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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
Q

What is the mass of a modern prosthetic leg?

A

2.5kg

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26
Q

What is the COM of a modern prosthetic leg?

A

200mm from KC

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27
Q

What is the radius of Gyration on a modern prosthetic leg?

A

141mm

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28
Q

What is the moment of inertia around COM of a modern prosthetic leg?

A

0.097kg*m^2

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29
Q

What is moment of inertia determined by?

A

the parallel axis theory

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30
Q

What is the moment of inertia at the knee for a modern prosthetic leg?

A

0.1497

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31
Q

What are the two main sensing mechanisms relevant to locomotion?

A

Proprioception

Mechanoreception

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32
Q

What is proprioception?

A

Perception of movement and the position of limbs from nerves on muscle and tendon

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33
Q

What is mechanorection?

A

mechanical distortion of applied perception

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34
Q

What are passive prosthetics?

A

conventional prosthetics

body-powered prosthetics

35
Q

What is cineplasty?

A

contraction of the muscle operates the prosthesis

36
Q

when was cineplasty used?

A

during and after WWII

37
Q

Who invented cineplasty?

A

Giuliano Vanghetti in 1898

38
Q

Who operated the first cineplasty procedure?

A

Ceci 1900

39
Q

Who invented the skin lined muscle tunnel for cineplasty?

A

Sauerbruch and Ten Horn-1916

40
Q

Who carried out the clinical trials for cineplasty?

A

Bosch Arana-1920’s

41
Q

When was the body-powered split hook design invented?

A

1912

42
Q

What are the advantages of the body-powered split hook design?

A

simple and robust design
low cost
increased control due to proprioception

43
Q

What are the disadvantages of the body-powered split hook design?

A

restrictive and uncomfortable harness

uncosmetic

44
Q

For an amputee what muscles are affected in initial swing and what muscles compensate

A

gracilis and Sartorius are compromised

hip-flexors compensate

45
Q

What gait deviations occur during mid-swing?

A

hip-hiking, vaulting, circumduction

46
Q

What do all prosthetic knees suffer from?

A

friction reducing angular acceleration of the knee

47
Q

During initial contact and loading response of a prosthetic leg, what position is the knee in?

A

hyperextension for stability

48
Q

When was the constant-friction and friction-brake knee invented?

A

post-WWI research

49
Q

How is the constant-friction and friction-brake knee described?

A

better than a peg leg, but not good on
uneven surfaces
at ranges
varied speeds

50
Q

When was the fluid-controlled knee invented?

A

1950 through post WWII research

51
Q

Who invented the fluid-controlled knee?

A

Hans Mauch

52
Q

What are the advantages of the fluid-controlled knee?

A

accommodates variable torques in giat
improved swing control
improved stance control

53
Q

What three aspect must a prosthetic foot be capable of?

A

ankle roll-over
shock absorber
return as much energy as possible at the start of swing phase

54
Q

What are active prosthetics?

A

uses additional energy supply for motion and control over and above that proved by the muscle power of the user

55
Q

What are the disadvantages of the active prosthetics?

A 
heavy
more expensive
increased maintenance
limited sensory feedback
extensive therapy needed
56
Q

Who invented the Boston elbow?

A

Norbert Weiner

57
Q

What is the description of the Boston elbow?

A

torque of 14NM

digital signal processor (DSP) can control up to four other prosthetic devices in addition to the elbow itself

58
Q

Who invented the Utah arm?

A

Steve Jacobsen-1981

59
Q

What is the description of the Utah arm?

A 
capable of controlling two caution motions simultaneously
has 22.7kg load limit
passive humeral rotation
wrist rotation
rechargeable battery
60
Q

Who founded the DEKA arm?

A

DARPA

61
Q

What is the other name for the DEKA arm?

A

Luke arm

62
Q

What is the description of the DEKA arm?

A 
many amputation levels
18 DOF
3.6kg
uses proprietary connections and mechanical interface
cost 100,000
63
Q

What is the description of the John Hopkins University APL?

A 
22DOF
Myo-electric
targeted reinervated pectoralis
will direct interface through BCI
open source framework
64
Q

What is the description of the Shadow Dextoruous?

A

Conventional electric motors are not compliant
Uses pneumatic air muscles (PAMs)
Smooth motion
quiet, light-weight, good power to weight ratio

65
Q

What is the description of the Vanderbuilt arm?

A

Catalytic convertor to burn hydrogen peroxide to produce high-energy steam
18 hours of use
10 times the power of other devices

66
Q

What are anthropomorphic hands?

A

Hands with many DOF

Primarily for Research

67
Q

How many DOF for the thumb, four fingers, and total for the GIFU hand?

A

4 DOF
3 DOF
16 DOF Total

68
Q

What is the description of the GIFU hand?

A

2.7N fingertip force
six-axis force sensor in each finger tip
624-point tactile sensors in palm

69
Q

How many DOF of the thumb, fingers and total?

A

5 DOF
3 DOF
24 DOF total

70
Q

What is the description of the Shadow hand?

A

closest robotic hand to human
allows manipulation of soft or fragile objects
touch sensing fingers
Hall effect sensors to measure joint angulation

71
Q

What is the description of the iLimb?

A

most advanced/practicle prosthetic hand
Two electrode control
Five fingers
Built in stall detection to stop powering resistance

72
Q

What does TMR stand for?

A

Targeted Muscle Reinnervation

73
Q

What is TMR?

A

Surgical procedure to transfer residual nerves from an amputated limb onto alternative gourps that are not biomechanically functional.

74
Q

What is the main problem of myoelectrics?

A

no proprioception or feedback

can use a force-sensing resistor (FSR)

75
Q

What does the C-Leg detect?

A

angle
ankle force
torque

76
Q

What are Electrorheological and Magnetorheological fluid?

A

field response fluids with rheologic properties like viscosity.
Alter when exposed to an external electrical charge or magnetic field

77
Q

What are the mods for EM and MR fluid?

A

shear
flow
squeeze

78
Q

How many sensors does the iWalk powerfoot have?

A

10 sensors

79
Q

What do the sensors test on the iWalk Powerfoot?

A

ankle position, stiffness, and dampening

80
Q

How is the Ossur Proprio Foot powered?

A

motor power

81
Q

What is the description of the Ossur Proprio Foot/

A

adapts to terrain changes in real time

82
Q

What is osteointegration?

A

surgical implantation of a non-biological component into the bone.

83
Q

What material is used for osteointegration?

A

Titanium threads

84
Q

What are the disadvantages of osteointegration?

A

risk of infection

Bionics and Cyborg Technology (7 decks)

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