Transcript Slide 1

Incorporating Implanted Miniature Engineering
Mechanisms in Tendon-Transfer Surgery
Ravi Balasubramanian, Jade Montgomery, Kadee Mardula
Oregon State University – Robotics and Human Controls Lab
1. Motivation
-
Advance tendon-transfer surgery through the use of implanted
passive miniature engineering mechanisms
- Mechanisms used for attaching donor muscles to recipient tendons
-
Improve post-surgery hand function, use fewer muscles when possible
2. Workshop Achievements
-
Understanding of ligaments and force-length curve functions to improve model
-
Incorporate contact models into OpenSim model with scaling – fingertip pads
-
Understanding the implementation of a generic actuator as a blackbox
- Actuators that include muscles, tendons, and engineering mechanisms
OpenSim Workshop March 2013
Fingertip Contact Pads
• Small .obj ovals attached to tips
• Will release models with finger and
palm pads to forums
OpenSim Workshop March 2013
Ligament Bouncing Issue – Serious Blooper!
OpenSim Workshop March 2013
Ligament Bouncing Force Profiles
Forces in ligament
OpenSim Workshop March 2013
Ligament Bouncing Force Profiles
Forces in ligament
Force-length curve
OpenSim Workshop March 2013
Ligament Bouncing Force Profiles
Forces in ligament
Force-length curve
OpenSim Workshop March 2013
Ligament Bouncing Force Profiles
Forces in ligament
Force-length curve
OpenSim Workshop March 2013
Successfully Working Model
OpenSim Workshop March 2013
Future Work
• Upload models with contact objects to forums
• Release grasp stability analysis to forums
• Generic actuator design with embedded engineering
mechanisms
• Further altering of coordinate limit forces
• Improve geometries of objects to import into OpenSim
OpenSim Workshop March 2013