This document discusses the field of biomechatronics, which aims to integrate biology, mechanics, electronics, and computer science. It describes how biomechatronics mimics human body functions like grasping. It explains that biomechatronic devices use biosensors to detect user intentions and provide feedback, and actuators to produce movement. Research focuses on prosthesis design, rehabilitation devices, human motion analysis, and interfacing electronics with the nervous system.

1. BIOMECHATRONICS
BASE AND BRANCHES
Edited by Saeed Bahrami Moqadam
Sayd17@mails.tsinghua.edu.cn

2. BIOMECHATRONICS
Biomechatronics is an
applied interdisciplinary science that aims to
integrate biology, mechanics, electronics and
computer sciens.
Biomechatronics also encompasses the fields
of robotics and neuroscience.
Biomechatronic devices consists of a wide range
of applications from the development
of prosthetic limbs to engineering solutions
concerning respiration, vision, biocontrol and
the cardiovascular and motion systems.

3. BIOMECHATRONICS
Biomechatronics mimics how the human body works.
For example, four different steps must occur to be
able to lift the hand to grasping.
1. Impulses from the motor center of the brain
(cortex) are sent to the arm and hand muscles.
2. The nerve cells in the feet send information,
providing feedback to the brain, enabling it to
adjust the muscle groups or amount
of force required to action the arm.
3. Different amounts of force are applied depending
on the type of surface of objects for grasping.
4. The hand’s muscle spindle nerve cells then sense
and send the position feedback of the object to the
brain with observation feedback.

4. BIOMECHATRONICS
Biosensors are used to detect what the user wants
to do or their intentions and motions. In some
devices (haptics) the information can be relayed by
the user's nervous system or muscle system.
The biosensor’s information is sent to a controller
which can be located inside or outside the
biomechatronic device.
Biosensors receive information about the limb
position and force from the limb and actuator.
 Biosensors can be wires which detect electrical
activity, needle electrodes implanted in muscles,
and electrode arrays with nerves growing through
them.
Biosensors are found Active and Passive.

5. BIOMECHATRONICS
Mechanical sensors are purposed to measure information
about the biomechatronic device and relate that
information to the biosensor or controller.
The controller in a biomechatronic device relays the user's
intentions to the actuators. It also interprets feedback
information to the user that comes from the biosensors
and mechanical sensors. The other function of the
controller is to control the biomechatronic device's
movements.
The actuator is an artificial muscle. Its job is to produce
force and movement. Depending on whether the device
is orthotic or prosthetic the actuator can be a motor that
assists or replaces the user's original muscle.

6. BIOMECHATRONICS
Biomechatronics is a rapidly growing field but as of now there are very few labs which
conduct research. The Rehabilitation Institute of Chicago, University of California at
Berkeley, MIT, Nottingham University and University of Twente in the Netherlands are the
researching leaders in biomechatronics.
Five main areas are emphasized in the current research.
I. Prosthesis design and controlling
II. Rehabilitation design and controlling
III. Analyzing human motions, which are complex, to aid in the design of biomechatronic
devices
IV. Studying how electronic devices can be interfaced with the nervous system.
V. Testing the ways to use living muscle tissue as actuators for electronic devices

7. BIOMECHATRONICS
• Electrical biosignals, or bioelectrical time signals, usually refers to the
change in electric current produced by the sum of an electrical
potential difference across a specialized tissue, organ or cell system
like the nervous system. Thus, among the best-known bioelectrical
signals are:
I. Electroencephalogram (EEG)
II. Electrocardiogram (ECG)
III. Electromyogram (EMG)
IV. Mechanomyogram (MMG)
V. Electrooculography (EOG)
VI. Galvanic skin response (GSR)
VII. Magneto encephalogram (MEG)

8. HUMAN HAND’S BONES STRUCTURE
• The skeleton of the human hand consists of 27
bones.
• The eight short carpal bones of the wrist are
organized into a proximal row.
• Carpalar articulates with the bases of the five
metacarpal bones of the hand.
• Palm of hand made by Metacarpals bone.
• The heads of the metacarpals will each in turn
articulate with the bases of the proximal phalanx of
the fingers and thumb.
• Thumb is the most important finger, grasping role of
thumb is more than 60%.
• Thumb has 3 DOFs.
• Thumb, index and middle more than 90% have
grasping impact.

9. HUMAN MUSCLE
• There are three types of muscle in the
body:
1. smooth muscle – found in the internal
organs and blood vessels - this is
involuntary
2. cardiac muscle – found only in the
heart - this is involuntary
3. skeletal muscle – attached to the
skeleton - this is voluntary
• Involuntary muscles are not under our
conscious control which means we
can't make them contract when we
think about it.
• Voluntary muscles are under our
conscious control so we can move
these muscles when we want to
Skeletal muscle is under the voluntary
control of the somatic nervous system.
• Most skeletal muscles are attached
to bones by bundles of collagen fibers

10. HAND ACTION MUSCLE
• The muscles acting on the hand can be
subdivided into two groups: the extrinsic and
intrinsic muscle groups.
• The extrinsic muscle groups are the
long flexors and extensors. They are called
extrinsic because the muscle belly is located on
the forearm.
• Nerve origin (radial) Extensors: carpi radialis
longus and brevis, digitorum, digiti
minimi, carpi ulnaris, pollicis longus and brevis,
and indicis.
Other: abductor pollicis longus.
• Nerve origin (median) Flexors: carpi radialis,
pollicis longus, digitorum profundus (half),
superficialis, and pollicis brevis (superficial
head).
• Other: palmaris longus. abductor pollicis
brevis, opponens pollicis, and first and second
lumbricals.
• Nerve origin(ulnar) Flexor carpi ulnaris, flexor

11. METHODOLOGY
• MMG signal:
he mechanomyogram (MMG) is the
mechanical signal observable from the
surface of a muscle when the muscle is
contracted.
• Subsequent vibrations are due to
oscillations of the muscle fibres at the
resonance frequency of the muscle.
• he mechanomyogram is also known as
the phonomyogram, acoustic myogram,
sound myogram, vibromyogram or
muscle sound.
• It is currently the subject of research
activity into prosthetic control and
assistive technologies for the disabled.

12. THANK YOU!