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Table of contents

• Quick Service
• Primary Faculty
• Robot Control on the Basis of Bio-electrical Signals
• Google претрага књига

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For a better user experience, please use the latest version of Internet Explorer or switch to another browser. Suggested results. Quick Service. Service Center. Hot Search. Barr Professor Research Interests: Bioelectricity and biomedical computing. Nenad Bursac Professor of Biomedical Engineering Research Interests: Embryonic and adult stem cell therapies for heart and muscle disease; cardiac and skeletal muscle tissue engineering; cardiac electrophysiology and arrhythmias; genetic modifications of stem and somatic cells; micropatterning of proteins and hydrogels.

Yiyang Gong Assistant Professor in the Department of Biomedical Engineering Research Interests: Recording and understanding brain activity by developing novel combinations of optical microscopy and genetically encoded sensors. Warren M. Grill Professor of Biomedical Engineering Research Interests: Neural engineering and neural prostheses and include design and testing of electrodes and stimulation techniques, the electrical properties of tissues and cells, and computational neuroscience with applications in restoration of bladder function, treatment of movement disorders Craig S.

Henriquez Professor of Biomedical Engineering Research Interests: Large-scale computing, heart modeling, and brain modeling. Wanda Krassowska Neu Professor of Biomedical Engineering Research Interests: Electroporation-mediated drug delivery and gene therapy; Control of cardiac arrhythmias using nonlinear dynamics. Marc A. Sommer W.

Quick Service

Gardner, Jr. Associate Professor Research Interests: Neuronal circuits of the brain, including recording from single neurons and studying the effects of inactivating or stimulating well-defined brain areas. Michael Raphael Tadross Assistant Professor of Biomedical Engineering Research Interests: Our goal is to bridge the gap between the study of brain as a computational device and the search for novel neuropathological treatments.

Jonathan Viventi Assistant Professor in the Department of Biomedical Engineering Research Interests: Using flexible electronics to create new technology for interfacing with the brain at high resolution over large areas. Patrick D. Wolf Associate Professor of Biomedical Engineering Research Interests: Advanced instrumentation for diagnosis and treatment of electrophysiological problems. Miguel Angelo L. To prevent a long EMG burst from causing such an undesired retriggering, the monostable multivibrator triggering mechanism is made inactive for the total time slot duration by ANDing the trigger input with the inverting output of the slot duration monostable multivibrator.

This ANDing function is performed by gate The output of the AND gate 74 is used to activate feedback to the operator when an EMG burst duration exceeds the on-time of monostable multivibrator This AND gate, 74, is connected to provide an output only when EMG activity occurs during the end portion of a time slot. This end portion begins when the burst duration multivibrator 67 returns to its stable state. The output from AND gate 74 sets the stimulus control flip-flop As long as flip-flop 76 remains set, electrical stimulation current from the gated stimulation source 70 flow through the operator.

In addition to setting the stimulus control flip-flop 76, the output of the excessive burst duration detection AND gate 74 triggers the monostable multivibrator 78 that is used to set the duration of the electrical stimulation pulse. At the end of the on-time of monostable multivibrator 78, the transition of its inverting output from logic level 0 to logic level 1 resets the stimulus control flip-flop This ends the stimulation pulse. The combination of the R-S flip-flop 76 and the monostable multivibrator 78 is used rather than simply one monostable multivibrator.

This is done to make the monostable multivibrator 78 available for timing the stimulus duration of both the right and the left stimulation channels. An EMG burst having a duration in excess of the on-time of the burst duration monostable multivibrator 67 could result in multiple output pulses from AND gate If these pulses were allowed to generate a volley of stimulation pulses, the accumulative effect of the stimulation pulses during a short time period could result in an unpleasant shocking effect.

This situation is prevented by limiting the possible number of electrical stimulation pulses to one for each time slot. At the end of the maximum desired burst duration, the return of the multivibrator 67 to its stable state triggers the R-S flip-flop The output of this flip-flop, 79, switches AND gate 75 so that it will pass information resulting from the detection of excessive EMG burst duration.

After this information passes AND gate 75, it resets flip-flop 79, closing AND gate 75 to any further information flow until flip-flop 79 is set again at the appropriate time during the next time slot. Since the information used to prevent signal flow through gate 75 is obtained from its own output, the width of its output pulse is determined by the delay in the negative feedback path to its control input. OR gate 77 and multivibrator 78 are used in this negative feedback path to insure that the width of the output pulse of AND gate 75 is sufficient to set flip-flop 76 and trigger multivibrator The gated stimulation source 71 is used to inform the operator of the end of a time slot T1 or T2 of FIG.

The transition from logic level 0 to logic level 1 which appears at the inverting output of the time slot duration monostable multivibrator 68 is used to trigger the stimulation duration monostable multivibrator 78 and the stimulation control R-S flip-flop The stimulation control flip-flop 80 remains set for the on-time of the stimulation duration multivibrator 78, providing the gated stimulation source 71 with the required input to result in an electrical stimulation pulse of the desired duration.

Note from the tabulation of wheelchair control commands, FIG. The STOP command results in both flip-flop 72 and flip-flop 73 being set during time slot 1. This decoded output representing a STOP command passes through OR gate 84 and resets the four motor control flip-flops 85, 86, 87, and The outputs from each of these flip-flops are amplified 89, 90, 91, and 92 so they can actuate relay solendoids 93, 94, 95, and 96 respectively.

The RWF right wheel forward relay connects the drive motor battery 97 to the right wheel drive motor 98 with such a polarity as to turn the right wheel drive motor in a direction that would result in forward motion of the wheelchair. With the resetting of all four motor control flip-flops 85, 86, 87, and 88 as a result of execution of the STOP command, all of the relays are deenergized, resulting in the stopping of any motor activity. In addition to stopping the wheelchair, the STOP command also results in the resetting of flip-flops 81, 82, and Memory of the occurrence of an EMG burst in the right channel during time slot 1 is retained by R-S flip-flop 81 after time slot 1 is over.

This is accomplished by the setting of flip-flop 81 with the transition from logic level 0 to logic level 1 at the inverting output of flip-flop 72 that occurs at the end of time slot 1. Similarly, memory of a left channel EMG burst during time slot 1 is retained in R-S flip-flop 82 after time slot 1 is over. At the end of time slot 1, flip-flop 81 is left set in memory of the occurrence of the T1 interval right channel EMG activity.

If during the second time slot the right EMG channel is again activated, flip-flop 72 becomes set again, resulting in a coincidence of both flip-flop 81 and flip-flop 72 being in the ON state. The decoded output of AND gate passes through OR gate 84 and resets any of the motor control flip-flops that may have previously been set.

This negates any previous motor activation command. The output of AND gate also sets flip-flop 87 after passing through OR gate and being delayed for a few microseconds. The delay prevents a race condition from occurring between the resetting and the setting of flip-flop Such a race condition could result in uncertainty as to which state flip-flop 87 would be left in.

Primary Faculty

The delay of a few microseconds would in no way be detected in the performance of the wheelchair because the mechanical time constants of the drive motor and loaded wheelchair exceed the few microseconds by many orders of magnitude. After execution of this command, the motor which drives the left wheel of the wheelchair will begin turning in such a direction as to drive the wheelchair forward. Since only the left wheel will be turning, the resultant motion of the wheelchair will be a right turn. The technique of switching the right and left motors to achieve right turns, left turns, forward motion, and reverse motion is well known and has proven to be an effective way of manipulating a wheelchair.

Known systems that are currently being used extensively perform this switching function with a set of switches that are mechanically coupled to a joy stick. These switches replace the relays 93, 94, 95, and The mechanism for decoding a left command is similar to that described above for the decoding of a right command, except that AND gate detects the coincidence of left channel EMG activity in both time slots. This coincidence is detected when flip-flops 82 and 73 are in their ON states simultaneously, corresponding to flip-flops 81 and 72 being in their ON states simultaneously for the RIGHT command.

The effect of the left command is to first stop any motor activity by resetting the motor control flip-flops 85, 86, 87, and When after a few microseconds delay , the right wheel motor is energized with the polarity required to start the motor turning in a direction that would drive the wheelchair forward. This coincidence is detected by AND gate The output from the FORWARD decoding gate causes any prior motor activity to be stopped and then both motors started in the appropriate direction to result in straight forward motion of the wheelchair.

The output from the REVERSE decoder gate causes any previous motor activity to be stopped and then both motors to start rotating in such a direction as to drive the wheelchair in a straight backwards motion. Each of the wheelchair commands above initiates the appropriate reset activity to insure that a future command will not be misinterpreted due to residual memory in either flip-flop 81 or All decoded command signals are ORed, 84, to reset these flip-flops 81 and Since the STOP command is generally executed before the end of the first time slot and the other commands are generally executed before the end of the second time slot, provisions are made such that flip-flops 81 and 82 cannot be set by the return to stable state of flip-flops 72 and 73 respectively at the end of the first time slot for the STOP command and at the end of the second time slot for the other commands.

These provisions are implemented by gating off the connection between flip-flop 72 and flip-flop 81 with AND gate and also gating off the connection between flip-flop 73 and flip-flop 82 with AND gate after the execution of the command.

This is done by resetting the gate control flip-flop with the decoded output from OR gate 84 which is common to all commands. When a new time slot is initiated by the operator for the purpose of issuing a new wheelchair control command, the output of monostable multivibrator 68 sets the gate control flip-flop so the new EMG activity in the first time slot can be transferred to either flip-flop 81 or 82 for the purpose of being held in memory as is required for all commands except the STOP command.

The hard wired logic system of FIG. An alternate approach would be to replace the portion of the system shown in FIG. A typical sequence of events for the information processing of an appropriate microprocessor system is shown in the flow-chart of FIG.

The specific program to result in execution of this sequence of events would be dependent upon the specific instruction set for the particular microprocessor used. Straight forward programming techniques can be used to derive the program from the flowchart.

This operation insures that the wheelchair will remain stationary until commanded to go by the operator. Five one-bit flags that serve as a scratchpad memory R1, LS, RS, S, and E are then initialized to the state all logic 0's that indicates that the microprocessor is not in the process of serving an operator's command. At this point in the operation, system initialization has been completed and Loop 1 is entered.

While in this loop, both the right channel and the left channel EMG input ports are continuously polled to detect any signal from the operator. The appearance of a logic 1 at either input port will result in an exit from Loop 1. If the exit results from EMG activity in the right channel, flag R1 is set to logic 1 providing memory of a right channel signal during the first time slot. Upon acknowledging a signal from either channel, the clock is started to allow timing of EMG burst and time slot durations.

After starting the clock, Loop 2 is entered.

Both EMG channels are polled in this loop. BD is the maximum burst duration that the operator can generate without receiving notification of excessive muscular activity. Another function performed in Loop 2 is the continual checking for expiration of the predetermined time slot duration SD for the time interval T1 of FIG. The result of the E set check in Loop 2 is negative during this stage of the information processing because the E flag is only set at a later stage in the operation.

Since the E flag is not set, the truncated alternate of Loop 2 indicated by dashed lines is not yet in effect. During the initial period of traversing Loop 2, the EMG input port that was activated to result in entry of the loop remains at logic 1. When a poll indicates logic 1, the result is a minor excursion either Path 1 or Path 2 from Loop 2. If Loop 2 had been entered by activation of the right channel, the right EMG check would be positive at times during this initial period, resulting in a minor excursion via Path 1 to check the R1 flag.

Upon finding this flag set, control would be returned to the main Loop 2. There is also shown in FIG. A return to the main loop from this excursion would result from the negative result of the R1 flag check. The purpose of the two excursions described above Path 1 and Path 2 is to provide for exit from Loop 2 for the execution of a STOP command.

To stop the wheelchair, the operator signals both EMG channels during the T1 time slot. This would stop the wheelchair. Similarly, if the left EMG channel had been acknowledged first while in Loop 1, the appearance of a right channel EMG while in Loop 2 would result in an excursion into Path 1. While in Path 1, the R1 flag would be found not to be set because of entry into Loop 2 from a left channel EMG signal. After the wheelchair is stopped as described above, the E flag is set before reentry into Loop 2. This flag is set to allow resetting the system for a new command at the end of the T1 time slot.

After Loop 2 is reentered, the flow of microprocessor instruction execution sequences around the truncated alternate to Loop 2 that is indicated by dashed lines. However, the E flag is also used with other commands described below where truncating Loop 2 is essential to prevent a spurious STOP. Immediately following this exit from Loop 2, both EMG inputs are polled.