Internship at SJTU, Robotics Institute

A new academic and cultural experience

August 2012

Benjamn Andrs Lagos Berrios

Summary
Introduction Fundamentals The idea, the strategies and the results Conclusions Bonus: Traveling trough China in 4 weekends

Introduction
About me:
Born and grown in Santiago, Chile.

Santiago, Capital of Chile

Parinacota Volcano

Conguillio National Park

Torres del Paine National Park

Undergraduate Student of Mechanical Engineering at Pontifical Catholic University of Chile (PUC).

Ranked 2 by QS Latin American University Ranking Ranked 250 by QS World University Ranking

PUC emblem

San Joaqun Campus

School of Engineering

Introduction
About me:
Member of the Edition Team for the Journal of Undergraduate Research , Engineering School ,PUC .
I3: Research, Interdiscipline, Innovation

Tutor, Musician, Good Friend, Cat Lover, DIT (Do It Yourself), ..and a lot more

Introduction
CONICYT, National Commission of Scientific and Technologic Research
Formation of advanced human resources program:
Scholarship: Science and Technology, Short Internships for Engineering Undergraduate Students The goal is to stimulate the research in Chile Several options of internships in China, Australia France, Finland, Arizona(USA), California(USA)
E.g. Pekin University (July-August 2012) Queensland University (Australia) (February-April 2013)

Introduction
Why going to SJTU in China?
SJTU is the first in China in Mechanical Engineering My interests are related to robotics and automatic control To encourage economics and academics alliances between Chile and China And because I love Chinese culture, people, food and Martial Arts movies!

Fundamentals
Biomechanics
Hand and Wrist Anatomy How Muscles Works

Hand And Wrist Anatomy

Total, Active and Passive Force in a muscle

Degrees of Freedom in the Wrist

Fundamentals
OpenSim Software
Models(.osim files)
Bodies, joints, forces, markers, constraints, contact geometry, and controllers information. XLM file

Motion files(.mot files)

Position of each Degree Of Freedom for each frame or time Easily generated by notepad, excel or programming software.

Navigation Panel of Model

A motion file open in notepad

Graphic User Interface of OpenSim

 OpenSim Software
Inverse Kinematics

Fundamentals
Take data and match a series of markers to create the motion which better fix with the data
The Forward Dynamics tool takes a set of controls (e.g., muscle excitations) to drive a model's motion by integrating forward in time.

Forward Dynamics

Computed Muscle Control (CMC)

In order to use the Forward Dynamics is it necessary to scale the generic model, do Inverse Kinematics, Residual Reduction Algorith (RRA) and CMC.

Wrist Model
29 Bodies (Bones)
Humerus is used as Ground

10 Degrees of Freedom
The mayor focus is in Pronation-Supination, FlexionExtension, Deviation.

Degrees of Freedom in the Wrist

Coordinates Menu in OpenSim

The idea, the strategies and the results

The idea :
To find a way to show the motion of the model in OpenSim given a stimulation (EMG signals) from MATLAB in real time.
Given a stimulation (EMG Signal) in each muscle, obtain the position of each joint (in degrees) and show it in OpenSim at the same time the signal is being sended from MATLAB.
Stimulation MATLAB/OpenSim Kinematics

The idea, the strategies and the results

The strategy :
1. Search for an interface between MATLAB and OpenSim 2. Understand how OpenSim works in order to prepare the data from MATLAB 3. Try to send a set of stimulations from MATLAB to OpenSim to compute the motion using Forward Dynamics and Computed Muscle Control tools

The idea, the strategies and the results

The Results :
A set of libraries for MATLAB and a MATLAB Simulink Model to work with OpenSim. The problem was that they wasnt work at real time. Intermediate understanding of how the software works and the inputs and outputs for the different analysis. A MATLAB function(.m file) which generates a motion file for OpenSim

The idea, the strategies and the results

The Problem :
The Wrist model given by the software examples does not contain information about the inertia of each bone, so it can not perform the workflow necessary to perform the Forwards Dynamics Its necessary to calculate the moments of inertia for each element of the model, maybe using the geometry of each point, assuming an uniform mass distribution and doing some numerical integration of the rigid body in MATLAB.

Conclusions
OpenSim offer a whole set of tools to analyses the kinematics and dynamics of the human bones and muscles Integration with MATLAB is possible but it requires a whole understanding of how OpenSim works If the original idea is achieve it would be useful to perform simulations