Control Theory in Biomedical Engineering: Applications in Physiology and Medical Robotics

Cover
CONTROL THEORY
IN BIOMEDICAL
ENGINEERING
Applications in
Physiology and
Medical Robotics
Copyright
Contributors
Preface
Part I: Applications in physiology
Modeling and control in physiology
	Introduction
	Mathematical modeling in physiology
		Modeling methodology
		Modeling approaches
			Compartmental modeling approach
			Equivalent modeling approach
			Data-driven modeling approach
		Classification of mathematical models
		Structural identifiability
		Practical identifiability
		Application examples
			The endocrine system models
			The tumor-immune system model
			The cardiovascular system
		Chaos in physiology
	Control in physiology
		The homeostasis principal
		Homeostasis examples
		Control strategies in homeostasis
		Control therapy applications
			Optimal control
			Adaptive control
			Fuzzy logic control
	Future trends and challenges
	Conclusion
	References
Mathematical modeling of cholesterol homeostasis
	Introduction
	Circulation of cholesterol in the human body
	Two-compartment model of cholesterol homeostasis
	Estimating the values of the model parameters
	Analysis of the solutions
	Summary and conclusion
	References
Adaptive control of artificial pancreas systems for treatment of type 1 diabetes
	Introduction
	Methods
		Adaptive-personalized PIC estimator
		Recursive subspace-based system identification
	PIC cognizant AL-MPC algorithm
		Adaptive glycemic and plasma insulin risk indexes
		Plasma insulin concentration bounds
		Feature extraction for manipulating constraints
		Adaptive-learning MPC formulation
	Results
	Conclusions
	Acknowledgments
	References
Modeling and optimal control of cancer-immune system
	Introduction
	Mathematical models
		Boundedness and nonnegativity of the model solutions
	Model with chemotherapy and control
	Numerical simulations
		Numerical algorithm
	Conclusion
	Appendix
		DDEs with optimal control
		Matlab program for optimal control with DDEs
	References
Genetic fuzzy logic based system for arrhythmia classification
	Introduction
	Methodology
		Preprocessing
			ECG signal filtering
			ECG feature extraction
		Fuzzy arrhythmia classification
			FLC configuration
			FLC optimization
	Experimental results
		Comparison study between the performances before and after the genetic optimization
		Comparison analysis with related works
	Conclusion
	References
Modeling simple and complex handwriting based on EMG signals
	Introduction
	History of handwriting modeling
	Kalman filter-based model
	Zhang-Kamavuako model (ZK)
	Modeling of cursive writing from two EMG signals
		Experimental approach and system presentation
		Murata-Kosaku-Sano model (MKS)
		Interval observer for robust handwriting characterization
	Discussion
	Conclusion
	References
Part II: Applications in medical robotics
Medical robotics
	Introduction
	Literature review
	Classification of medical robotics
	Advantages and fundamental requirements
		Advantages
		Fundamental requirements
	Robot-assisted surgery
		History
		Applications
		Commercially available/FDA-approved robotic devices and platforms
	Rehabilitation robotics and assistive technologies
		Motivations
		Literature review
		A brief history
		Classification and related devices
	Robots in medical training as body-part simulators
	Conclusion
	References
Wearable mechatronic devices for upper-limb amputees
	Introduction
	Human sensory feedback and physiology of the human skin
		Tactile feedback
		Kinesthetic feedback
	Wearable device: Preliminary concepts
		Definitions
			Wearable device
				Empowering robotic exoskeletons (extenders)
				Orthotic robots
				Prosthetic robots
		Features
	Upper-limb prosthetic technologies
		Overview
		Body-powered prosthesis
		Externally powered prosthesis
		Myoelectric prostheses
			EMG control strategies
			Targeted muscle reinnervation
		Sensory feedback prosthesis
			Sensory substitution feedback
				Vibrotactile
				Electrotactile
				Others
			Modality-matched feedback
				Mechanotactile
				Direct-neural
		Summary of wearable devices
	Challenges
	Conclusion
	References
Exoskeletons in upper limb rehabilitation: A review to find key challenges to improve functionality
	Introduction
	Existing upper limb exoskeletons
	Design requirements and challenges
		Safety
		Comfort of wearing
		Alignment of exoskeleton joints with human joints
		Actuation
		Power transmission mechanism
		Singularity
		Backdrivability
		Sensors
	Control approaches
	Discussion
	Conclusion
	References
A double pendulum model for human walking control on the treadmill and stride-to-stride fluctuations: Control ...
	Introduction
	Material and method
		Double pendulum model
		Controller design
		Experimental data
		Adding uncertainty to the model
	Results
	Discussion
	Conclusion
	References
Continuum NasoXplorer manipulator with shape memory actuators for transnasal exploration
	Clinical needs and intended engineering design objectives
	Methods
		Device specifications from anatomical considerations
			Anatomical variations in shape
			Anatomical variations in size
			Anatomical variations based on age and gender
			Estimation of the distance between nasal inlet to the channel
			Estimation of area of narrowest path in the nasopharynx region
			Device design specifications
		Overall design
		Design components and design rationale
			Optical zooming segment and camera
			Actuation and control of the bending segment
			Stiffness modulation
	Design verification
		Bending capability: Determine the bending angle
		Temperature monitoring during both actuation and retraction
		Dynamic force test with changes in temperature
		Insertion test
	Design review
		Failure mode analysis
		Remarks on the prior comparative art
		Satisfaction benchmarking in clinical needs
		Target metrics
		Needs-metrics mapping matrix
		Metrics benchmarking
	Conclusion and future work
	Appendix: Supplementary material
	References
Tunable stiffness using negative Poisson's ratio toward load-bearing continuum tubular mechanisms in medical  ...
	Background
	Literature review/concept evaluation
		Electro/magneto-rheological fluids
		Phase change materials
		Jamming methods
		Negative pressure jamming
	Concept combining jamming and continuum metamaterials with negative Poisson's ratio materials (auxetics)
	Concentric continuum metastructures
	Fabrication methodology
		Rolling two-dimensional sheets
		3D printed auxetics
			Material filaments
		Auxetic material designs
			Hexagonal re-entrant honeycomb structure
			Chiral structure
			Star honeycomb structure
			Missing rib structure
			Double arrowhead structure
	Continuum metastructural test
		Mechanical test specifications
		Continuum metastructural tests
			Re-entrant honeycomb structure tests
			Missing rib structure tests
			Double arrow honeycomb structure tests
			Chiral structure tests
			Star structure tests
		Results discussions
	Kirigami and origami methods
		Kirigami methods
			Cardboard paper
			Silicone rubber
			High-density foam
		Origami methods
			Collapsible origami structure
			Miura origami structure
			Waterbomb tube
	Conclusion
	References
Appendices for Chapter 2
Index
Back Cover