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Bionics and Cyborg Technology > Week 3 > Flashcards

Week 3 Flashcards

1
Q

What are two computer architectures?

A

Von Neumann

Harvard

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2
Q

What was MIT’s role in computing science and in orthotics and prosthetics?

A

Rheo Knee
Bion-I-Walk
Norber Weiner-Father o cybernetics

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3
Q

What are the five operating systems?

A 
UNIX
MS-DOS
Apple Mac
Windows
Linux
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4
Q

What are the four common programming languages?

A

python
C
basic
forth

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5
Q

What is a low level programming language?

A

Binary

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6
Q

What are high level programming languages?

A

C++
Guava
Ruby
HTML

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7
Q

What does CLI stand for?

A

Command Line interface-old school

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8
Q

What does GUI stand for?

A

Graphic User Interface-Regular computer

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9
Q

What is the purpose of machines?

A

Transfer energy
Transform energy
multiply/change direction of force
multiply speed

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10
Q

What are the six simple machines?

A 
Levers
Pulleys
Wheel and Axle
Inclined Planes and Wedges
Screws
Gears
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11
Q

What is a first class lever?

A

Fulcrum is in the middle

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12
Q

What is a second class lever?

A

Resistance or output is located in the middle

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13
Q

What is a third class lever?

A

Effort or Input is located in the middle

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14
Q

How many ways can an object move?

A

6

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15
Q

What are straight lines of motion called?

A

Translations (X, Y, and Z)

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16
Q

What are three types of rotations?

A

Roll
Pitch
Yaw

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17
Q

How many degrees of freedom does the shoulder have and what are its motions?

A

3 DOF
Circumduction
Add/ABduction
Flexion/extension

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18
Q

How many degrees of freedom does the elbow have and what are the motions?

A

2 DOF
Flexion/extension
Supination/Pronation

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19
Q

How many degrees of freedom does the wrist have and what are its motions?

A

2 DOF
Adduction/abduction
Flexion/Extension

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20
Q

What is the total DOF of the arm?

A

7 DOF

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21
Q

What is the total DOF for the leg?

A

6 DOF

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22
Q

How many DOF does the hip have and what are its motions?

A

3 DOF
circumduction
adduction/abduction
flexion/extension

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23
Q

How many DOF does the knee have and what are its motions?

A

1 DOF

flexion/extension

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24
Q

How many degrees of freedom does the angle have and what are its motions?

A

2 DOF
Dorsiflexion/plantarflexion
inversion/eversion

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25
What is the mass of a modern prosthetic leg?
2.5kg
26
What is the COM of a modern prosthetic leg?
200mm from KC
27
What is the radius of Gyration on a modern prosthetic leg?
141mm
28
What is the moment of inertia around COM of a modern prosthetic leg?
0.097kg*m^2
29
What is moment of inertia determined by?
the parallel axis theory
30
What is the moment of inertia at the knee for a modern prosthetic leg?
0.1497
31
What are the two main sensing mechanisms relevant to locomotion?
Proprioception | Mechanoreception
32
What is proprioception?
Perception of movement and the position of limbs from nerves on muscle and tendon
33
What is mechanorection?
mechanical distortion of applied perception
34
What are passive prosthetics?
conventional prosthetics | body-powered prosthetics
35
What is cineplasty?
contraction of the muscle operates the prosthesis
36
when was cineplasty used?
during and after WWII
37
Who invented cineplasty?
Giuliano Vanghetti in 1898
38
Who operated the first cineplasty procedure?
Ceci 1900
39
Who invented the skin lined muscle tunnel for cineplasty?
Sauerbruch and Ten Horn-1916
40
Who carried out the clinical trials for cineplasty?
Bosch Arana-1920's
41
When was the body-powered split hook design invented?
1912
42
What are the advantages of the body-powered split hook design?
simple and robust design low cost increased control due to proprioception
43
What are the disadvantages of the body-powered split hook design?
restrictive and uncomfortable harness | uncosmetic
44
For an amputee what muscles are affected in initial swing and what muscles compensate
gracilis and Sartorius are compromised | hip-flexors compensate
45
What gait deviations occur during mid-swing?
hip-hiking, vaulting, circumduction
46
What do all prosthetic knees suffer from?
friction reducing angular acceleration of the knee
47
During initial contact and loading response of a prosthetic leg, what position is the knee in?
hyperextension for stability
48
When was the constant-friction and friction-brake knee invented?
post-WWI research
49
How is the constant-friction and friction-brake knee described?
better than a peg leg, but not good on uneven surfaces at ranges varied speeds
50
When was the fluid-controlled knee invented?
1950 through post WWII research
51
Who invented the fluid-controlled knee?
Hans Mauch
52
What are the advantages of the fluid-controlled knee?
accommodates variable torques in giat improved swing control improved stance control
53
What three aspect must a prosthetic foot be capable of?
ankle roll-over shock absorber return as much energy as possible at the start of swing phase
54
What are active prosthetics?
uses additional energy supply for motion and control over and above that proved by the muscle power of the user
55
What are the disadvantages of the active prosthetics?
``` heavy more expensive increased maintenance limited sensory feedback extensive therapy needed ```
56
Who invented the Boston elbow?
Norbert Weiner
57
What is the description of the Boston elbow?
torque of 14NM | digital signal processor (DSP) can control up to four other prosthetic devices in addition to the elbow itself
58
Who invented the Utah arm?
Steve Jacobsen-1981
59
What is the description of the Utah arm?
``` capable of controlling two caution motions simultaneously has 22.7kg load limit passive humeral rotation wrist rotation rechargeable battery ```
60
Who founded the DEKA arm?
DARPA
61
What is the other name for the DEKA arm?
Luke arm
62
What is the description of the DEKA arm?
``` many amputation levels 18 DOF 3.6kg uses proprietary connections and mechanical interface cost 100,000 ```
63
What is the description of the John Hopkins University APL?
``` 22DOF Myo-electric targeted reinervated pectoralis will direct interface through BCI open source framework ```
64
What is the description of the Shadow Dextoruous?
Conventional electric motors are not compliant Uses pneumatic air muscles (PAMs) Smooth motion quiet, light-weight, good power to weight ratio
65
What is the description of the Vanderbuilt arm?
Catalytic convertor to burn hydrogen peroxide to produce high-energy steam 18 hours of use 10 times the power of other devices
66
What are anthropomorphic hands?
Hands with many DOF | Primarily for Research
67
How many DOF for the thumb, four fingers, and total for the GIFU hand?
4 DOF 3 DOF 16 DOF Total
68
What is the description of the GIFU hand?
2.7N fingertip force six-axis force sensor in each finger tip 624-point tactile sensors in palm
69
How many DOF of the thumb, fingers and total?
5 DOF 3 DOF 24 DOF total
70
What is the description of the Shadow hand?
closest robotic hand to human allows manipulation of soft or fragile objects touch sensing fingers Hall effect sensors to measure joint angulation
71
What is the description of the iLimb?
most advanced/practicle prosthetic hand Two electrode control Five fingers Built in stall detection to stop powering resistance
72
What does TMR stand for?
Targeted Muscle Reinnervation
73
What is TMR?
Surgical procedure to transfer residual nerves from an amputated limb onto alternative gourps that are not biomechanically functional.
74
What is the main problem of myoelectrics?
no proprioception or feedback | can use a force-sensing resistor (FSR)
75
What does the C-Leg detect?
angle ankle force torque
76
What are Electrorheological and Magnetorheological fluid?
field response fluids with rheologic properties like viscosity. Alter when exposed to an external electrical charge or magnetic field
77
What are the mods for EM and MR fluid?
shear flow squeeze
78
How many sensors does the iWalk powerfoot have?
10 sensors
79
What do the sensors test on the iWalk Powerfoot?
ankle position, stiffness, and dampening
80
How is the Ossur Proprio Foot powered?
motor power
81
What is the description of the Ossur Proprio Foot/
adapts to terrain changes in real time
82
What is osteointegration?
surgical implantation of a non-biological component into the bone.
83
What material is used for osteointegration?
Titanium threads
84
What are the disadvantages of osteointegration?
risk of infection

Bionics and Cyborg Technology (7 decks)

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