Cleveland State University

Department of Electrical and Computer Engineering
Department of Mechanical Engineering

 

EEC 492/592 and MCE 493/593 - Prosthesis Design and Control

Fall 2014

 

Recommended References:

A. Bennett Wilson, A Primer on Limb Prosthetics

D. Simon, Optimal State Estimation

D. Simon, Evolutionary Optimization Algorithms

D. Winter, Biomechanics and Motor Control of Human Movement (fourth edition)

 

Recommended Weekly Seminar:

Human Motion Seminar Series - 10:15 Wednesday, FH 103

https://docs.google.com/spreadsheet/ccc?key=0AiQBXp-GG8GfdFY5N2xjb1Q5MTJDbWVhajZQNEhfQ0E&usp=sharing#gid=1

 

Prerequisites: EEC 440 or MCE 441, and proficiency in MATLAB programming

 

Days, Time, and Classroom: T/Th 6:00-7:50, FH 309

 

Goals and Objectives: This course is designed to provide students with a basic understanding of human biomechanics, and lower limb prosthetic design and control technologies. After taking this course, students will be able to explain the similarities and differences between current prosthesis designs, the important factors in prosthesis designs, simulate prosthesis operation, design prosthesis controllers, and optimize prosthesis design and control algorithms.

 

Course Ethics: See www.csuohio.edu/engineering/ece/docs/Ethics%20Policy.doc

 

Grading Criteria:

 

Undergraduate

Graduate

Homework

35%

25%

Midterm

30%

25%

Project

N/A

25%

Final Exam

35%

25%

 

All exams are open book and open notes, but no electronic devices are allowed.

 

Homework Assignments: See http://academic.csuohio.edu/simond/courses/prosthesis/homework.htm

 

Project Guidelines: See http://academic.csuohio.edu/simond/courses/prosthesis/project.htm

Projects are required only from 500-level students. See the course schedule below for project due dates.

 

Grading scale:

A

93-100

A minus

90-93

B plus

87-90

B

83-87

B minus

80-83

C plus

77-80 (this range is a C for grad students)

C

70-77

D

60-70 (this range is an F for grad students)

  

Instructors:

 

 

Dan Simon

Hanz Richter

Antonie van den Bogert

Phone

687-5407

687-5232

687-5329

Email

d.j.simon@csuohio.edu

h.richter@csuohio.edu

a.vandenbogert@csuohio.edu

Office

FH 343, FH 310

FH 242, FH 25

FH 246, FH 232

Office Hours

T 3:30-5:30
W 1:30-3:30

MW 4:00-6:00

MW 2:00-4:00

 

 

Course Schedule:

 

Week

Date

Instructor

Topic

Notes

1

Tues. Aug. 26

Simon

Introduction

Intro.pptx

Thurs. Aug. 28

Simon

Introduction

 

2

Tues. Sep. 2

Richter

Robot kinematics, dynamics, models

kin_dyn1.pdf

Thurs. Sep. 4

Richter

Robot kinematics, dynamics, models

kin_dyn2.pdf

 

 

Nonsquare Jacobians and the Moore-Penrose Pseudoinverse

 

 

Matlab code to calculate robot dynamics

3

Tues. Sep. 9

van den Bogert

Biomechanics

Sep. 9 Slides

Thurs. Sep. 11

van den Bogert

Biomechanics

Sep. 11 Slides

muscle.m

4

Tues. Sep. 16

Simon

State estimation

State Estimation.pdf

Thurs. Sep. 18

Simon

State estimation

State Estimation.zip

5

Tues. Sep. 23

Simon

State estimation

 

Thurs. Sep. 25

van den Bogert

Measurements and signal processing

2014-09-25 Measurements 1.pdf

6

Tues. Sep. 30

van den Bogert

Measurements and signal processing

2014-09-30 Measurements 2.pptx

Thurs. Oct. 2

Richter

Electromechanical power conversion

 

7

Tues. Oct. 7

Richter

Electromechanical power conversion

 

Thurs. Oct. 9

 

Midterm

 

8

Tues. Oct. 14

Richter

Robot drive systems

 

Thurs. Oct. 16

van den Bogert

Kinematics, kinetics, amputee gait

2014-10-16 Kinematics Kinetics 1.pdf

9

Tues. Oct. 21

van den Bogert

Kinematics, kinetics, amputee gait

2014-10-21 Kinematics Kinetics 2.pdf

Thurs. Oct. 23

Richter

Robot control

 

10

Tues. Oct. 28

Richter

Robot control

 

Thurs. Oct. 30

Richter

Prosthesis control

Due - Project Letter of Intent

11

Tues. Nov. 4

Simon

Evolutionary Optimization

 

Thurs. Nov. 6

Simon

Gradient-Based Optimization

 

12

Tues. Nov. 11

 

Holiday

 

Thurs. Nov. 13

Simon

Evolutionary Optimization

Due - Project Proposal

13

Tues. Nov. 18

Simon

Evolutionary Optimization

 

Thurs. Nov. 20

van den Bogert

Modeling and simulation of gait (1)

 

14

Tues. Nov. 25

van den Bogert

Modeling and simulation of gait (2)

 

Thurs. Nov. 27

 

Holiday

 

15

Tues. Dec. 2

 

Project Presentations

Due - Project Report

Thurs. Dec. 4

 

Project Presentations

 

16

Tues. Dec. 9

 

No Class

 

Thurs. Dec. 11

 

Final Exam, 6:00 PM

 

 

 

ABET objectives:

 

Electrical Engineering:

(1) Practice electrical engineering in one or more of the following areas: communications, computers, controls, power electronics, and power systems

(2) Define and diagnose problems, and provide and implement electrical engineering solutions in an industrial environment

(6) Develop knowledge beyond the undergraduate level and keep current with advancements in electrical engineering

 

Mechanical Engineering:

(2) Practice mechanical engineering in environments that require a variety of roles including engineering problem definition, application of advanced methods of analysis, problem diagnosing, and solution of real-world engineering design problems that are subject to realistic constraints such as cost, safety, etc.

(3) Actively contribute in a multidisciplinary engineering environment

(4) Enhance knowledge beyond the BS level, engage in life-long learning, and keep current with advancements in engineering and technology.

 

ABET outcomes:

 

Electrical and Mechanical Engineering:

(a) Apply knowledge of mathematics, science and engineering

(b) Design and conduct engineering experiments, as well as analyze and interpret data

(c) Design a system, component, or process to meet desired needs

(e) Identify, formulate, and solve engineering problems

(g) Communicate effectively

(h) Understand the impact of engineering solutions in a global and societal context

(j) Knowledge of contemporary issues

(k) Use the techniques, skills, and modern engineering tools necessary for engineering practice

 


Professor Simon's Home Page

 

Department of Electrical and Computer Engineering

 

Department of Mechanical Engineering

 

Cleveland State University


Last Revised: November 25, 2014