Rehabilitation engineering applied to mobility and manipulation / Rory A. Cooper

REHABILITATION ENGINEERING APPLIED TO MOBILITY AND MANIPULATION......Page 1
CONTENTS......Page 6
PREFACE......Page 10
1.1. REHABILITATION ENGINEERING......Page 16
1.1.1. Engineering expertise......Page 17
1.1.4. Rehabilitation engineering in practice......Page 18
1.2. US LEGISLATION INFLUENCING REHABILITATION ENGINEERING......Page 19
1.3. INTERNATIONAL POLICY INFLUENCING REHABILITATION ENGINEERING......Page 22
1.4. ASSISTIVE TECHNOLOGY......Page 26
1.4.1. Evaluation of assistive technology......Page 27
1.6. ENGINEERING ACCEPTABLE PERFORMANCE......Page 30
1.7. REHABILITATION ENGINEERING DESIGN......Page 31
1.8.2. Compatibility......Page 33
1.8.6. Ease of assembly......Page 34
1.8.10. Learnability......Page 35
1.8.12. Personal acceptability......Page 36
1.8.17. Professional repairability......Page 37
1.9.2. Measurement of performance......Page 38
1.10. SUMMARY......Page 39
FURTHER READING AND REFERENCES......Page 42
2.1.1. The device......Page 45
2.1.2. The user......Page 46
2.1.3. Intended use......Page 47
2.1.4. Engineering design criteria......Page 48
2.2. ENGINEERING TOTAL QUALITY MANAGEMENT IN REHABILITATION......Page 50
2.3. STEEL AS A STRUCTURAL MATERIAL......Page 57
2.3.2. Standard carbon steels......Page 59
2.3.3. Standard alloy steels......Page 60
2.4.1. Common grades of aluminum......Page 61
2.4.2. Aluminum alloy designations......Page 62
2.4.3. Aluminum property designations......Page 63
2.5.2. Fiber-reinforced composites......Page 64
2.6. DESIGN WITH ENGINEERING MATERIALS......Page 65
2.6.1. Principal stresses......Page 66
2.6.3. Safety factor......Page 67
2.7.1. Welding......Page 68
2.7.2. Fasteners......Page 69
2.8. BASIC ELECTRIC CIRCUITS......Page 70
2.8.1. Linear models......Page 71
2.8.2. Linear circuits......Page 74
2.8.3. Steady-state sinusoidal analysis......Page 77
2.8.4. Operational amplifiers......Page 79
FURTHER READING AND REFERENCES......Page 83
3.1. HUMAN MOTION ANALYSIS......Page 84
3.1.1. Kinematics......Page 85
3.1.2. Kinetics......Page 90
3.1.3. Anthropometry......Page 98
3.2. GAIT ANALYSIS......Page 105
3.2.1. Walking efficiency......Page 107
3.2.2. Force plate analysis of gait......Page 109
3.2.3. Gait analysis with lower limb prostheses......Page 112
3.2.4. Gait analysis with lower-limb orthoses......Page 118
3.3. FUNCTIONAL NEUROMUSCULAR STIMULATION FOR MOVEMENT RESTORATION......Page 124
3.4. BIOMECHANICS OF WHEELCHAIR PROPULSION......Page 130
3.4.1. Wheelchair propulsion injury mechanisms......Page 132
3.4.2. Kinematics of wheelchair propulsion......Page 136
3.4.3. Kinetics of wheelchair propulsion......Page 142
3.5.1. Seating and the spine......Page 149
3.5.2. The extremities while seated......Page 152
3.6.1. Assessment of upper-extremity orthoses......Page 153
3.6.2. Assessment of upper-extremity prostheses......Page 155
FURTHER READING AND REFERENCES......Page 159
4.1. BARRIER-FREE DESIGN......Page 170
4.2. ELEMENTAL RESOURCE MODEL......Page 171
4.3.1. Human needs......Page 174
4.3.2. Motivator-hygiene model applied to barrier-free design......Page 177
4.3.3. Designing with a team......Page 178
4.3.4. Design factors......Page 179
4.4. INTERIOR SPACE DESIGN......Page 180
4.5. DESIGN FOR PEOPLE WITH DISABILITIES......Page 181
4.5.1. Accessible design guidelines......Page 182
4.5.2. Bathrooms and toilet facilities......Page 184
4.5.3. Home kitchen design......Page 185
4.5.4. Parking spaces......Page 188
4.5.5. Doors and doorways......Page 189
4.5.7. Selected safety issues......Page 191
4.6.1. Bus and highway transportation......Page 192
4.6.2. Rail travel......Page 196
4.7. ACCESS LEGISLATION......Page 197
4.7.1. US accessibility legislation......Page 198
4.7.2. European accessibility legislation......Page 199
4.7.3. American accessibility legislation (Canada and Mexico)......Page 200
4.7.5. South African accessibility legislation......Page 201
FURTHER READING AND REFERENCES......Page 202
5.1. INTRODUCTION......Page 206
5.2. SELECTING A VEHICLE......Page 208
5.3. LIFT MECHANISMS......Page 211
5.4. WHEELCHAIR SECUREMENT SYSTEMS......Page 214
5.5. PASSENGER RESTRAINT SYSTEMS......Page 217
5.5.1. Basic laws and concepts of vehicle motion......Page 218
5.5.2. Restraints for the passenger seated in a wheelchair......Page 220
5.6.1. Manual hand-controls......Page 225
5.6.2. Automatic (fly-by-wire) hand-controls......Page 228
5.7. CONTROL OF SECONDARY FUNCTIONS......Page 230
FURTHER READING AND REFERENCES......Page 232
6.2. STANDARD TESTS......Page 234
6.4. STATIC STABILITY......Page 235
6.5. A GEOMETRIC APPROACH TO STATIC STABILITY......Page 238
6.6. STABILITY WITH ROAD CROWN AND INCLINATION......Page 239
6.6.1. Fixed dynamic analysis of racing wheelchair roll stability......Page 241
6.7.1. Static stress tests......Page 243
6.7.2. Impact tests......Page 244
6.7.3. Forward impact stability......Page 248
6.8.1. Double-drum fatigue testing......Page 250
6.8.4. Fatigue testing of common depot and rehabilitation wheelchairs......Page 252
6.9. FINITE-ELEMENT MODELING APPLIED TO WHEELCHAIR DESIGN/TESTING......Page 256
6.10. TEST DUMMIES......Page 258
6.11. POWER WHEELCHAIR RANGE TESTING......Page 259
6.12. POWER WHEELCHAIR CONTROLLER PERFORMANCE......Page 262
6.13. DESIGNING FOR SAFE OPERATION......Page 264
FURTHER READING AND REFERENCES......Page 268
7.1. INTRODUCTION......Page 270
7.2.1. Depot (institutional) wheelchair......Page 271
7.2.2. Amputee wheelchair......Page 272
7.2.3. Hemiplegic (one-arm drive) wheelchair......Page 273
7.2.4. Foot-drive wheelchair......Page 274
7.2.7. Ultralight wheelchair......Page 275
7.3. FRAME DESIGN......Page 276
7.3.1. Frame styles......Page 277
7.3.2. Folding mechanisms......Page 278
7.4. MATERIALS......Page 280
7.4.1. Aluminum......Page 282
7.4.4. Advanced composites......Page 283
7.5.2. Ride comfort and durability......Page 287
7.5.3. The user-wheelchair interface......Page 289
7.6. WHEELS AND CASTERS......Page 294
7.6.1. Caster flutter......Page 295
7.6.2. Caster float......Page 297
7.6.3. Tracking......Page 298
7.8. HUMAN FACTORS DESIGN CONSIDERATIONS......Page 300
7.8.1. What are the intended uses?......Page 301
7.8.3. What are the resources available?......Page 302
7.9. FUTURE DIRECTIONS......Page 303
FURTHER READING AND REFERENCES......Page 304
8.1. INTRODUCTION......Page 306
8.3. MOTOR SELECTION......Page 307
8.3.1. Figures of merit......Page 308
8.3.2. System figures of merit......Page 313
8.3.3. Motor control of powered wheelchairs......Page 314
8.4. SERVO AMPLIFIERS......Page 317
8.4.1. Silicon-controlled rectifier (SCR) switching......Page 318
8.4.2. Power MOSFET switching control......Page 320
8.5. MICROPROCESSOR CONTROL......Page 321
8.6.1. Input conditioning......Page 330
8.6.2. Control strategy......Page 334
8.7. FAULT-TOLERANT CONTROL......Page 336
8.8. INTEGRATED CONTROLLERS......Page 337
8.9. ELECTROMAGNETIC COMPATIBILITY......Page 340
8.10. BATTERIES......Page 343
8.11. GEAR BOXES......Page 344
8.12. USER INTERFACES......Page 345
FURTHER READING AND REFERENCES......Page 348
9.1. SEATING AND POSTURAL SUPPORT SYSTEMS......Page 352
9.1.1. Medical implications of wheelchair seating......Page 353
9.1.3. Standard wheelchair and seating dimensions......Page 354
9.1.4. Standard seating and postural support hardware......Page 361
9.1.5. Contoured seating and postural support hardware......Page 369
9.2. DISTRIBUTION OF STRESSES IN SOFT TISSUES......Page 374
9.3. SEATING PRESSURE MEASUREMENT......Page 376
9.3.1. Bladder pressure sensors......Page 377
9.3.2. Conductive polymer force sensing resistors......Page 378
9.3.3. Capacitive pressure mats......Page 379
9.4. CONTROL INTERFACE INTEGRATION......Page 380
9.5. MULTI-CONFIGURATION SEATING AND POSTURAL SUPPORT SYSTEMS......Page 383
9.5.1. Stand-up wheelchairs......Page 384
FURTHER READING AND REFERENCES......Page 390
10.1. INTRODUCTION......Page 393
10.1.1. Causes of amputation......Page 394
10.1.3. Medical applications of orthoses......Page 395
10.1.4. Prosthesis fitting......Page 396
10.1.5. Prosthesis and orthosis design considerations......Page 400
10.2.1. Amputation level classification......Page 401
10.2.2. Terminal devices......Page 402
10.2.3. Power sources for upper-extremity prostheses......Page 403
10.2.4. Control sources for upper-extremity prostheses......Page 405
10.3. UPPER-EXTREMITY ORTHOSES......Page 409
10.3.1. Wrist-hand orthoses......Page 410
10.4.1. Prosthetic feet......Page 412
10.4.2. Below-the-knee prostheses......Page 416
10.4.3. Above-the-knee prostheses......Page 418
10.4.4. Prosthetic gait analysis and assessment......Page 421
10.5. LOWER-EXTREMITY ORTHOSES......Page 422
10.5.1. Ankle-foot orthoses (AFO)......Page 423
10.5.3. Biodynamics of orthosis ambulation......Page 426
10.6. FUNCTIONAL NEUROMUSCULAR STIMULATION (FNS)......Page 427
10.6.1. Upper-extremity FNS......Page 429
10.6.2. Ambulation via FNS......Page 432
10.7.1. Canes......Page 434
10.7.3. Walkers......Page 436
10.8. AIDS TO DAILY LIVING......Page 437
FURTHER READING AND REFERENCES......Page 438
11.1. INTRODUCTION......Page 443
11.2. RACING WHEELCHAIRS......Page 444
11.2.1. Racing wheelchair design restrictions......Page 445
11.2.2. Characteristics of racing wheelchairs......Page 446
11.2.3. Racing wheelchair design issues......Page 449
11.3. ARM-POWERED BICYCLES AND TRICYCLES......Page 453
11.3.2. Arm-powered vehicle designs issues......Page 454
11.3.3. Add-on units and tandems......Page 457
11.4. OFF-ROAD VEHICLES......Page 458
11.5.1. Sailing......Page 460
11.5.3. Kayaking and canoeing......Page 461
11.6. ADAPTIVE SKI EQUIPMENT......Page 462
11.6.2. Sit-skiing......Page 463
11.6.3. Mono- and bi-skiing......Page 465
11.7. RECREATIONAL VEHICLES......Page 467
FURTHER READING AND REFERENCES......Page 469
12.1. INTRODUCTION......Page 471
12.1.1 Basic concepts......Page 472
12.1.2. Robots as stationary manipulation aids......Page 475
12.1.3. Mobile manipulators and autonomously mobile robots......Page 476
12.1.4. Cost/benefit analysis......Page 477
12.2.1. Configurations......Page 478
12.2.2. Robotic systems......Page 480
12.2.3. Characterization of robotic systems......Page 482
12.3.1. Forward kinematics......Page 483
12.3.2. Inverse kinematics......Page 485
12.3.4. Rotations......Page 487
12.3.5. Composition of rotations......Page 490
12.3.6. Homogeneous transformations......Page 491
12.3.7. Homogeneous transformations......Page 492
12.4. ROBOT MOTION......Page 493
12.4.1. Velocities and accelerations......Page 494
12.4.2. Derivation of the Jacobian......Page 495
12.4.3. Angular velocities......Page 496
12.4.4. Linear velocity......Page 497
12.5. ROBOT CONTROL......Page 501
12.5.1. Feedback control......Page 502
12.5.2. Set-point tracking......Page 504
12.5.3. Intelligent control......Page 507
12.6.1. Robot vision......Page 509
12.6.2. Non-contact sensing......Page 513
12.6.3. Tactile sensation......Page 515
12.6.4. Robot navigation......Page 516
12.7. HUMAN INTERFACES TO ROBOTIC SYSTEMS......Page 517
FURTHER READING AND REFERENCES......Page 521