MR-fluid brake design and its. rehabilitation device
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1 MR-fluid brake design and its application to a portable muscular rehabilitation device 17 November 2009 PhD public defense M. Avraam Active Structures Laboratory
2 Muscular rehabilitation: market overview
3 Muscular rehabilitation: market overview
4 Major components of the device Motivations for MR-brake selection: - High compactness - Low off-state torque - No reducer required - Smooth operation - Safe (no active torque)
5 Magneto-rheological g (MR-) fluid 3 components: - iron particles (~1/1000 mm) - carrier liquid (oil) - additives (avoid particle settling and packing) Rabinow, National Bureau of Standards, 1950 BASF
6 Magneto-rheological g fluid: model Bingham model: y (H) shear stress yield stress viscosity shear rate
7 BASF MR-fluid properties p
8 Electro-rheological (ER) fluids: Other «SMART» fluids larger devices more difficult to use «out of the lab» Ferro-fluids: - particle size: 1/ mm!!! - fluid can be oriented via magnetic field but no yield stress cannot be used to generate forces - used inside «friction-less» seals (hard-disks ) safety issues Kodama / Takeno
9 MR-fluid working modes valve mode shear mode squeeze mode pinch mode
10 Application: semi-active vibration isolation valve mode DAMPERS: CAR ENGINE MOUNTS:
11 Applications of MR-fluid dampers civil engineering: automotive: AUDI rehabilitation: LOR RD corp. LORD corp.
12 Application: MR-fluid rotational brakes/clutches T-shaped rotor Drum Multiple Disks shear mode Inverted Drum Disk
13 Automotive: Applications of MR-brakes/clutches Force-feedback: - GM radiator fan drive clutch - MAGNA coupling clutch between front and rear axle (4x4) - brake for steer-by-wire - haptic knobs - force feedback devices for rehabilitation after stroke Muscular exercise/rehabilitation: OSSUR Rheoknee
14 Selected designs for prototyping 1 st prototype (1Nm) 2 nd prototype (2Nm) 48mm 40mm 49mm - easy to build - radial compactness 49mm - more difficult to build - higher compactness
15 Performance tests: test-bench
16 Performances tests: some results
17 Performances tests: some results
18 Performances tests: some results
19 Performances tests: some results
20 Rehabilitation device: components
21 Rehabilitation device: components
22 Rehabilitation device: MR-brake design 45mm 120mm T-shaped design selected because good p g g compromise between mechanical simplicity and compactness
23 Rehabilitation device: exercise modes
24 Rehabilitation device: exercise modes
25 Rehabilitation device: control scheme
26 Rehabilitation device: torque controller Experiment on test-bench
27 Exercise controller: isometric mode Control law Experiment on rehabilitation device contact stiffness Experiment on test-bench
28 Exercise controller: isotonic mode Experiment on rehabilitation device Experiment on test-bench
29 Control law Exercise controller: isokinetic mode = torque threshold Experiment on rehabilitation device
30 Benchmarking with CYBEX - Clinical tests conducted on 8 healthy subjects (for the 3 DOF of the wrist) for the isokinetic exercise (peak torque measurements) pronation/supination flexion/extension abduction/adduction High level of repeatability between measurements
31 Statistic tools Scatter plot Box and Wiskers plot
32 Comparison of test/re-test repeatability level similar repeatability level between on both machines (same median difference and IR between two successive tests)
![PEAK troque [Nm] Agreement of measurements on both devices all motions anti-clockwise clockwise fference in PEAK troque [Nm] all](/docs-images/73/69521156/images/33-7.jpg "motions anti-clockwise clockwise Di disagreement (mainly in anti-clockwise direction) possibly due to drift in gravity compensation on")
33 PEAK troque [Nm] Agreement of measurements on both devices all motions anti-clockwise clockwise fference in PEAK troque [Nm] all motions anti-clockwise clockwise Di disagreement (mainly in anti-clockwise direction) possibly due to drift in gravity compensation on CYBEX
34 Achieved results: Conclusion & future work A quatitative comparison of MR-brake architectures has been performed based on various figures of merit Various MR-brake prototypes (drum and T-shaped designs) have been built and tested with 2 different MR-fluids A portable rehabilitation device based on a MR-brake has been designed and manufactured The performances of the prototype have been compared with a commercial device (CYBEX) based on a sample of subjects Future work: Adapt the design to accomodate larer body joints (knee ) Large scale clinical study to confirm the therapeutic efficiency of the device Investigate technology transfer opportunities
35 Kodama / Takeno phot tos by Takada THANK YOU!
36 Acknowledgements Prof. André Preumont - Jury Members: Prof. A. Delchambre, Prof. J. Gyselinck, Prof. M. Hinsenkamp, Dr. D. Carlson, Prof. S. Krenk, Prof. H. Van Brussel. - ASL colleagues: Iulian Romanescu, Mihaita Horodinca, Pierre Letier and all the others - Micromega Dynamics: Jean-Phillipe Verschueren and Serge Cattoul - Fraünhofer Institute ISC: Dr. Böse - ULB ERASME hospital: P. Remy and colleagues, Belgian Hand Therapists association - ULB Interface & EEBIC: A.Weymeersch, P. Galland, J. Van Nuwenborg and M. Bouillez - Physiotherapists: Prof. Hanson, O. Beuckelaers, M. Walraevens, E. Tys, B. De Donder
37 AND NOW LET S HAVE A DRINK! Kodama / Takeno
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