Introduction to biomechatronics【2025|PDF|Epub|mobi|kindle电子书版本百度云盘下载】

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1 Introduction to Biomechatronics1

1.1 Introduction1

1.2 Biomechatronic Systems2

1.2.1 The Human Subject2

1.2.2 Stimulus or Actuation3

1.2.3 Transducers and Sensors3

1.2.4 Signal Processing Elements3

1.2.5 Recording and Display3

1.2.6 Feedback Elements4

1.3 Physiological Systems4

1.3.1 Biochemical System4

1.3.2 Nervous System5

1.3.3 Cardiovascular System5

1.3.4 Respiratory System5

1.3.5 Musculoskeletal System5

1.4 Summary of Contents6

1.5 The Future of Biomechatronic Systems6

1.6 References7

2 Sensors and Transducers9

2.1 Introduction9

2.2 Switches9

2.2.1 Toggle Switches10

2.2.2 Push-Button Switches10

2.2.3 Limit Switches10

2.2.4 Rotary Switches11

2.2.5 Optical Switches11

2.2.6 Other Switches11

2.2.7 Relays12

2.3 Power Supplies13

2.3.1 Linear Power Supplies13

2.3.2 Switch-Mode Power Supplies15

2.3.3 Batteries16

2.3.4 Energy Scavenging19

2.4 Sensors and Transducers22

2.4.1 Resistive Displacement Sensors22

2.4.2 Inductive Displacement Sensors28

2.4.3 Magnetic Displacement Sensors31

2.4.4 Capacitive Displacement Sensors34

2.4.5 Optical Displacement Sensors34

2.4.6 Ranging Sensors38

2.4.7 Time-of-Flight Ranging41

2.4.8 Measuring Rate and Angular Rate43

2.4.9 Accelerometers50

2.4.10 Tilt Sensors55

2.4.11 Pressure Measurement56

2.4.12 Sound Pressure60

2.4.13 Flow61

2.4.14 Temperature Sensors67

2.4.15 Tactile Sensing73

2.4.16 Chemical Sensors77

2.4.17 Optical Chemical Sensors80

2.5 Electrodes83

2.5.1 Body-Surface Biopotential Electrodes84

2.6 References88

3 Actuators91

3.1 Introduction91

3.2 Electromechanical Actuators91

3.2.1 Solenoids and Voice Coils94

3.2.2 Direct Current Motors99

3.2.3 Brushless DC Motors113

3.2.4 Stepper Motors117

3.2.5 Linear Actuators124

3.2.6 Servo Motors130

3.2.7 AC Motors134

3.3 Hydraulic Actuators137

3.4 Pneumatic Actuators139

3.4.1 Pneumatic Muscles140

3.5 Shape Memory Alloy142

3.5.1 Principle of Operation142

3.5.2 Biomechatronic Applications145

3.6 Mechanical Amplification145

3.6.1 Linkages and Levers145

3.6.2 Cams148

3.6.3 Gears and Belt Drives149

3.6.4 Translation Screw Devices153

3.7 Prosthetic Hand Actuation154

3.7.1 Shape Memory Alloys155

3.7.2 Electric Motors155

3.7.3 Pneumatic Artificial Muscles156

3.8 References157

4 Feedback and Control Systems159

4.1 Introduction159

4.2 Biological Feedback Mechanisms160

4.3 Biomechatronic Feedback Mechanisms160

4.3.1 Limit Switches161

4.3.2 Proportional and Higher-Order Controllers161

4.4 System Representation162

4.5 System Models164

4.5.1 Mechanical Elements164

4.5.2 Mechanical Model166

4.5.3 Electrical Elements168

4.5.4 Electrical Model169

4.5.5 Similarities of the Two Models171

4.5.6 Fluid Flow Elements171

4.6 System Response174

4.6.1 Partial Fraction Expansion178

4.6.2 Analyzing Complex Models179

4.7 System Stability181

4.7.1 Root Locus184

4.7.2 Steady-State Error188

4.8 Controllers188

4.8.1 Proportional Controller188

4.8.2 Integral Controller198

4.8.3 Proportional Plus Integral Controller198

4.8.4 Proportional-Integral-Derivative Controller200

4.9 Controller Implementation201

4.9.1 Selection of Controller Gains201

4.9.2 Controller Hardware202

4.10 References205

5 Signal Processing207

5.1 Introduction207

5.2 Biomedical Signals207

5.2.1 Bioelectric Signals208

5.2.2 Signals Characterized by Source210

5.2.3 Signals Characterized by Type210

5.3 Signal Acquisition211

5.3.1 Noise212

5.3.2 Amplifiers216

5.3.3 Practical Considerations222

5.3.4 Op Amp Specifications223

5.4 Analog Signal Processing224

5.4.1 Frequency Content of a Signal224

5.4.2 Analog Filters225

5.4.3 Other Analog Circuits234

5.5 Digital Signal Processing241

5.5.1 The Comparator241

5.5.2 Signal Acquisition and Processing Overview241

5.5.3 ADCs and DACs243

5.5.4 Signal Aliasing245

5.5.5 Digital Filters248

5.5.6 Filter Time-Domain Response258

5.5.7 Envelope Detection259

5.5.8 Spectral Estimation260

5.6 Statistical Techniques and Machine Learning264

5.6.1 Statistical Techniques264

5.6.2 Data Mining267

5.6.3 Machine Learning267

5.7 Isolation Barriers270

5.7.1 Implant Systems270

5.7.2 Isolation Amplifiers272

5.8 References274

6 Hearing Aids and Implants277

6.1 Introduction277

6.2 What Is Sound?278

6.2.1 Characteristic Impedance （Z） and Sound Pressure278

6.2.2 Sound Intensity （I）279

6.3 How Hearing Works281

6.3.1 The Outer Ear281

6.3.2 The Middle Ear281

6.3.3 The Inner Ear283

6.3.4 Hearing Statistics283

6.4 Hearing Loss285

6.4.1 Causes285

6.4.2 Diagnosis286

6.4.3 Treatment288

6.5 Hearing Aids289

6.5.1 History289

6.5.2 Hearing Aid Operation292

6.6 Bone Conduction Devices300

6.7 Middle Ear Implants302

6.7.1 Piezoelectric Devices303

6.7.2 Electromagnetic Hearing Devices307

6.7.3 Issues with Implantable Middle Ear Devices311

6.8 Direct Acoustic Cochlear Stimulatory Devices312

6.8.1 Actuator Design312

6.9 Cochlear Implants314

6.9.1 Historical Background314

6.9.2 How Cochlear Implants Work315

6.9.3 Installation of the Electrode320

6.9.4 Signal Processing and Cochlear Stimulation320

6.9.5 Spectral Maxima Strategies326

6.9.6 Strategies to Enhance Vocal Pitch326

6.10 Auditory Brainstem Implants328

6.10.1 Electrodes329

6.10.2 Stimulus Mapping330

6.11 References330

7 Sensory Substitution and Visual Prostheses333

7.1 Introduction334

7.2 Anatomy and Physiology of the Visual Pathway335

7.3 Main Causes of Blindness339

7.4 Optical Prosthetics—Glasses, Thermal Imagers, Night Vision339

7.5 Sonar-Based Systems341

7.5.1 Some Existing Systems344

7.5.2 Issues with Sonar-Based Systems350

7.6 Laser-Based Systems350

7.7 Sensory Substitution350

7.7.1 Auditory Substitution351

7.7.2 Electrotactile and Vibrotactile Transducers356

7.8 GPS-Based Systems370

7.9 Visual Neuroprostheses371

7.9.1 Historical Perspective371

7.9.2 Potential Sites for Visual Neuroprostheses371

7.9.3 Components372

7.9.4 Worldwide Research Activity375

7.9.5 SubretinalImplants375

7.9.6 EpiretinalImplants381

7.9.7 Alternative Implants386

7.9.8 Optic Nerve Stimulation387

7.9.9 Visual Cortex Implants388

7.10 The Future391

7.11 References392

8 Heart Replacement395

8.1 Introduction396

8.2 The Heart as a Pump397

8.2.1 Heart Valves398

8.2.2 The Pump Cycle399

8.2.3 The Cardiac Output401

8.2.4 Pressure Regulation401

8.2.5 Heart Disease402

8.2.6 Biomechatronic Perspective402

8.3 Heart-Lung Machines403

8.3.1 History403

8.3.2 Modern Heart—Lung Machines404

8.4 Artificial Hearts408

8.4.1 History409

8.4.2 Implanting an Artificial Heart417

8.5 Ventricular Assist Devices417

8.5.1 History419

8.5.2 Extracorporeal Ventricular Assist Devices420

8.5.3 Intracorporeal Left Ventricular Assist Devices421

8.5.4 Generation 1 LVADs421

8.5.5 Pulsatile Pump Technology429

8.5.6 Generation 2 VADs433

8.5.7 Generation 3 VADs435

8.5.8 Generation 4 VADs439

8.5.9 Toward an Ideal Replacement Heart443

8.5.10 Other Pump Types443

8.6 Engineering in Heart Assist Devices446

8.6.1 Fluid Dynamics in Pulsatile LVADs446

8.6.2 Fluid Dynamics in Centrifugal and Axial LVADs448

8.6.3 Estimation and Control of Blood Flow450

8.6.4 Transcutaneous Energy Transfer452

8.7 Pump Types455

8.7.1 Centrifugal and Axial Pump Characteristics456

8.7.2 Rotary Pump Characteristics460

8.7.3 Reciprocating Pump Characteristics462

8.7.4 Bearings466

8.8 References466

9 Respiratory Aids471

9.1 Introduction472

9.2 Construction473

9.3 The Mechanics of Respiration476

9.3.1 Physical Properties477

9.3.2 Lung Elasticity480

9.3.3 Frictional Forces481

9.3.4 Inertia485

9.4 Energy Required for Breathing485

9.5 Measuring Lung Characteristics488

9.5.1 Spirometry488

9.5.2 Pneumotachography492

9.6 Mechanical Ventilation494

9.6.1 Early History494

9.6.2 Polio495

9.6.3 External Negative-Pressure Ventilators497

9.6.4 The Drinker Respirator499

9.6.5 The Both Respirator501

9.6.6 Homemade Iron Lungs501

9.6.7 The Emerson Respirator504

9.6.8 The Alligator Cabinet Respirator505

9.6.9 Portable Respirators506

9.6.10 Other Uses for Negative-Pressure Ventilation507

9.7 The Physics of External Negative-Pressure Ventilation508

9.8 Positive-Pressure Ventilators511

9.8.1 Historical Background511

9.8.2 The Need for Positive-Pressure Ventilation512

9.8.3 Ventilation Modes513

9.8.4 Controlled Mandatory Ventilation514

9.8.5 Volume-Controlled Mandatory Ventilation514

9.8.6 Pressure-Controlled Mandatory Ventilation516

9.8.7 Spontaneous Ventilation517

9.8.8 Continuous Positive Airway Pressure517

9.8.9 Portable Ventilators517

9.8.10 Sleep Apnea519

9.9 References520

10 Active and Passive Prosthetic Limbs523

10.1 Introduction524

10.1.1 A Brief History of Prosthetics524

10.2 Structure of the Arm529

10.2.1 Wrist529

10.2.2 Elbow530

10.2.3 Shoulder530

10.3 Kinematic Model of the Arm531

10.4 Structure of the Leg532

10.4.1 The Hip Joint532

10.4.2 The Knee Joint533

10.4.3 The Ankle Joint and the Foot533

10.5 Kinematic Model of the Leg534

10.5.1 Walking534

10.5.2 Normal Walking Dynamics535

10.6 Kinematics of Limb Movement536

10.6.1 Center of Mass and Moment of Inertia of a Limb Segment536

10.6.2 Angular Acceleration538

10.6.3 Center of Mass and Moment of Inertia of a Complete Limb538

10.7 Sensing538

10.8 Passive Prosthetics538

10.8.1 Actuation and Control of Upper Limb Prostheses539

10.8.2 Walking Dynamics Using a Passive Prosthesis541

10.8.3 Knee Prosthetics542

10.8.4 Foot Prosthetics545

10.9 Active Prosthetics547

10.9.1 Arm Mechanisms548

10.9.2 Hand Mechanisms554

10.9.3 Hand Research and Applications562

10.9.4 Control of Prosthetic Arms and Hands563

10.9.5 Leg Mechanisms574

10.9.6 Ankle-Foot Mechanisms580

10.10 Prosthesis Suspension582

10.10.1 Conventional Suspension Methods583

10.10.2 Osseointegration583

10.11 References584

Index587