spinal Reflexes
A reflex arc is established when afferent axons from a sensoryreceptor make direct excitatory connections to motor neurons
innervating the same muscle
Image credit: http://classes.midlandstech.edu/carterp/Courses/bio210/chap11/lecture1.html
http://classes.midlandstech.edu/carterp/Courses/bio210/chap11/lecture1.htmlhttp://classes.midlandstech.edu/carterp/Courses/bio210/chap11/lecture1.htmlhttp://classes.midlandstech.edu/carterp/Courses/bio210/chap11/lecture1.html -
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Reflex Action
The sequence of events that produces a reflex action
The reflex latency through the spinal cord in the case of
monosynaptic stretch reflex is less than 1 ms
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Tonic Stretch Reflex
ICET 2011 25/63
(Davidoff, 1992)
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Knee-Jerk Reflex
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Central Nervous System (CNS)
The CNS comprises brain and spinal cord