Stable and user controlled assistance of human motor function [Elektronische Ressource] / Heike Vallery

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• Publié par: technische_universitat_munchen
• Publié le: 01 janvier 2009
• Nombre de lectures: 8
• Langue: English
• Poids de l'ouvrage: 4 Mo

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Technische Universit¨at Mu¨nchen
Lehrstuhl fu¨r Steuerungs- und Regelungstechnik
Stable and User-Controlled Assistance
of Human Motor Function
Heike Vallery
Vollst¨andiger Abdruck der von der Fakult¨at fu¨r Elektrotechnik und Informationstechnik
der Technischen Universit¨at Mu¨nchen zur Erlangung des akademischen Grades eines
Doktor-Ingenieurs (Dr.-Ing.)
genehmigten Dissertation.
Vorsitzender: Univ.-Prof. Dr.-Ing. Klaus Diepold
Pru¨fer der Dissertation:
1. Univ.-Prof. Dr.-Ing. (Univ. Tokio) Martin Buss
2. Univ.-Prof. Dr.-Ing. Dirk Abel,
Rheinisch-Westf¨alische Technische Hochschule Aachen
Die Dissertation wurde am 01.12.2008 bei der Technischen Universit¨at Mu¨nchen einge-
reicht und durch die Fakult¨at fu¨r Elektrotechnik und Informationstechnik am 29.06.2009
angenommen.iiForeword
The last four years were not only a very valuable experience, I also had a great time doing
the research. This is especially due to the positive and stimulating environment I found
both at the LSR in Munich and at the BW lab in Enschede.
First, I have to thank Prof. Dirk Abel from my “home university” Aachen for introducing
me to my later supervisor, Prof. Martin Buss in Munich. Thank you, Martin, for provid-
ing me with excellent resources, open discussions, and all the freedom I needed. At the
LSR, I found wonderful colleagues, and I enjoyed their pleasant company. Special thanks
go to our loose LSR Biomedical group, Moritz Große-Wentrup, Tobias G¨opel, Michael
Bernhardt, and Thomas Pr¨oll, who contributed to the project with continued discussions,
ideas, and suggestions. My long-term office colleague Heide Brandtst¨adter not only helped
improve my mathematical reasoning, I also have to thank her for conciliating words, and
for organizing so many fun activities such as parties or “Memory” tournaments. Ulrich
Unterhinninghofen, thank you for tirelessly solving my computer problems, for entertain-
ing evenings, and for Brezn and Obatzten. Jan Wolff, your theoretical contribution, e.g.
during passionate discussions on stability, was invaluable. In my opinion, your new job
means a loss for academia! My statistical skills were significantly enhanced by Raphaela
Groten, thank you for your support. Matthias Althoff, Matthias Rungger, and Marion
Sobotka also contributed substantially, especially concerning stability questions. Thank
you all for help and assistance, e.g. by revising papers, and for your valued friendship.
I started the project with little more than a fancy idea of future investigations. By and by,
this evolved into more solid research, and important impulses came from my predecessor
intheproject, Dr. ThomasFuhr, andtwophysicians: Dr. JochenQuinternfromBadAib-
ling introduced me to the field of neurorehabilitation, and he continuously supported and
influenced the project, making sure that obtained results would have practical relevance.
Dr. Rainer Burgkart, Klinikum Rechts der Isar, is a man full of good ideas, for example
he had the initial idea of controlling one leg via the other. Thank you for your enthusiastic
contribution! I am looking forward to a continued collaboration.
Duringthestartingphase,DejanPopovi´candthesummerschoolheorganizedinMontene-
gro affected me deeply, the event helped me acquire a more well-founded background, and
I established relationships with other groups with similar aims. Montenegro was the place
were I met Arno Stienen, one of the most efficient networkers I know, and a somewhat nice
person, too ;) Thank you, Arno, for introducing me to the Twente group!
In Twente, I learned a lot in discussions with Dr. Herman van der Kooij and Prof. Frans
van der Helm, thank you both for your continued support and advice, and for letting me
contribute to the LOPES project. Nevertheless, I suspect that Herman only let me do
all these experiments because he does not love the LOPES quite as much as its father,
Jan Veneman, who certainly suffered during some barbaric experiments with his “kindje”.
iiiThank you Jan, for your endurance and your help! Without the technical support of Gert-
Jan Nevenzel, the experiments would never have been possible in the short time I spent
in Twente. Thank you, Gert-Jan, for tireless replacement of overstrained Bowden cables,
evenrepeatedlyonweekendsandatnight. RalfEkkelenkamp,theingeniouschaoticcontrol
engineer, you were a pleasant partner in teaching the robot some behavior, thank you for
this (and for supplying me with some nutrition in the lab). Last but not least, Edwin
van Asseldonk, thorough co-author and wonderful colleague, thank you for gorgeous paper
prose, clean Matlab code, and advice in all areas.
Special thanks go to all the students who worked in this project and who did a large deal
of the work. Maximilian Neumaier, Adrian Lindner, Markus Rank, Pablo Lopez-Hidalgo,
Andrea Bauer, Sjors Coenders, Cornelia Hartmann, and many others, your contribution
is invaluable, and it was a pleasure to work with you. Furthermore, I would like to thank
all subjects who took part in the often strenuous (LOPES) or painful (FES) studies.
Krauth + Timmermann (MedelGmbH,Hamburg)generouslysuppliedthestimulatorMO-
TIONSTIM8 for this work. Controlled by the open-source Science Stim protocol by Nils-
Otto Neg˚ard and Thomas Schauer, the device was used for all FES experiments. The
employed physiological gait trajectories were obtained from Carnegie Mellon University’s
public-domain motion capture database, mocap.cs.cmu.edu, which was created with fund-
ing from NSF EIA-0196217. To process the data, the Mocap toolbox for MATLAB was
used, which was developed by N. D. Lawrence, University of Sheffield, UK.
During these years, the Studienstiftung des Deutschen Volkes was much more than my
financial supporter. It helped me to concentrate also on things unrelated to my research
(like foreign languages) and to meet other stipendiaries in stimulating discussions, e.g.
at the “Doktorandentagungen”. This organization and community I have perceived most
positively, and I feel deeply indebted.
I deeply appreciate the contribution of my parents, who have always supported me. And,
most important: Thank you, Michael, for sharing this time with me.
Munich, 2008. Heike Vallery
Copyright Notice: Chap. 2 and 5 of this PhD thesis contain figures that I have previously published in
cIEEE journals and proceedings. The material is re-printed, with permission, from [256,258–262],IEEE.
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ivContents
1 Introduction 1
1.1 Neural Impairment and Motor Rehabilitation . . . . . . . . . . . . . . . . 1
1.2 Technology to Assist Human Movement . . . . . . . . . . . . . . . . . . . . 3
1.2.1 Rehabilitation Robots . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2.2 Functional Electrical Stimulation . . . . . . . . . . . . . . . . . . . 7
1.2.3 Hybrid Neuroprostheses . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2.4 Intuitive Interfacing. . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.3 Stability Considerations in the Control of Biomechanical Systems . . . . . 11
1.4 Contribution and Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2 BiomechanicsinaBlackBox: Passivity-BasedControlofaCompliantAssistive
Robot 15
2.1 Introduction and State of the Art . . . . . . . . . . . . . . . . . . . . . . . 15
2.1.1 The Series Elastic Actuator (SEA) . . . . . . . . . . . . . . . . . . 15
2.1.2 Advantages and Limitations of a SEA . . . . . . . . . . . . . . . . . 16
2.1.3 Control Strategies for the SEA. . . . . . . . . . . . . . . . . . . . . 17
2.1.4 Contribution and Outline of this Chapter . . . . . . . . . . . . . . . 18
2.2 Force Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.2.1 Generalization of Existing Strategies . . . . . . . . . . . . . . . . . 19
2.2.2 Stable and Passive Force Control . . . . . . . . . . . . . . . . . . . 21
2.3 Impedance Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.3.1 Bandwidth Limitations . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.3.2 Stiffness Limitations due to Passivity Concerns . . . . . . . . . . . 25
2.3.3 Limitations in Cartesian Space . . . . . . . . . . . . . . . . . . . . 26
2.4 Practical Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.4.1 Force Control Performance . . . . . . . . . . . . . . . . . . . . . . . 27
2.4.2 Impedance Control Performance . . . . . . . . . . . . . . . . . . . . 29
2.5 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3 Identification of Muscle Response to Functional Electrical Stimulation 33
3.1 Introduction and State of the Art . . . . . . . . . . . . . . . . . . . . . . . 33
3.1.1 Modeling and Identification of FES . . . . . . . . . . . . . . . . . . 33
3.1.2 Contribu