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
•
Fontys University of Applied Sciences
•
Eindhoven, the Netherlands
IntroductionFontys University
•35 institutes
• 36000 students
• 3900 employee
Bachelor Degree
http://www.fontys.nl
Foot Throttle
• Training device for the ankle joint
Muscle training
Muscle training
Muscle Training
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
Requirements Foot throttle II
Redesign Foot Throttle
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
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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
Hardware requirements
Process
Foot Throttle II
Foot
Throttle
Prototype
Foot
Throttle
I
• Finalizing foot throttle to
production device
• Foot throttle equipped with
motors and encoders. (proof of
concept)
• Mechanical foot throttle.
Foot Throttle Protoype
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
Hardware construction
• Mechanical drawing of the
foot throttle are finished
• Drawings are designed in
Autodesk Inventor
• Parts will be constructed
Setup – Hardware Prototype
XPCTarget
Foot Throttle
68 pins
connector (2x)
Real World
Project X 1.0 Pagina 17 31 March 2009
PC
Cross cable
XPC-compiler
(realtime)
Matlab/Simulink
(non-realtime)
hardware prototype
Foot Throttle
Left Paddle
Right Paddle
Motor
Motor
Motor
Motor
Encoder
Encoder
Encoder
Encoder
Amplifier
Amplifier
Amplifier
Amplifier
XPC-target
PCI6602
PCI6703
NIC
Project X 1.0 Pagina 18 31 March 2009
Desktop PC
Desktop application
NIC
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)
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
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
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Matlab Simulink
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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
USE CASE DIAGRAM
Save log
Program FT
Configuration
View Feedback
Print
View
Program
Choose
Settings
New
Settings
Save
Settings
Load
Settings
Reset
Settings
Communication
View
motor
View
report
Calibrate
Init
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
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!
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
Foot Throttle GAME-JAM
• Combine Rehabilitation with gaming
• Advantages
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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
Foot throttle – Game Jam
Impression Game-Jam
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Future
• Nearby
– Foot throttle will be assembled
– Algorithms are being developed
– Testing basic functionality
•
Long term
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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
hardware prototype
Foot Throttle
Left Paddle
Right Paddle
Embedded
Board
Motor
Motor
Encoder
Encoder
Encoder
Amplifier
Amplifier
Amplifier
Motor
Motor
Encoder
Amplifier
Desktop PC Client
Desktop PC Physio
Desktop application
NIC
Project X 1.0 Pagina 32 31 March 2009
USB
Desktop application
NIC
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