Trunk Bending Apparatus

Trunk stiffness and stability can be related to the posture and alignment of the human body. This project continues on the evolution of the Twister, a Trunk Stiffness Bending Device, that is intended to measure and acquire data of axial and torsional stiffness in core muscles. Then, postural performance can be used to measure torso stiffness in order to examine muscle reaction patterns with the consideration of age, height, weight, and other factors.

Background
In the 1980's, Dr. Victor Gurfinkel, medical researcher at Oregon Health & Science University, developed the Twister to measure torsional muscle tone as well as muscular responses as the apparatus twisted the subject. The body sections considered by the Twister are the neck, trunk, and waist. Then, Dr. Gurfinkel devoted the apparatus to Dr. Rajal Cohen at University of Idaho, Psychology & Communication Studies Department, upon his retirement.

The developers of the Twister seek to study the psychological mechanism caused by the change in length of muscles crossing a selected region as a result of the device twisting that region. The resulting resistive torque is determined to calibrate the tonic control of all muscles subjected to changes in length. Based on peek-to-peek magnitude, phase of resistive torque, and tonic electromyogram modulation, the results being acquired show magnitude and dynamic control of muscle activity. Moreover, Fay Horak, another developer of the Twister at Oregon Health & Science University, believes that the Twister will help answering how the brain controls normal postural tone, and how abnormal tone can be improved with treatment [].

Problem Definition
The previous team assembled and modified the structure of the device to be relevant for the trunk bending experiments. They created an interface software to collect data, upgraded the hardware, and built harnesses. The objective is to bring the machine into an operational state by using higher quality parts, completing circuitry, improving codes and the interface, making the machine more user-friendly, adding safety features, and testing, collecting, and researching data from the final product.

Initial Project State & Goals
Proceeding the project from the point reached by the previous team:
 * New string potentiometers are needed to withstand the weight applied and be durable. As new potentiometers are going to be used, the circuitry to the power supply and computer needs to be set up differently and the software interface created last year needs to be reprogrammed.
 * New timing belt and pulleys are to be replaced for the bottom potentiometer.
 * The wiring of power supply seems to be done incorrectly therefore, the power supply has to be rewired correctly to the computer and all sensors.
 * The current neck bar has only one universal joint and as a result, the subjects neck has to bend along with the movement of the neck bar. To allow movement while the subject's neck is still perpendicular to the ground, two universal joints are to be installed so that one cancels the bending angle of the other.
 * Torque sensors need to be reconnected correctly to the power supply then, they need to be tested to analyze the data they acquire.
 * The current attachment bar system is not practical and can hardly be placed accurately. Therefore, a roller system is going to be added to the lateral bars so that the bars remain horizontal and can be slid up and down easily.
 * The DC motor has to be connected to the circuit. The code controlling the motor has to be revised to work with the changes made to the drive system as the timing-belt and pulley there are going to be replaced with new ones.
 * The code and interface need to be completed and improved to function as demanded.
 * An emergency stop is to be added to the system for safety at a proper location that can be easily reached by the user.
 * The design of the second lateral bar attachment, which holds the user stationary, needs to be improved to be adjustable and durable.
 * The flat spring that connects to harness holders break faster than expected therefore, a new design has to be developed to be durable while still allowing natural movement.
 * The current system does not have a physical safety stop when the platform rotates. Therefore, a physical stop is to be added to the system to have the turntable stops at a certain degree while still achieving maximum rotation required.

Turntable
The previous gear ratio on the DC motor system at turntable was 1:1 while the gear ratio had to be higher. Two options were available for the team to choose from. Whether to get a new potentiometer or to get a new timing-belt and pulley to increase gear ratio. However, there were limited options of pulley sizes available for sale that would get the system to reach the ideal gear ratio. Therefore, the team settled for a 1:6 gear ratio based on the available timing-belts and pulleys for sale. As to avoid coding errors, changing the current code, which was working fine, and since the belt used there did not have teeth, the team decided to get a new timing-belt to prevent slip in addition to a new timing pulley. The team have seen the pulleys the previous team have made, and found that they’re too sticky and could easily break therefore, it was decided to get a new timing-pulley for the new belt to meet accuracy and get a durable material.

Now, the potentiometer pin will not fit into the new pulley since the pulley is small in size. Also, the belt will not be parallel with the plate below it and that may affect its function. Therefore, a potentiometer plug extension, which extends the potentiometer to connect and to rotate along with the pulley, has been machined. The issue here is that the belt ordered is a bit larger than needed, and a solution to fix that without having to return the belt and wait for a new one to arrive is to machine a belt tensioning pulley to be plugged into the plate at a distance that will put the belt in tension and rotates along with the belt. Now, when the DC motor is on, the pulley attached to it rotates which rotates the timing belt, and that rotates the small pulley attached to the potentiometer and at the same time, the potentiometer rotates along with them.

Emergency Stop
A plate and a rectangular bar has been welded together to make the stand for the emergency stop. In addition, a box to hold the emergency stop has been 3D printed.

T-Plate Harness Attachment
A T-plate that attaches to the harnesses is missing therefore, a new one has been machined at the machine shop, shown below.

Second Lateral Bar Attachment
The second lateral bar attachment is behind the main lateral bar. It allows the user to restrain the hips or attach a torque sensor to it. The sensor allows one more area to analyze on the person. The design of the lateral bar includes a vertical bar that can be moved up and down as well as a horizontal bar that moves closer and further away from the test subject. This allows more adjustability depending on the height and size of the person. There is also a thin piece of metal that allows a person to move naturally in the y-axis. This metal consistently breaks without the adjustability because it bends too much. The added adjustability fixed this problem. The torque sensor and the harness are attached using an angle iron welded to the horizontal bar. The angle iron can attach to the torque sensor which will attach to the harness attachment. Also, the angle iron can directly attach to the harness attachment.

Wiring/Connections
To understand the circuitry of the apparatus and to know where and how to connect additional devices, all of the circuits have been disconnected then, have been rewired from scratch and that helped the team modify the wiring as needed for making the Twister more user-friendly specially, for the ease of movement of the whole apparatus from one location to another. Moreover, a different set of electrical connectors and plugs have been used to be able to disconnect/unplug most of the wires easily when the Twisters needs to be disassembled for moving it. Moreover, reconnecting/replugging the wires the wrong way has been prevented by using male and female plugs. The blue single wire plugs plug into each other, the two wire plugs with white heads plug into each other, while the emergency stop plug is of a bigger size than the previous ones therefore, they cannot be mistaken.

String Potentiometers
Instead of the 3D printed string potentiometers, two 10k Ohms string potentiometers have been ordered and installed on the lateral bar attachments for the sake of durability and the accuracy of measurements being acquired. The string potentiometers are connected to the 5V power supply as well as a BNC cable that goes to the computer. The potentiometers have been tested using an Oscilloscope and it displayed accurate measurements of displacement.

Next Semester's Goals
The team's goals for next semester are to:
 * Work on making a flexible neck bar by installing U-joints.
 * Improve flat spring design attached to harnesses.
 * Install second lateral bar attachment.
 * Improve code and interface to work successfully and to be more user-friendly for future use.
 * Build V-track roller system for lateral bar attachments.
 * Build a mechanical safety stop for maximum rotation.
 * Get a spare power supply to keep apparatus working for a few minutes when power is dead.
 * Eliminate noise in torque sensor signals, if there is any, when tested with Dr.Cohen's computer.
 * Move the Twister to Dr.Cohen's lab for testing, acquiring, and researching data.
 * Test torque sensors with Dr.Cohen's computer using the interface installed there.
 * Any other demands by the client.

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