Modeling and Control of a Fluidic Haptic Interface |
|
|
Student(en): |
Betreuer: Yu Ningbo |
|
Beschreibung: The Rehabilitation Engineering Group of ETH Zurich is developing an MR-compatible haptic interface to investigate the brain responses of rehabilitation behaviors with the aid of functional Magnetic Resonance Imaging (fMRI). The device will work in the MR-environment, and the high magnetic field forbids the use of ferro-magnetic materials and most actuation technologies. Therefore, we will try fluidic, i.e., hydraulic and pneumatic actuations. A pneumatic model of the device has been developed and implemented in Simulink. In this project, the student is expected to: 1.Validate the pneumatic model. 2.Design a controller for the pneumatic model and implement it in Simulink. 3.Analyze the performance of the closed-loop pneumatic system depending on various system parameters and present an optimal pneumatic system configuration. 4.Expand the pneumatic model and controller so that they will apply for general fluidic system such as hydraulic water or oil. 5.Analyze the performance of the closed-loop hydraulic system depending on various system parameters and present an optimal hydraulic system configuration. 6.Compare the performances of the hydraulic system and pneumatic system, and then propose the conclusion and recommendations on the actuation, control and sensing strategy for the future fMRI-compatible device. The system will be used on humans, and Medical Safety Standards should always be taken into consideration. Weitere Informationen |
Professor: Robert Riener |
|
Projektcharakteristik: Typ: Art der Arbeit: 40% Theory, 40% Software, 20% Analysis Voraussetzungen: Control, Matlab, Simulink | |
|
Anzahl StudentInnen: 1-2 Status: done | |
|
Projektstart: Aril 10, 2006 Semester: Summer Semester, 2006 | |
 |
|
|