The interplay of biomimetics and biomechatronics

Biomechatronics is an engineering subject in which biomimetics as a method is one of its two supporting pillars: biology for engineering, or Bio4Eng. This is contrasted with biocompatible design, or Eng4Bio, examples of which are human-serving systems, such as exoskeletons, and biomedical engineering. The paper aims to illustrate that the research fields of biomimetics, biomechatronics, and biomedical engineering are not in competition but mutually supportive. The current attempts to place biomechatronics under the umbrella of biomimetics or biomedical engineering are therefore not expedient; they deprive the subject of its strength of combining Bio4Eng and Eng4Bio at any time in a task-related manner. In addition to research and development, however, the training of the specialists supporting the subjects must not be disregarded and is therefore described based on a proven design

Control for non-linear compliant actuation of an upper arm exoskeleton

Musculoskeletal diseases of the back and upper extremities are one of the main causes of sick leave in Europe. Exoskeletons are one possible approach to preventive measures. The Biomechatronics Group at Technische Universität Ilmenau is developing an antagonistically actuated exoskeleton with non-linear compliance to support flexion and extension of the elbow in repetitive tasks like in assembly. Here, we present a control strategy to achieve joint stiffness control while benefitting from the advantages of non-linear compliant actuation. We use a decentralized control approach, combining two PID controllers to control joint position and string force and thus, joint stiffness, in the antagonistically acting drive. We show limitations and benefits of this approach through simulation and measurement

Concept for the measurement of vital parameters during the use of an infrared cabin to investigate physiological effects and to individualize the sauna session

Infrared sauna bathing has positive effects on body and mind. Quantifying these effects helps to make sauna use more efficient and safer and to increase the user-observed wellness effects. Currently, there are no practical solutions for a comprehensive and user-friendly monitoring of the physical impact of sauna bathing. This paper focuses on the concept development to investigate which measurement setups are suitable to record and evaluate changes in vital parameters. Based on prioritized vital parameters and requirements a pre-selection of devices in form of wearables is made, which is going to be examined in detail for their suitability. An investigation with ten test persons is planned, in which the wearables’ measurement accuracy and the user acceptance outside and inside the infrared cabin are quantified. The result is a concept for the test procedure and the evaluation of the wearables in order to integrate a suitable device into the overall system

Interaction between motion of the trunk and the angle of attack of the forelimbs in synchronous gaits of the pika (ochotona rufescens)

International audienceDuring half-bound gait on a treadmill pikas (Ochotona rufescens: Lagomorpha) show a preference in the choice of the trailing limb (“handedness”). Duration of steps shows significantly higher variation in the trailing limb than in the leading limb. This observation motivated calculations of the position of the center of mass (CoM) in the body frame of the pika during half-bound cycles. CoM is aligned with first of the ulna of the trailing and second of the leading limb during major parts of the forelimbs’ stance phase. Referring to our large cineradiographic data base on the kinematics of the legs we could note that the horizontal motion of the CoM in the body is mainly determined by flexion and extension of the back. This observation underlines the determinant role of the trunk as the main engine for fast locomotion. Using high-speed video films we measured the angle of attack (defined as the angle between the ulna and the ground at touch down). We couldn’t observe any significant change with speed during half-bound, indicating the important role of self-stabilising mechanisms on the choice of kinematics

TAS - touristisches Assistenzsystem für Urlaub, Freizeit- und Bildungsaktivitäten - ein InnoRegio-Projekt der TU Ilmenau

Um den gesellschaftlichen Anspruch der gleichberechtigten Teilhabe behinderter Menschen auch im touristischen Umfeld zu gewährleisten, wurde im Rahmen eines BMBF-geförderten Verbundprojektes ein Touristisches Assistenzsystem entwickelt. Die Basis dieses Systems sind individuell anpassbare moderne IT-Komponenten, die über verschiedene Kommunikationskanäle in permanenter Verbindung zu einer Datenbasis auf einem Serversystem stehen. Darauf sind notwendige Informationen über den Nutzer und die Region einschließlich vorhandener Bewegungshindernisse abgelegt. Für jeden Systemnutzer werden anhand seiner Anforderungen individuelle schaffbare Routen geplant und bei Veränderung der Situation auch aktualisiert und umgeplant. Das Serversystem ist als Leitstelle auch mit Leistungsanbietern verbunden, die eine schnelle und effektive Hilfe für die Betroffenen bei Notwendigkeit leisten können