Page 296 - Handbook of Biomechatronics
P. 296
288 Andres F. Ruiz-Olaya et al.
Parallel
Control signal systems
Toes, eyes,
tongue...
Sensory Sensors (II) Artificial sensory feedback
feedback Physiological Physiological signals
sensory Other signals from the environment
system
Controller Actuator Plant
Central nervous Control Skeletal
system signal Muscles system
(A) HMCS External
(III) 1
AMCS load
Controller Actuator
Artificial Control Artificial Artificial
controller signal actuators plant
Sensors
Other signals from the environment
Artificial
Sensory sensory Physiological signals (I) Other physiological signals
(B) feedback system
Fig. 2 Schematic block diagram of the human motor control systems (A) in parallel with
the artificial movement control system (B) (i.e., exoskeleton). Three kinds of interactions
between the HMCS and AMCS can be distinguished: (I) detection of the motion inten-
tion of the user; (II) provision of feedback to the user regarding the state of the AMCS,
the HMCS or the environment; and (III) exchange of mechanical power between plants.
Open Access article with unrestricted use permission (Lobo-Prat et al., 2014).
work in parallel to the HMCS and can be modeled with the same compo-
nents as the HMCS: a plant representing the mechanical structure and pas-
sive elements, such as springs or dampers, and an artificial controller that
receives the data measured from the sensors and generates control signals
to operate the actuators (Fig. 2B; Lobo-Prat et al., 2014).
Several aspects of biomechatronics could be incorporated while develop-
ing exoskeletons. First, bioinspiration could be extended in the development
of mechatronic systems, for example, the development of bioinspired
mechatronic components, that is, structure, actuators, and control archi-
tectures. Second, exoskeletons permit information exchanging between
the device and humans. Thus, bioelectric signals (EMG, EEG, EOG) could
beusedtocontroltheexoskeletonandpermitandmore“naturalinteraction,”
without using external pushbuttons, joysticks, or other elements.
