Biomechatronics

Dr. Elif Hocaoglu

Lecture 2

Mechatronics, Biomechatronics, Applications of

Biomechatronics, Robotics
Design of Hand Prosthesis
Working Principle of a Hand Prosthesis
An Example:

https://www.youtube.com/watch?v=gHsZ0bwxMsg
Factors Affecting sEMG Signals
•Electrode Structure & Placement
•Shape of the electrode
•Distance between electrode detection surfaces
•Location of electrode with respect to the motor
points in the muscle

•Cross talk effect (ECG)

•Characteristic of tissue and its cleaning conditions

(skin impedance)

•Blood flow, fiber diameter, depth and location of active fibers

and
thickness of the tissue between the surface of the muscle and
electrode are also other physiological factors
The Characteristics of the Electrical Noises
Inherent noise in electronics component
•Electronics components produce the noise
•The frequency range of this noise is in between 0 Hz to several
thousand Hz

Ambient Noise
•Caused by electromagnetic radiation
•The frequency of ambient noise is 50/ 60Hz

Motion Artifact
•Instability of the electrode placement on the skin and cable
movement
•The frequency ranges of the motion artifact exist in between 0 Hz to
20 Hz.
Data Acquisiton (Measuring sEMG Signals)
Design Criteria of EMG Device (How do you design your own
EMG Device?
• Amplifying raw EMG signal without amplifying ambient noises

• Reducing Common Mode Voltage

• Pre-filtering for noisy signals that are outside of the desired band of 20-500 Hz
Introduction to Robotics
Motivation
History

Robot: Czech word for work.

Karel Čapek, Rossums Universal Robots, 1920

The term " automat " was used in 1917 for the first
time in a short story of Josef Čapek, the title was
"Opilec“.

It got large publicity in 1920 by its play "Rossum's

universal robot". The word "robota" originates from
the Czech and means hard work or forced labor.

Science fiction A scene from the play, showing three robots

Introduction to Robotics
Motivation
Nuclear material handling Machine cutting

Numerically
controlled
Teleoperators milling
machines

Manipulation Programmability

Robot
 Introduction to Robotics
Motivation
1947-Electric powered teleoperator.
1949-Numerically controlled milling machine research.

1961-First Unimate in factory. Used

in a variety of industrial tasks such
as welding and material handling.
1961-Robot force feedback.

1963-Robot vision.

1973-Robot programming language.

 What is classified as a robot?
Computer controlled mechanism with some degree of autonomy.

Some Examples:

Rovers
Prosthetic Hands
Rehabilitation Robotics
Wearable Robots
Unmanned Air Vehicles
Underwater vehicles
NASA's Mars Exploration Spider like machines
Rover (MER) Snake-like robots
Humanoids
Industrial robots
Toys
Robots are universally applicable motion devices with
several axes. The motions and motion paths are freely
programmable and are sensor-guided if necessary.
 Why are they used?
In manufacturing, robots improve quality and productivity by reducing
process variance and lowering total production costs.

In many applications, robots free humans from hazardous,

noisy, strenuous, repeatable tasks, or they operate where
humans simply cannot.
Industrial Robot

Rescue Robot
 Application areas

•Hospitals (Surgery)
•Clinics
•Personal Assistance
•Physical therapy and rehabilitation
•Metalworking Systems
• Semiconductors/Clean Rooms
• Materials Handling
• Painting
• Assembly
• Welding
• Laboratory Automation
• Construction Industry
• Service Sectors
• Mobile Robots
• Personal Assistance
• Hazardous Environments
Basic Implementations with Industrial Robots

Arc Welding
Spot Welding
Cutting
https://www.youtube.com/watch?v=7k20Zp5aPjY

Cutting
Pick and Place
Delta Robot

https://www.youtube.com/watch?v=2Me_oyMifoU Pick and Place

Assembly
Spray Painting
Gluing
Soldering
 Parallel Robots (Parallel Manipulators)

A parallel manipulator is designed so that each chain is usually short, simple and can
thus be rigid against unwanted movement, compared to a serial manipulator.

Delta Robot 4 Armed Robot Stewart Platform

https://www.youtube.com/watch?v=vlCH4zhIqmM
 Structure of a Robot

Links

Serial Parallel
Manipulator Manipulator End
Effector

Joints

Base

Open kinematic chain

Prismatic joint (P)

d
Revolute joint (R)
z


What is Degree of Freedom (DoF)?
How many variables are required to determine the position of a
mechanism in space?

https://www.youtube.com/watch?v=vOFM8eG8kVc
 Number of joints = Number of degrees of freedom

Degrees of freedom = DOF

Joints

An industrial manipulator generally has 6 DOF.

(3 for positioning, 3 for orientation)
Workspace
Workspace is the volume of space reachable by the end effector.
Everywhere a robot reaches must be within this space.

Reachable workspace:
Entire set of points
reachable by the
manipulator.

Dextrous workspace:
consists of those points
that the manipulator can
reach with an arbitrary
orientation of the end effector.
Accuracy and Repeatability
Accuracy: Measure of how close the manipulator can come to a given
point within its workspace.

Repeatability: Measure of
how close a manipulator can
return to a previously taught
point.
Robots are also classified by:

Electrical

Energy source Hydraulic

Pneumatic

SMC

Application area Assembly, etc

Point to Point
Servo Continuous Path
Method of control Nonservo
Actuation Mechanisms
Designers select the drives, or actuation mechanisms, of robots and end effectors for
several qualities, including force, speed, torque, dynamic response, durability, precision,
mass, and cleanliness.
Actuators have therefore become an important area of research because improvements
in this particular physical component simplifies some problems in areas such as control.
Industrial robots typically choose from three basic actuation mechanisms: pneumatic,
hydraulic, and electric.

Pneumatic: Pneumatic or air-driven actuation generally has application only in

situations involving the manipulation of lightweight materials. As a result, pneumatics
are most often in use to operate end effectors, rather than the robot.
Hydraulic: When the manipulator payload is heavy and a high power-to-weight ratio
is necessary, hydraulics are often the actuation method of choice. Hydraulically
actuated manipulators are also useful in some applications for their ability to
comply on hard contact with obstacles.
A major problem with this type of actuation, however, is that hydraulics are dirty.
Both fluids and small particles leak from hydraulic actuators, complicating
maintenance and making hydraulic robots unsuitable for clean environments.
In the past, most industrial robots were hydraulically actuated, but the balance is
now beginning to tip toward other types of power, especially as applications that
involve the manipulation of lighter payloads evolve and become popular.
Electric: Inexpensive electric stepping motors have been widely available and in use in
computer controlled equipment such as positioning machines for some time, but have not
often had use in robots. These conventional motors are very accurate and can operate
without position feedback control, but unfortunately they can lose track of their position if
the load is heavy. Stepper motors also generate low torque, thus necessitating the use of a
transmission for development of high torque at low speed. But transmissions cause
problems with static friction, binding gear wear, and backlash—all difficult to model for
control purposes.
The evolution in motor research has therefore been toward direct-drive electric motors
that produce high torque at low speed, thus eliminating the need for a transmission and
greatly simplifying the control problem.
Electric motors are also relatively clean, although they present a problem in some
hazardous environments, in which a spark could create an explosion. In general, electric
drives are becoming the actuation method of choice, with hydraulic and pneumatic
actuation finding use in situations that require their special qualities.
Future Actuators: Simple and reliable actuators that offer both high strength-to-weight
ratios and large amplitudes of motion would find application in a wide range of
devices where both the overall size and weight of the actuator are important.
One approach is to use ultrasonic motors commonly in use in autofocus mechanisms
in low-cost video cameras.
In another approach, researchers are looking to the biological actuator—the muscle—
as a model for a new generation of actuators.
Progress toward creating an artificial muscle is occuring in research efforts using
several materials, including shape memory alloys, contractile polymers,
microfabricated electrostatic devices, and piezoelectric and magnetostrictive
materials.
 • Manipulators
• End Effectors
Enabling Components
• Actuators
• Sensors
• Controllers

• Control
• CAPE
Systems
• Programming
• Machine Vision
End effectors The end effector (commonly, the gripper, hand, or tool)
greatly limits the versatility of a particular robot.
The wrist device—distinct from the robot manipulator—
often has its own power and control mechanism.
In general, end-of-arm tooling is relatively application
specific, and a small robot hand industry has developed
to address the need for end effectors in particular
applications.
A gripper fixes the position and orientation of an object relative to a robot arm. Thus, it is
possible to move and to position the workpiece inside the workcell. Additional sensors
inside the gripper can be used to sample and interpret information about the workpiece.

Gripper types:
•mechanical grippers
- two-finger-parallel grippers (maybe with sensor control)
- three-fingers-centric grippers
- angular grippers
- toggle joint grippers

•vacuum grippers
•magnetic grippers
•special grippers (e.g. hooks, shovels, inflatable devices)

https://www.smc.eu/en-eu/products/featured-products/magnetic-gripper

https://www.youtube.com/watch?v=m7l-87r4oOY
Understanding Control Systems
Basic Characteristics

Manual Control
Understanding Control Systems
Basic Characteristics
Adaptive Cruise Control

Image courtesy: Ford

Automatic Control
Understanding Control Systems
Basic Characteristics

The On-Off Control Systems

(The simplest form of a controller)
Understanding Control Systems
Basic Characteristics

Open-loop Control Systems

Illustrative video:
https://www.mathworks.com/videos/understanding-control-systems-
part-1-open-loop-control-systems-123419.html
Understanding Control Systems
Basic Characteristics

Closed-loop Control
(Feedback Control Systems)
Illustrative video: https://www.mathworks.com/videos/understanding-
control-systems-part-2-feedback-control-systems-123501.html