Biomechatronics
Dr. Elif Hocaoglu
Lecture 1
Mechatronics, Biomechatronics, Applications of
Biomechatronics, Robotics
Details of Lecturer
Course Lecturer: Dr. Elif Hocaoglu
Office: C 232
Email:
[email protected] Faculty of Electrical and Electronics Engineering
Department
Director of Living Robotics Laboratory (Research
Topics: Tele-impedance control, Upper extremity
prostheses, Variable stiffness actuators, Rehabilitation
robotics, Wearable robotics, sEMG and EEG-based
interface systems, Physical human-machine
interaction, Biomechatronic system design, Clinical
studies)
What is Mechatronics?
Mechatronics is an
interdisciplinary branch of engineering
that focuses on the engineering of
electronic, electrical and mechanical
engineering systems, and also includes a
combination of robotics, electronics,
computer, telecommunications, systems,
control, and product engineering.
Image Courtesy: RPI
What is Biomechatronics?
Biomechatronics
is a science that aims to
merge mechanical elements,
electronics, software, and
parts of the body.
focuses on research and
design of therapeutic,
assistive and diagnostic
devices that can potentially be
used to compensate and
eventually replace human
physiological functions or
enhance human functions.
What is Biomimetics?
Inspire from Nature in your design process!
https://www.youtube.com/watch?v=Wa0amJ https://www.youtube.com/watch?v=L7FEJJsvH
mJ550&feature=emb_logo RQ&feature=emb_logo asknature.org
Biomimicing Human Body in Robotics
Bones and Linkage Systems
Muscles and Motors Receptors and Sensors
Brain and Microprocessors
Tendons and Cables
What is Robotic Surgery?
Robotic surgery is a highly technical approach to minimally-invasive
surgery. It offers many patients the possibility of less invasive surgery,
with smaller incisions, less scarring, decreased postoperative pain, and
shorter hospital stay. For other patients, decreased blood loss, higher
rates of organ preservation, lower risk of nerve injury and improved
lymph node dissections for cancer may be offered by robotic surgery.
https://www.youtube.com/watch?v=HHKEHTr7o3Y
https://www.youtube.com/watch?v=KNHgeykDXFw
Impressive talk about the topic of Remote Surgery
will be given by Dr. Alperen Acemoglu from Italian
Institute of Technology (IIT).
Do not miss!!
Rehabilitation Robotics
(Movement Therapy Robots)
Replacing, Training, or Assisting
to Improve Quality of Life
Research Phases in Robot-Assisted Stroke
Therapy
https://www.youtube.com/watch?v=5ef3KqYF
mVk&feature=emb_logo
https://www.youtube.com/watch?v=zE-
NmOw-uY4&feature=emb_logo
https://www.youtube.com/watch?v=-EdfmoVBR5k&feature=emb_logo
Upper Extremity Hand Prostheses
Why do we need to design hand prosthesis?
Our Inspired Model: Human Hand
Grasping Taxonomy of a Hand (Types of Object Manipulation)
T.Feix, R.Pawlik, H.Schmiedmayer, J.Romero and D.Kragic, "A comprehensive grasp taxonomy," in Robotics, Science and Systems: Workshop on
Understanding the Human Hand for Advancing Robotic Manipulation, June 2009
Our Inspired Model for Design of Hand
Prosthesis: Human Hand
How do we transfer motion to fingers?
• Tendons
• Ligaments
A tendon is a fibrous connective tissue
which attaches muscle to bone.
A ligament is a fibrous connective
tissue which attaches bone to bone, and
usually serves to hold structures
together and keep them stable. 6
Our Inspired Model for Design of Hand Prosthesis:
Human Hand : Haptic Feedback
Who is giving information to us during object manipulation?
Haptic technology can provide an experience of touch by applying forces, vibrations,
or motions to the user.
The tactile sensations: vibration or pressure, pain, temperature, the position and
movement of your body in space
The somatosensory system includes at least 12 specialized types of receptors. Each
sends different information to your brain:
one type sends information about vibration,
one about pressure, one about pain, and so on.
Our Inspired Model for Design of Hand Prosthesis:
Human Hand : Haptic Feedback
Who is giving information to us during object manipulation?
Haptic Feedback Visual Feedback
• touch (Lens and Optic nerve)
• pressure
• stretching
• sound waves
• motion
Our Inspired Model for Design of Hand Prosthesis:
Human Hand : Haptic Feedback
Design of Hand Prosthesis
Working Principle of a Hand Prosthesis
An Example:
