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Physiological Driven Control and Design of Exoskeletons- Lecturers
- Prof. Dr. Alessandro Del Vecchio, Dipl.-Ing. Sebastian Reitelshöfer
- Details
- Seminar
Online/Präsenz
3 cred.h, ECTS studies, ECTS credits: 5, Sprache Englisch
Ort: Zoom-Meeting
- ECTS information:
- Title:
- Physiological Driven Control and Design of Exoskeletons
- Credits: 5
- Prerequisites
- Compulsory prerequisites: No compulsory prerequisites.
Recommended: Basic biology and neurophysiology, Computer programming (Matlab and/or Python), Biosignal processing
- Contents
- Lecture: Control of exoskeletons by neural signals
Extraction of signals for control for exoskeleton; user expectations and clinical reality; closed-loop control of exoskeleton-Lecture: Principles of neural signals and translation for control
Recording electrophysiological data in humans
EMG, EEG, intracortical data and electrocorticography (ECoGs). Lecture: Actuators and Sensors for Exoskeletons
In robotics soft systems are a new paradigm to realize compliant kinematics. An insight into those actuators and sensors helps to select a combination of soft and rigid components for exoskeletons. Lecture: Using ROS to control mechatronic assistive devices
Using an established framework for the development of assistive devices enables the efficient prototyping of application specific solutions. Lecture: EMG signal and processing
Association between EMG and intended movements, identification of individual motoneurons; time delays between neural signals and control; integration of EMG signals into exoskeletons Lecture: MATLAB / Python practical coursework
Biosignal processing of neural signals; associations between neural signals and function (dynamic and static).
Practical work: literature overview on current state of the art in exoskeleton and a critical analysis on the design of a physiologically driven exoskeleton for the upper arm.
- Literature
- -Principles of Neuroscience from Eric R. Kandel, MD
-Motor unit from Heckman and Enoka, DOI: 10.1002/cphy.c100087
-Neural Engineering, Edited by Bin He
-Tutorial: Analysis of motor unit discharge characteristics from high-density surface EMG signals, Del Vecchio et al. https://doi.org/10.1016/j.jelekin.2020.102426
-Restoring sensorimotor function through intracortical interfaces: progress and looming challenges, Bensmaia and Miller
https://www.nature.com/articles/nrn3724
-Dielectric elastomers as energy efficient actuators: Reitelshöfer et al.:
10.1109/BIOROB.2014.6913877
-Fusion of compliant stretch sensors and IMU data: Landgraf et al.:
10.1109/BIOROB.2018.8487949
-Getting started with the Robot Operating System:
http://wiki.ros.org/ROS/Tutorials
- Additional information
- Keywords: Neurophysiology, Mechatronic, Assistive devices
Registration is required for this lecture.
Die Registration via: StudOn
- Verwendung in folgenden UnivIS-Modulen
- Startsemester WS 2021/2022:
- Physiological Driven Control and Design of Exoskeletons (NEXO)
- Department: Juniorprofessor für Neuromuscular Physiology and Neural Interfacing
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