Control of lumbar spine flexion-extension movement by PD controller and feedback linearization method

ICCAS 2010 ◽  
2010 ◽  
Author(s):  
Maryam Abedi ◽  
Gholam Reza Vossughi ◽  
Mohamad Parnianpour
2013 ◽  
Vol 2013 ◽  
pp. 1-12 ◽  
Author(s):  
Ernur Karadogan ◽  
Robert L. Williams

The robotic lumbar spine (RLS) is a 15 degree-of-freedom, fully cable-actuated robotic lumbar spine which can mimicin vivohuman lumbar spine movements to provide better hands-on training for medical students. The design incorporates five active lumbar vertebrae and the sacrum, with dimensions of an average adult human spine. It is actuated by 20 cables connected to electric motors. Every vertebra is connected to the neighboring vertebrae by spherical joints. Medical schools can benefit from a tool, system, or method that will help instructors train students and assess their tactile proficiency throughout their education. The robotic lumbar spine has the potential to satisfy these needs in palpatory diagnosis. Medical students will be given the opportunity to examine their own patient that can be programmed with many dysfunctions related to the lumbar spine before they start their professional lives as doctors. The robotic lumbar spine can be used to teach and test medical students in their capacity to be able to recognize normal and abnormal movement patterns of the human lumbar spine under flexion-extension, lateral bending, and axial torsion. This paper presents the dynamics and nonlinear control of the RLS. A new approach to solve for positive and nonzero cable tensions that are also continuous in time is introduced.


2007 ◽  
Vol 40 (12) ◽  
pp. 2767-2773 ◽  
Author(s):  
Joseph J. Crisco ◽  
Lindsey Fujita ◽  
David B. Spenciner

2011 ◽  
Vol 383-390 ◽  
pp. 6886-6892
Author(s):  
Jia Kuan Xia ◽  
Yi Na Wang ◽  
Yi Biao Sun

Permanent magnet linear synchronous motor (PMLSM) suspension system has the merits of no friction, high-speed, high response and so on, using the normal force achieve the mover suspension. The servo performance is affected by the nonlinear coupling between the horizontal trust and vertical normal force, parameters uncertainties and load disturbances. The feedback linearization method is used to achieve the dynamic decoupling of the PMLSM suspicion system and decoupling it Into two linear subsystems; to solve the conflict between disturbance restraint and fast tracking performance, increase the robustness and dynamic stiffness for system, H∞ speed controller based on PDFF and position proportional controller are designed. Simulation results show that the proposed control strategy guarantees the high speed and high precision positioning performance for horizontal axis; the good rigidity and stability for normal suspension length and the strong robustness against load disturbances and parameters variations for the two axes.


10.14444/3020 ◽  
2016 ◽  
Vol 10 ◽  
pp. 20 ◽  
Author(s):  
Boyle Cheng ◽  
Anthony E. Castellvi ◽  
Reginald J. Davis ◽  
David C. Lee ◽  
Morgan P. Lorio ◽  
...  

2012 ◽  
Vol 17 (3) ◽  
pp. 232-242 ◽  
Author(s):  
Prasath Mageswaran ◽  
Fernando Techy ◽  
Robb W. Colbrunn ◽  
Tara F. Bonner ◽  
Robert F. McLain

Object The object of this study was to evaluate the effect of hybrid dynamic stabilization on adjacent levels of the lumbar spine. Methods Seven human spine specimens from T-12 to the sacrum were used. The following conditions were implemented: 1) intact spine; 2) fusion of L4–5 with bilateral pedicle screws and titanium rods; and 3) supplementation of the L4–5 fusion with pedicle screw dynamic stabilization constructs at L3–4, with the purpose of protecting the L3–4 level from excessive range of motion (ROM) and to create a smoother motion transition to the rest of the lumbar spine. An industrial robot was used to apply continuous pure moment (± 2 Nm) in flexion-extension with and without a follower load, lateral bending, and axial rotation. Intersegmental rotations of the fused, dynamically stabilized, and adjacent levels were measured and compared. Results In flexion-extension only, the rigid instrumentation at L4–5 caused a 78% decrease in the segment's ROM when compared with the intact specimen. To compensate, it caused an increase in motion at adjacent levels L1–2 (45.6%) and L2–3 (23.2%) only. The placement of the dynamic construct at L3–4 decreased the operated level's ROM by 80.4% (similar stability as the fusion at L4–5), when compared with the intact specimen, and caused a significant increase in motion at all tested adjacent levels. In flexion-extension with a follower load, instrumentation at L4–5 affected only a subadjacent level, L5–sacrum (52.0%), while causing a reduction in motion at the operated level (L4–5, −76.4%). The dynamic construct caused a significant increase in motion at the adjacent levels T12–L1 (44.9%), L1–2 (57.3%), and L5–sacrum (83.9%), while motion at the operated level (L3–4) was reduced by 76.7%. In lateral bending, instrumentation at L4–5 increased motion at only T12–L1 (22.8%). The dynamic construct at L3–4 caused an increase in motion at T12–L1 (69.9%), L1–2 (59.4%), L2–3 (44.7%), and L5–sacrum (43.7%). In axial rotation, only the placement of the dynamic construct at L3–4 caused a significant increase in motion of the adjacent levels L2–3 (25.1%) and L5–sacrum (31.4%). Conclusions The dynamic stabilization system displayed stability characteristics similar to a solid, all-metal construct. Its addition of the supraadjacent level (L3–4) to the fusion (L4–5) did protect the adjacent level from excessive motion. However, it essentially transformed a 1-level lumbar fusion into a 2-level lumbar fusion, with exponential transfer of motion to the fewer remaining discs.


2013 ◽  
Vol 20 (1) ◽  
pp. 70-76 ◽  
Author(s):  
Zenon Zwierzewicz

Abstract In the paper the problem of ship autopilot design based on feedback linearization method combined with the robust control approach, is considered. At first the nonlinear ship model (of Norrbin type) is linearized with the use of the simple system nonlinearity cancellation. Next, bearing in mind that exact values of the model parameters are not known, the ensuing inaccuracies are taken as disturbances acting on the system. Thereby is obtained a linear system with an extra term representing the uncertainty which can be treated by using robust, H∞ optimal control techniques. The performed simulations of ship course-changing process confirmed a high performance of the proposed controller despite the assumed significant errors of its parameters.


Author(s):  
Lissette M. Ruberté ◽  
Raghu Natarajan ◽  
Gunnar B. J. Andersson

Degenerative disc disease (DDD) is a progressive pathological condition observed in 60 to 80% of the population [1]. It involves changes in both the biochemistry and morphology of the intervertebral disc and is associated with chronic low back pain, sciatica and adult scoliosis [2,3]. The most accepted theory of the effects of DDD on the kinematics of the spine is that proposed by Kirkaldy-Willis and Farfan which states that the condition initiates as a temporary dysfunction, followed by instability and then re-stabilization as the disease progresses [4]. Although there is no clear relationship between disc degeneration and the mechanical behavior of the lumbar spine, abnormal motion patterns either in the form of increased motion or erratic motion have been reported from studies on human cadaveric motion segments [5,6]. To date however no study has looked at how disc degeneration affects the adjacent segment mechanics. IN vivo testing is difficult for these purposes given that specimens are generally obtained from people at the later stages of life and consequently often display multiple pathologies. A finite element model is a viable alternative to study the mechanics of the segments adjacent to the diseased disc. It is hypothesized that moderate degeneration at one level will alter the kinematics of the whole lumbar spine.


Spine ◽  
1991 ◽  
Vol 16 (8) ◽  
pp. 943-950 ◽  
Author(s):  
J. DVORAK ◽  
M. M. PANJABI ◽  
J. E. NOVOTNY ◽  
D. G. CHANG ◽  
D. GROB

2000 ◽  
Author(s):  
Subramanya Uppala ◽  
Robert X. Gao ◽  
Scott Cowan ◽  
K. Francis Lee

Abstract The strength and stability of the lumbar spine are determined not only by the bone and muscles, but also by the visco-elastic structures and the interplay between the different components of the spine, such as ligaments, capsules, annulus fibrosis, and articular cartilage. In this paper we present a non-linear three-dimensional Finite Element model of the lumbar spine. Specifically, a three-dimensional FE model of the L4-5 one-motion segment/2 vertebrae was developed. The cortical shell and the cancellous bone of the vertebral body were modeled as 3D isoparametric eight-nodal elements. Finite element models of spinal injuries with fixation devices are also developed. The deformations across the different sections of the spine are observed under the application of axial compression, flexion/extension, and lateral bending. The developed FE models provided input to both the fixture design and experimental studies.


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