.. .. r'.ENTATION PAGE 2 AD -A267 m 4~~ 46A6 >"... : : ' . , .. > . ..... ,: .. : . II11 1111. 11R 11 9 ,! H S S W ,1i 1_____~ ~~~I~~II ~"2F 77&iPR 03R l) ~ DA I 3.k EPOIRT TYPE ANO) DATES COVERED) ' -11E11 AND SUBiIi LE S FUNDING NJMBRES Pneumatically-Powered Orthosis and Electronic Control System for Stroke Patient Rehabilitation 6. AUT ION(S) Capt William K. Brogran, Jr 7. PERE ORlrNV4G ORGANIZATION NAME(S) AND ADDRSS( S) N PFI!IO;;?,I?,G OI.GANIVAIION REPORT NUMBEI AFIT Student Attending: University of California-San Diego AFIT/CI/CIA- 93-002 9. St'ONSO.NIr1G,'NI0.'I7TORING AGENCY NAME(S) AND ADDtIESS(FS) 10. SI'Or4SOIaNG ,.MONITOIING AFIT/C r- D T IC I AGENCY REI'ORT NLUMBER Wright-Patterson AFB OH 45433-6583 (cid:127)r (cid:127) ELECTE I 11. SUPPLEMENTARY NOTES AUG 6 1993U 12a. DISTRIBUTION / AVAI! ABILITY STATEMENT 12b. DISTRIBUTION CODE Approved for Public Release IAW 190-1 Distribution Unlimited MICHAEL M. BRICKER, SMSgt, USAF Chief Administration 13. ABSTRACT (Mttrnum 200 words) 9 3 -18177 9 8 0 ~6-4 1.. SUCJLCT TLNMS 15 I~JMLR(cid:127); O/- ;A;GV 97 "jt. IWýI coal 17. SFCUF.!IY CLf.SSIFI.TIOfN 18(cid:127) SEC'ýýITY CLASSIL.TIC" ,S1I .,,TION 2200 'L%AT IIOO,N A.T0O CIT 0" ,(cid:127) - 7S r r 1 GG , T N UtJ 7 ,0 - -2 'i- 5 . ,, . . :.. ., . ,. .,. . a UNIVERSITY OF CALIFORNIA, SAN DIEGO Pneumatically-Powered Orthosis and Electronic Control System for Stroke Patient Rehabilitation A thesis submitted in partial satisfaction of the requirements for the degree Master of Science in Engineering Sciences (Systems Science) by William K Brogan, Jr. Captain, USAF DTIC QUM=~ fl'T3EQTD 3 TOTAL NUMBER OF PAGES -97 Acc-.,., Fct (cid:127) Committee in Charge: r Tis Alan M. Schneider, Sc.D., Chair .. Richard L. Lieber, Ph.D. J, W H Shu Chien, M.D., Ph.D. . . . 1993 . . . . . . . - ~iiui i S ., Si ABSTRACT OF THE THESIS Pneumatically-Powered Orthosis and Electronic Control System for Stroke Patient Rehabilitation by William K Brogan, Jr. Master of Science in Engineering Sciences (Systems Science) University of California, San Diego, 1993 Dr. Alan M. Schneider, Chair This thesis presents the development of a system designed to manipulate the upper extremity of stroke patients suffering from hemiplegia. The orthosis, an aluminum structure built to be strapped onto a patient's paretic arm, is jointed at the elbow to allow rotational motion of the arm. Compressed air provides the force necessary to move the orthosis/arm combination through a selected motion profile via a power cylinder activated by a pneumatic servovalve. Sensors located on the orthosis and throughout the system provide feedback to circuitry which precisely controls arm position. A digital computer with data acquisition capability provides software control over several system parameters and generates a user-friendly interface to the therapist performing the rehabilitation exercise. Measurements such as velocity, acceleration, and differential pressure taken during various operating modes can be used to calculate power, strength, range of motion, and degree of muscle spasticity so that a time history of improvement for the patient may be developed and used to study the effects of such therapy on stroke rehabilitation. vii REFERENCES [1] Vernon L. Nickel, M.D., M.Sc., retired Professor of Surgery for the University of California, San Diego Medical School (Orthopedics and Rehabilitation) and Director of Rehabilitation at the Sharp Rehabilitation Center in San Diego. [2] Isaka, S., Schneider, A., Filia, P., Lue, K, Coutts, R., Nickel, V., "A New Tool for Stroke Rehabilitation Study," proceedings of RESNA 10th Annual Conference, San Jose, CA, 1987. [3] Blevins, F., Coutts, R., Lieber, R., Schneider, A., Guier, C., Rosenstein, A., Stewart, W., Filia, P., Nickel, V., "The Effect of Patterning Using Continuous Passive Motion on Stroke Rehabilitation," proceedings of 34th Annual Meeting, Orthopaedic Research Society, February 1-4, 1988, Atlanta, Georgia. [4] S. Gordon, "Servo Control of Pneumatic Systems Is Here," Hydraulics & Pneumatics, July 1991. [5] deSilva, Clarence W., Control Sensors and Actuators. Prentice Hall, 1989. [6] Richard Duder, Vice President of Engineering, Dynamic Valves, Incorporated, 923 Industrial Avenue, Palo Alto, CA 94303. Phone: (800) 227-8825. [7] Operations manual for Model 23-7030A Servovalve Control Amplifier, Dynamic Valves, Inc. [8] Ogata, Katsohiko, Modern Control Engineering second edition, Prentice Hall, 1990. [9] McCloy, D. and H.R. Martin, The Control of Fluid Power. John Wiley & Sons, 1973. [10] Operations manual for Keithley-Metrabyte DAS-16F Data Acquisition Board. [11] Reference manual for the GW BASIC programming language, AT&T and Microsoft, Inc., 1984. 90 UNIVERSITY OF CALIFORNIA, SAN DIEGO Pneumatically-Powered Orthosis and Electronic Control System for Stroke Patient Rehabilitation A thesis submitted in partial satisfaction of the requirements for the degree Master of Science in Engineering Sciences (Systems Science) by William K Brogan, Jr. Committee in Charge: Alan M. Schneider, Sc.D., Chair Richard L. Lieber, Ph.D. Shu Chien, M.D., Ph.D. 1993 UNIVERSITY OF CALIFORNIA, SAN DIEGO Pneumatically-Powered Orthosis and Electronic Control System for Stroke Patient Rehabilitation A thesis submitted in partial satisfaction of the requirements for the degree Master of Science in Engineering Sciences (Systems Science) by William K Brogan, Jr. Committee in Charge: Alan M. Schneider, Sc.D., Chair Richard L. Lieber, Ph.D. Shu Chien, M.D., Ph.D. 1993 Copyright William K Brogan, Jr., 1993 All rights reserved. The thesis of William K Brogan, Jr. is approved: Chair University of California, San Diego 1993 111°i Table of Contents Signature Page ............................................... iii Table of Contents ............................................. iv List of Figures ............................................. v Acknowledgements .. ......................................... vi Abstract .................................................... vii I. Introduction and Background ................................. 1 II. Design Approach and Development ............................. 8 MI. Detailed Design ............................................ 11 A. Mechanical System ................................... 11 B. Control System ....................................... 19 IV. System Testing and Analysis ................................. 32 V. Digital Computer Interface ................................... 52 VI. Safety Engineering .......................................... 60 VII. Ideas for Further Improvement ............................... 62 VIII. Conclusion . .............................................. 67 Appendices A. Experimental frequency response plots .................... 68 B. Root locus analyses of experimentally- derived system transfer functions ........................ 72 C. Software listings and descriptions ........................ 77 References .................................................. 90 iv List of Figures Figure 1. Robotic orthosis with computer and equipment chassis ....... 5 Figure 2 Orthosis . ........................................ 12 Figure 3. Orthosis positional geometry ......................... 13 Figure 4. Orthosis diagram showing variables used in calculations .... 15 Figure 5. Basic closed-loop position control system ................ 21 Figure 6. Schematic of four-way servovalve and air cylinder ......... 22 Figure 7. Block diagram of position and pressure feedback control .... 24 Figure 8. Pneumatic cylinder showing unequal chamber pressures but equal force .................................... 26 Figure 9. Summing amplifier circuit for position control loop ........ 27 Figure 10. Closed-loop frequency response test configuration ......... 34 Figure 11. Open-loop frequency response test configuration .......... 37 Figure 12. Gain values for system amplifiers ...................... 40 Figure 13. Block diagram of system with position feedback only ....... 43 Figure 14. Breakdown of orthosis pneumatic/mechanical dynamics .... 46 Figure 15. System block diagram .............................. 47 Figure 16. Simplified system block diagram ...................... 49 Figure 17. Data acquisition board output signal conditioning circuit .... 54 Figure 18. System block diagram showing digital computer interface ... 56 v