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Foot Throttle

Foot Throttle . Foot throttle device for lower limb rehabilitation. MRH – Table of contents. Introduction Foot Throttle Redesign Foot Throttle II Implementation Foot Throttle Prototype Game-Jam Foot Throttle The future Conclusion. Introduction. Mark Stappers Mechatronic Engineer

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Foot Throttle

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  1. Foot Throttle Foot throttle device for lower limb rehabilitation

  2. MRH – Table of contents • Introduction • Foot Throttle • Redesign Foot Throttle II • Implementation Foot Throttle Prototype • Game-Jam Foot Throttle • The future • Conclusion

  3. Introduction • Mark Stappers • Mechatronic Engineer • Fontys University of Applied Sciences • Eindhoven, the Netherlands

  4. IntroductionFontys University 35 institutes 36000 students 3900 employee Bachelor Degree http://www.fontys.nl

  5. Foot Throttle • Training device for the ankle joint

  6. Muscle training

  7. Muscle training

  8. Muscle Training

  9. Foot Throttle I • Rehabilitation device for the ankle muscles • The Foot throttle is a passive training device • Training exercises are not available • No monitoring system • No feedback by physiotherapist • No safety requirements during the design • Foot throttle can also be used for preventing injuries

  10. Requirements Foot throttle II

  11. Redesign Foot Throttle

  12. Redesign Foot Throttle II • User Requirements • Client with no knowhow can use the foot throttle • Client can do exercises at home with the Foot Throttle (The physiotherapist) • The physiotherapist will monitor the condition of the client • The physiotherapist will not provide the exercises • Reduce the time at the physiotherapist, not the quality of the treatment • Technical requirements • Power supply ~230V - 50Hz/60Hz • Maximum dimensions 60 x 60 x 60 cm • Maximum weight 5kg • Feedback provided by monitor system • Internet connection for feedback with the physiotherapist

  13. Hardware requirements Process Finalizing foot throttle to production device Foot throttle equipped with motors and encoders. (proof of concept) Mechanical foot throttle.

  14. Foot Throttle Protoype

  15. Foot Throttle prototype • Proof of concept • Prototype will be used for testing the most vital functions • Developing construction • Read out information • Developing algorithms • Not included • Communication ethernet • Graphical User Interface for Client/Physiotherapist

  16. Hardware construction • Mechanical drawing of the foot throttle are finished • Drawings are designed in Autodesk Inventor • Parts will be constructed

  17. Setup – Hardware Prototype XPC-Target Foot Throttle PC 68 pins connector (2x) Cross cable Matlab/Simulink (non-realtime) Real World XPC-compiler (realtime) Project X 1.0 Pagina 17 31 March 2009

  18. hardware prototype Foot Throttle Left Paddle Right Paddle Motor Motor Motor Motor Encoder Encoder Encoder Encoder Amplifier Amplifier Amplifier Amplifier XPC-target Desktop PC PCI6602 PCI6703 Desktop application NIC NIC Project X 1.0 Pagina 18 31 March 2009

  19. Foot Throttle (proto) • Every pedal has 2 DC motors • Every motor has an encoder (S0/S90) • Connecting motor/encoder with NI Cards (6703 and 6602)

  20. Electronics Controlling Motors NI PCI 6703 16 voltage outputs Range -10 .. +10V 8 digital I/O (5V TTL/CMOS) Encoder information NI PCI 6602 8 up/down, 32 bit counter 80 MHz max source frequencies

  21. Electronics • The cards 6602 and 6703 are connected to XPC-target • XPC-target is a real-time software environment from Mathworks • Using XPC-target in combination with Mathworks software • Matlab • Simulink • Easy to set-up software with chosen hardware • Set-up can only be used for prototyping Project X 1.0 Pagina 21 31 March 2009

  22. Matlab Simulink Project X 1.0 Pagina 22 31 March 2009

  23. PC SOFTWARE REQUIREMENTS • Goal Software requirements • Description of the behavior of the complete system • Methods that are used: • Use Case Diagram • Graphical overview of the functionality • Shows the functions for the practical actor • Unified Modeling Language (UML) • Dynamic and static processes can be described • Easy method to describe meta-descriptions • Can be used in every phase of the project

  24. USE CASE DIAGRAM Save log ProgramFT Configuration View Feedback Print View Program Choose Settings Communication View motor NewSettings Calibrate View report SaveSettings Init LoadSettings ResetSettings

  25. UML-DIAGRAM (class diagram) • Class diagram is static diagram • Class diagram is divided into several blocks, based on the functionality • Every block exist out of 3 parts • Unique name • Attribute • Methods • Attribute can only be used with a method of that class

  26. Why these diagrams? • Easy for a software designer to design the code • Easy for discussion with none technical people (management) • Working principle can easily be described to other people • Easy to add / Remove functionality • For example adding game functionality!

  27. Foot Throttle Game-JAM • Developing a game, based on the foot throttle • Cooperation between department of mechatronics and computer sciences • 3-day event (8.00 – 20.00) • Competition between teams • Winning team: • Receives award • Provided • Foot Throttle equipped: • sensors /Electronics • API-layer software

  28. Foot Throttle GAME-JAM • Combine Rehabilitation with gaming • Advantages • People like doing games while recovering (All ages) • Keeping the interest into doing rehabilitation exercises • Recovery of the injury can go faster • Downloaded Game application can increase funding's • Easier to setup a business case

  29. Foot throttle – Game Jam

  30. Impression Game-Jam Project X 1.0 Pagina 30 31 March 2009

  31. Future • Nearby • Foot throttle will be assembled • Algorithms are being developed • Testing basic functionality • Long term • When basic functionality is realized • Adding physiotherapist program in the software device • Add game functionality in the device • Add communication with physiotherapist • Replace XPC –target and Simulink with embedded board • Realizing a Graphical user interface for client and physiotherapist

  32. hardware prototype Foot Throttle Right Paddle Embedded Board Left Paddle Motor Motor Motor Motor Encoder Encoder Encoder Encoder Amplifier Amplifier Amplifier Amplifier Desktop PC Client Desktop PC Physio USB Desktop application Desktop application NIC NIC Project X 1.0 Pagina 32 31 March 2009

  33. Conclusion /Recommendation • Prototype Foot Throttle still under development • Making mechanical parts Foot Throttle • Next phase will be the test-phase • basic functionality • Advanced functionality • When concept is proven further development is possible • Embedded software / hardware • Optimizing mechanics for rehabilitation at home • Weight • Construction • Price

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