Overview:
Our Product is a dynamic
brace intended for physiotherapeutic applications. It will provide
protection from further trauma to hinge type joints during the recovery
period, in addition to helping during the physical therapy period by
allowing the user to move his/her joint sooner without the fear of
further damaging the affected joint during physical therapy sessions.
Our device uses a user configurable PID controller algorithm in order
to control the stiffness and angular position of a robotic actuator in
real time. It also has an auto locking function that will automatically
stop the movement of the joint, if it senses a high rate of change in
angular position. This device is focused on dampening and stopping high
rates of change, because those changes are responsible for severe pain
and also cause further damages to the joint. The robotic actuator will
be responsible for providing the sensed data (angular position and
angular rate of change) and the mechanical output torque. The target
audience are people who have recently suffered a ligament or tendon
injury on either the elbow of the knee.
fig 1.1 - current prototype
Motivation:
We want to prevent people from
suffering joint
stiffness after a traumatic injury or surgery. This idea came to us
when one of our members suffered an elbow dislocation.
Problem
formulation:
After
a severe injury or surgery, patients are told to start moving the
affected limb as soon as possible in order to prevent permanent joint
stiffness. If the joint remains immobile for a long period of time, it
will partially and progressively lose its flexibility and ability to
perform simple tasks. On the other hand, it is particularly painful to
move a limb during the early recovery period (first 2-3 months). This
is due to the instability of the limb itself, and the rate of change in
velocity of the limb during fast movements. In order to address these
two factors, which reduce the chances of a full recovery and also slow
it down, we are here introducing the smart brace.
Solution:
The smart brace is a device that
provides
structural stability and dampens the motion of limbs. In other words,
it allows movement, but reduces the rate of change in velocity similar
to a dampener. This reduction in acceleration will ensure that any
movement will be safe for the patient.
Parts:
- 9800 mAh Rechargable Battery
- Dynamixel CM-2 Robot Controller
- FR07-H101K Hinge Frame Set
- Dynamixel MX-28T Robot Actuator
- Robotis USB2Dynamixel Adapter
- SMPS2Dynamixel Adapter
- 3D-Printed Actuator Mount
- Power Protection Circuit
- Bolts, Screws, Nuts, and Washers
Progress:
We are approximately 55% complete with
our project.
Currently we have a prototype (fig 1.1), power protection
circuit rev1.0, and part of our code. We need to finish the 3D
attachment, obtain the parameters (PID values), finish the model, and
finish the code.
fig 1.2 - data flow diagram
fig 1.3 - transition diagram
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