Styresystem for kybernetisk håndleddsprotese - NTNU

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Tillegg A. Funksjonsspesifikasjon 72 soware components. The primary purpose of the system is to rotate/orient the terminal device with respect to the forearm according to user input. Figur 1gives an overview of the system and its context. Figur 1 System context The proximal electronics includes a baery pack or another electric power source, as well as digital circuits with sensors for reading the user’s motor intent (typically EMG electrodes, switches, “pressure pads” or the like) and communicaon of this intent to the joint controllers in the prosthesis. While the figure suggests that the proximal electronics is situated in the forearm, this needs not be the case; in the case of a total arm replacement the prosthesis may comprise motorized shoulder, elbow, wrist and/or finger funcons, and the arm electronics may correspondingly be distributed in the different parts of the arm. The “Proximal electronics” box Figur 1 thus represents all the electronics proximal to the wrist, while the “Distal electronics” represents any or all electronic components distal to the wrist, such as a motor controller responsible for opening and closing of the hand. 4.2 Conigurations The system is applicable to several different equipment configuraons, as indicated in Figure 2. These configuraons include the following, listed in the order of relevance and only the first two being absolutely necessary to implement: 1. A completely digital mode where all intercomponent communicaon is based on a data bus. This mode is for use with other novel systems that support the same communicaon protocol. 2. A hybrid mode where the proximal communicaon (i.e. between the wrist and proximal electronics) is analog while the distal communicaon is digital. This is for using a novel hand in systems based on analog electrodes and the like. 5
Tillegg A. Funksjonsspesifikasjon 73 5. Functional Requirements Figur 2 The two different equipment configuraons 5.1 General requirements The NRWD system shall implement the following funcons and sasfy the following requirements. Req. no. Descripon Comments GEN-01 A joint which implements the opmal kinemacs described in (Stavdahl, 2002) – Wrist Joint Funcon, WJF. GEN-02 An electric motor which drives the movement of the joint via a gear train – Wrist Motor Funcon, WMF. GEN-03 A motor control interface and regulaon process to control the movements of the WJF. – Wrist Servo Funcon, WSF. GEN-04 A communicaon funcon that interfaces with WSF and other connected systems – Wrist Communicaon Funcon, WCF. GEN-05 A power adaptaon funcon that enables the system to run from a variety of voltage levels – Wrist Power Funcon, WPF. 6 “Other connected systems” typically include proximal and distal joint controllers, as well as units for system diagnosis and configuraon. Compliance with commercial and research systems.
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Styresystem for kybernetisk håndle
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Sammendrag Et av de mer opplagte pr
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Nomenklatur • CAN - Controller Ar
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5 Moduldesign 23 5.1 Mikrokontrolle
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Kapittel 1 Innledning 1.1 Bakgrunn
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Kapittel 1. Innledning 3 Funksjonss
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Kapittel 2 Styring av børsteløs D
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Kapittel 2. Styring av børsteløs
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Kapittel 3 Metoder og utviklingsmet
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Kapittel 4 Spesifisering og toppniv
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Kapittel 4. Spesifisering og toppni
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Kapittel 4. Spesifisering og toppni
Page 35 and 36: Kapittel 4. Spesifisering og toppni
Page 37 and 38: Kapittel 5 Moduldesign Hensikten me
Page 39 and 40: Kapittel 5. Moduldesign 25 5.2 CAN-
Page 41 and 42: Kapittel 5. Moduldesign 27 Hall C H
Page 43 and 44: Kapittel 5. Moduldesign 29 5.5 Str
Page 45 and 46: Kapittel 5. Moduldesign 31 drivermo
Page 47 and 48: Kapittel 5. Moduldesign 33 spenning
Page 49 and 50: Kapittel 6 Implementasjon 6.1 Maski
Page 51 and 52: Kapittel 6. Implementasjon 37 6.1.2
Page 53 and 54: Kapittel 6. Implementasjon 39 Figur
Page 55 and 56: Kapittel 6. Implementasjon 41 6.2.2
Page 57 and 58: Kapittel 6. Implementasjon 43 uart.
Page 59 and 60: Kapittel 6. Implementasjon 45 Overs
Page 61 and 62: Kapittel 7 Testplaner og testing F
Page 63 and 64: Kapittel 7. Testplaner og testing 4
Page 71 and 72: Kapittel 8 Diskusjon 8.1 Resultater
Page 73 and 74: Kapittel 8. Diskusjon 59 switchereg
Page 75 and 76: Kapittel 8. Diskusjon 61 med en opp
Page 77 and 78: Kapittel 9 Konklusjon Det har i den
Page 79 and 80: Bibliografi [1] Inge Brattbakken. E
Page 81 and 82: Tillegg A Funksjonsspesifikasjon 67
Page 83 and 84: Tillegg A. Funksjonsspesifikasjon 6
Page 85: Tillegg A. Funksjonsspesifikasjon 7
Page 97 and 98: Tillegg B Kretsskjema og magnethold
Page 99 and 100: Tillegg B. Kretsskjema og magnethol
Page 109 and 110: Tillegg C CD C.1 Rapport • pdf-ve
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Styresystem for kybernetisk håndleddsprotese - NTNU

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