Development and validation of a robust, adjustable hippotherapy simulator

372 Pages·2016·12.6 MB·English

Rose-Hulman Institute of Technology
Rose-Hulman Scholar
Graduate Theses - Biology & Biomedical
Graduate Theses
Engineering
Spring 1-2015
Development and validation of a robust, adjustable
hippotherapy simulator
Melissa Montgomery
Rose-Hulman Institute of Technology
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Montgomery, Melissa, "Development and validation of a robust, adjustable hippotherapy simulator" (2015).Graduate Theses - Biology
& Biomedical Engineering.Paper 7.
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Development and validation of a robust, adjustable hippotherapy simulator

A Thesis
Submitted to the Faculty
of
Rose-Hulman Institute of Technology

by

Melissa Jo Montgomery

In Partial Fulfillment of the Requirements for the Degree
of
Master of Science in Biomedical Engineering

January 2015

© 2015 Melissa Jo Montgomery

ABSTRACT

Montgomery, Melissa Jo
M.S.B.E.
Rose-Hulman Institute of Technology
January 2015
Development and validation of a robust, adjustable hippotherapy simulator
Thesis Advisor: Dr. Renee Rogge

This thesis describes all aspects of development, testing, refinement, and validation of a
robust, adjustable hippotherapy simulator. This simulator primarily focuses on physical therapy;
however, emotional benefits can be realized. It uniquely innovates on an effective design that
has only partially been addressed in other simulators. Using a variable drive for adjustable
speed, it incorporates reinforcements to increase load capacity along with removable camshafts
that adjust the throw heights in the device’s simulated hips and shoulders.
For testing and validation, Qualisys software and motion capture supported analysis of
the device’s motion paths and speeds. Riders weighing approximately 135-300 pounds
successfully ride the device at all throw and loading options, thus permitting a wide range of
therapy recipients. After analysis and targeting system improvement, transitioning riders from
the smaller set of camshafts to the larger results in a 20.2% increase in hip motion magnitude,
thus facilitating an effective therapeutic platform.
DEDICATION

I dedicate this thesis work to my family, who offer steadfast encouragement and love in
all of my endeavors.
ACKNOWLEDGEMENTS

I extend sincere gratitude to the following parties:
Dr. Renee Rogge for being a resourceful, reliable, and knowledgeable mentor and advocate on
this thesis and its predecessor project

Dr. Glen Livesay, for being an ever-enthusiastic resource for discussion and concerns

Dr. Allen White for bringing his expertise to my thesis committee

Christy, Drew, Mike, and the rest of Hope Haven, for presenting the original project opportunity
in Fall 2012. It has been an honor meet you and work with your therapeutic horse farm

Jeff, Joe, Melanie, Dan, Tom, friends and colleagues for endless support, advice, and coffee

The faculty and staff of Rose-Hulman for providing a conducive environment for hands-on,
student-driven learning

Thank you.

TABLE OF CONTENTS
Contents:
LIST OF FIGURES ....................................................................................................................... iii
LIST OF ABBREVIATIONS ........................................................................................................ ix
LIST OF SYMBOLS ...................................................................................................................... x
GLOSSARY .................................................................................................................................. xi
1. INTRODUCTION .................................................................................................................. 1
2. BACKGROUND .................................................................................................................... 2
2.1 The Therapy .......................................................................................................................... 2
2.2 Iterative Prototype Implementation ....................................................................................... 5
3. LITERATURE REVIEW ..................................................................................................... 12
3.1 The Equicizer ...................................................................................................................... 13
3.2 Amerika ............................................................................................................................... 14
3.3 The iJoyRide ....................................................................................................................... 14
3.4 Apparatus for Performing Hippotherapy............................................................................. 15
3.5 Training Apparatus for Physical Therapy ........................................................................... 16
3.6 Baylor “Mr. Ed” Mechanical Horse .................................................................................... 17
3.7 Baylor Wild Bill Hippotherapy Simulator .......................................................................... 19
3.8 Summary and Relation to Rose-Hulman Simulators .......................................................... 20
4. DESCRIPTION OF THE MODEL ...................................................................................... 21
4.2 Design: Load Capacity .................................................................................................. 23
4.2.1 Rib Structure ........................................................................................................... 23
4.2.2 Rib Height .................................................................................................................... 27
4.2.3 Load Redistribution ..................................................................................................... 28
4.2.4 Chain Tensioners ......................................................................................................... 30
4.2.5 Better Sprocket Alignment on Cams ........................................................................... 32
4.2.6 Increased Follower Size ............................................................................................... 33
4.2.7 Backbone Design ......................................................................................................... 35
4.3 Design: Multiple Speeds ............................................................................................... 36
4.3.1 Important Speed Variability Consideration: Timing the Cams ....................................... 37
4.3.2 Variable Frequency Drive ............................................................................................ 40
4.3.3 ¼ hp 3 phase inverter motor......................................................................................... 44
4.3.4 Better Cam Design for Easier Following ..................................................................... 45
4.4 Design: Multiple Throws .............................................................................................. 46
4.4.1 Camshafts ................................................................................................................ 46
4.5 Design: Safety ................................................................................................................ 61
4.4.1 Backbone design .......................................................................................................... 61
4.4.2 Removable Sidewall Panels ......................................................................................... 62
4.4.3 Emergency Stop Button ............................................................................................... 63
4.4.4 Blanket Covering ......................................................................................................... 64
4.4.5 Variable Frequency Drive (VFD) ................................................................................ 65
4.4.6 Multiple Throws ........................................................................................................... 65
4.4.7 Removable Handlebar .................................................................................................. 65
5 METHODS ........................................................................................................................... 67
5.1 Overview ........................................................................................................................ 67
5.2 Construction: Load Capacity ......................................................................................... 67
5.2.1 Rib structure ............................................................................................................ 67
5.2.2 Rib Height .................................................................................................................... 68
5.2.2 Load Redistribution ................................................................................................ 68
5.2.3 Chain Tensioners .................................................................................................... 69
5.2.4 Better Sprocket Alignment ..................................................................................... 70
5.2.5 Increased Follower Size .......................................................................................... 73
5.2.7 Backbone Design ......................................................................................................... 73
5.3 Design and Construction: Multiple Speeds .................................................................... 74
5.3.1 Important Speed Variability Considerations: Timing the Cams ................................. 74
5.3.2 Variable Frequency Drive (VFD) ................................................................................ 75
5.3.3 ¾ hp 3 phase inverter motor......................................................................................... 77
5.3.4 Better Cam Design for Easier Following ..................................................................... 77
5.4 Construction and Design: Multiple Throws ................................................................... 78
5.4.1 Camshafts ..................................................................................................................... 78
5.5 Construction: Safety ...................................................................................................... 79
5.6.1 Backbone design .......................................................................................................... 79
5.6.2 Removable Sidewall Panels ......................................................................................... 79
5.6.3. Emergency Stop Button .............................................................................................. 80
5.6.4 Blanket Covering ......................................................................................................... 80
5.6.6 Variable Frequency Drive (VFD) ................................................................................ 81
5.6.7 Multiple Throws ........................................................................................................... 81
5.6.8 Removable Handlebar .................................................................................................. 81
5.6 Testing ............................................................................................................................ 82
5.7.1 Unloaded Tests ............................................................................................................. 83
5.7.2 Zoned Loading Test ..................................................................................................... 85
5.7.3 Qualisys Motion Capture Testing ................................................................................ 86
6 RESULTS ............................................................................................................................. 93
6.1 Design and Construction ..................................................................................................... 94
6.2 Tests .................................................................................................................................... 96
6.2.1 Unloaded Tests ................................................................................................................. 96
6.2.1.1 General Unloaded Test for Consistency ................................................................... 97
6.2.1.2 Unloaded Speed Test ................................................................................................. 97
6.2.1.3 Unloaded Varying Camshaft Test for Throw ............................................................ 98
6.2.2 Zoned LoadingTests ......................................................................................................... 98
6.2.2.2 Final Prototype Results ........................................................................................... 102
6.2.3 Qualisys Motion Capture Testing ............................................................................. 102
6.2.3.1 Unloaded Position and Velocity ........................................................................ 110
6.2.3.2 Loaded Position and Velocity Imaging Test ........................................................... 124
7 DISCUSSION ..................................................................................................................... 158
7.1 Consistency ....................................................................................................................... 158
7.2 Modular ............................................................................................................................. 159
7.3 Multiple Throws ................................................................................................................ 160
7.4 Multiple Speeds ................................................................................................................. 161
8 LIMITATIONS ................................................................................................................... 163
9 CONCLUSIONS ................................................................................................................. 165
10 FUTURE WORK ................................................................................................................ 166
LIST OF REFERENCES ............................................................................................................ 168
APPENDICES ............................................................................................................................ 170
APPENDIX A: Budget .............................................................................................................. 171
APPENDIX B: Test Protocols ................................................................................................... 179
Motion Capture Path Testing ...................................................................................................... 179
General Unloaded Test ............................................................................................................... 180