Course

Unit 1

Bio-mechanics and Robotics – Definition, Human Anatomy: Human Body Modelling, Position and Direction representation of human body, Common Movements, Major Joints and muscle, Anthropometric Data. Introduction to Bio-inspired robots – Legged locomotion: bipeds – multi-legged robots – multi-limbed robots, limbless, aquatic locomotion – Types: humanoid robots, swarm robots, soft robots

Unit 2

Basic blocks of Biomechanical and robotic systems – comparison – Actuators: Biological Actuators – Muscle – Macro-dynamics – Types – Sliding Filament Theory, Artificial Actuators – Pneumatic Actuation – Artificial Muscles – Hydraulic Actuation – Electric Actuator – voice coils – linear, stepper, servo motors, Electro-active Polymers – Shape-Memory Alloys Sensors: Biological Sensors – Sensing in Robotics and Biomechanics, Control: Nervous System – Classical controllers and Artificial Intelligence

Unit 3

Mechanics- Types and Units – Principles of Biomechanics: Movement principles – Projectile principles. Qualitative Analysis – four-task model – Application of qualitative analysis: Arm movements – Batting, Free throwing, Catching, Leg movements – Squat, Drop jump, Gait generation for human movements in robotic systems

Unit 4

Biomechanical systems – types – prosthetics – human assistive robots – artificial organs. Design process & factors, Micro Engineering – Prototyping – Software based design – Tools: MIMICS, CAD/CAM. Finite Element Analysis– Introduction – Methodology for the finite element analysis of biomechanical systems – Finite-element-models of the implant-bone-compound – Finite-element-method for preclinical analysis of an Endo-prosthetic implant.

Course Objectives:

• To equip students with adequate knowledge on bio-mechanics and their relations to robotic systems
• To familiarize students with various components of biomechanics and robots
• To provide students the concept of designing biomechanical robotics systems

Course Outcomes:

After completing this course, students should be able to

1. CO1: Appreciate the human anatomy and various components of biomechanical and robotic systems
2. CO2: Design bio-mechanical system using software tools and analyse various bio-mechanical devices using finite element analysis.

CO-PO Mapping

1. Popović, M.B., Biomechanics and robotics. Pan Stanford Publishing Pte. Ltd. ISBN 978-981-4411-37-0, 2013.
2. Knudson D., Fundamentals of biomechanics. Springer Science & Business Media.ISBN 978-0-387-49311-4, 2007.
3. Huston R., Principles of biomechanics. CRC press. 2008.
4. David Moratal, Finite Element Analysis, ISBN 978-953-307-123-7, 698 pages, Publisher: Sciyo, published August 17, 2010.
5. D N Ghista, Biomechanics of Medical Devices, Macel Dekker, 1982.