Cleveland State University
Department of Electrical and Computer Engineering
Department of Mechanical Engineering
EEC 492/592 and MCE 493/593  Prosthesis Design and Control
Fall 2014
Recommended References:
A. Bennett Wilson, A Primer on Limb Prosthetics
D. Simon, Optimal State Estimation
D. Simon, Evolutionary Optimization Algorithms
D. Winter, Biomechanics and Motor Control of Human Movement (fourth edition)
Recommended Weekly Seminar:
Human Motion Seminar Series - 10:15 Wednesday, FH 103
https://docs.google.com/spreadsheet/ccc?key=0AiQBXpGG8GfdFY5N2xjb1Q5MTJDbWVhajZQNEhfQ0E&usp=sharing#gid=1
Prerequisites: EEC 440 or MCE 441, and proficiency in MATLAB programming
Days, Time, and Classroom: T/Th 6:00-7:50, FH 309
Goals and Objectives: This course is designed to provide students with a basic
understanding of human biomechanics, and lower limb prosthetic design and control
technologies. After taking this course, students will be able to explain the similarities
and differences between current prosthesis designs, the important factors in prosthesis
designs, simulate prosthesis operation, design prosthesis controllers, and optimize
prosthesis design and control algorithms.
Course Ethics: See www.csuohio.edu/engineering/ece/docs/Ethics%20Policy.doc
Grading Criteria:
Homework
Midterm
Project
Final Exam
Undergraduate
35%
30%
N/A
35%
Graduate
25%
25%
25%
25%
All exams are open book and open notes, but no electronic devices are allowed.
Homework
Assignments: See http://academic.csuohio.edu/simond/courses/prosthesi
s/homework.htm
Project
Guidelines: See http://academic.csuohio.edu/simond/courses/prosthesis/
project.htm
Projects are required only from 500-level students. See the course schedule below for
project due dates.
Grading scale:
A
A minus
B plus
B
B minus
C plus
C
D
93-100
90-93
87-90
83-87
80-83
77-80 (this range is a C for grad students)
70-77
60-70 (this range is an F for grad students)
Instructors:
Phone
Email
Office
Office
Hours
Dan Simon
687-5407
d.j.simon@csuohio.edu
FH 343, FH 310
T 3:30-5:30
W 1:30-3:30
Hanz Richter
687-5232
h.richter@csuohio.edu
FH 242, FH 25
MW 4:00-6:00
Antonie van den Bogert
687-5329
a.vandenbogert@csuohio.edu
FH 246, FH 232
MW 2:00-4:00
Course Schedule:
Week
Date
Tues. Aug. 26
Thurs. Aug. 28
Tues. Sep. 2
Thurs. Sep. 4
Instructor
Simon
Simon
Richter
Richter
3
Tues. Sep. 9
Thurs. Sep. 11
van den Bogert
van den Bogert
4
Tues. Sep. 16
Simon
1
2
Topic
Notes
Introduction
Intro.pptx
Introduction
Robot kinematics, dynamics, models
kin_dyn1.pdf
Robot kinematics, dynamics, models
kin_dyn2.pdf
Nonsquare Jacobians and the Moore-Penrose Pseudoinverse
Matlab code to calculate robot dynamics
Biomechanics
Sep. 9 Slides
Biomechanics
Sep. 11 Slides
muscle.m
State estimation
State Estimation.pdf
Week
5
Date
Thurs. Sep. 18
Tues. Sep. 23
Thurs. Sep. 25
Instructor
Simon
Simon
van den Bogert
Topic
State estimation
State estimation
Measurements and signal processing
Tues. Sep. 30
van den Bogert
Measurements and signal processing
Thurs. Oct. 2
Tues. Oct. 7
Thurs. Oct. 9
Tues. Oct. 14
Thurs. Oct. 16
Richter
Richter
Richter
van den Bogert
Electromechanical power conversion
Electromechanical power conversion
Midterm
Robot drive systems
Kinematics, kinetics, amputee gait
Tues. Oct. 21
van den Bogert
Kinematics, kinetics, amputee gait
Thurs. Oct. 23
Tues. Oct. 28
Thurs. Oct. 30
Richter
Richter
Richter
Robot control
Robot control
Prosthesis control
Tues. Nov. 4
Thurs. Nov. 6
Tues. Nov. 11
Thurs. Nov. 13
Tues. Nov. 18
Thurs. Nov. 20
Tues. Nov. 25
Thurs. Nov. 27
Tues. Dec. 2
Thurs. Dec. 4
Tues. Dec. 9
Thurs. Dec. 11
Simon
Simon
Evolutionary Optimization
Gradient-Based Optimization
Holiday
Evolutionary Optimization
Evolutionary Optimization
Modeling and simulation of gait (1)
Modeling and simulation of gait (2)
Holiday
Project Presentations
Project Presentations
No Class
Final Exam, 6:00 PM
6
7
8
9
10
11
12
13
14
15
16
Simon
Simon
van den Bogert
van den Bogert
Notes
State Estimation.zip
2014-09-25 Measureme
1.pdf
2014-09-30 Measureme
2.pptx
2014-10-16 Kinematics
Kinetics 1.pdf
2014-10-21 Kinematics
Kinetics 2.pdf
Due - Project Letter of
Intent
Due - Project Proposal
Due - Project Report
ABET objectives:
Electrical Engineering:
(1) Practice electrical engineering in one or more of the following areas:
communications, computers, controls, power electronics, and power systems
(2) Define and diagnose problems, and provide and implement electrical engineering
solutions in an industrial environment
(6) Develop knowledge beyond the undergraduate level and keep current with
advancements in electrical engineering
Mechanical Engineering:
(2) Practice mechanical engineering in environments that require a variety of roles
including engineering problem definition, application of advanced methods of
analysis, problem diagnosing, and solution of real-world engineering design
problems that are subject to realistic constraints such as cost, safety, etc.
(3) Actively contribute in a multidisciplinary engineering environment
(4) Enhance knowledge beyond the BS level, engage in life-long learning, and keep
current with advancements in engineering and technology.
ABET outcomes:
Electrical and Mechanical Engineering:
(a) Apply knowledge of mathematics, science and engineering
(b) Design and conduct engineering experiments, as well as analyze and interpret data
(c) Design a system, component, or process to meet desired needs
(e) Identify, formulate, and solve engineering problems
(g) Communicate effectively
(h) Understand the impact of engineering solutions in a global and societal context
(j) Knowledge of contemporary issues
(k) Use the techniques, skills, and modern engineering tools necessary for engineering
practice