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Colorado School of Mines
1.
Heer, Kyle B.
Design and control of a lower-limb exoskeleton emulator for accelerated development of gait exoskeletons.
Degree: MS(M.S.), Mechanical Engineering, 2017, Colorado School of Mines
URL: http://hdl.handle.net/11124/171178 
► Robotic exoskeletons for gait assistance carry the potential to dramatically improve the quality of life for individuals with hemiparesis resulting from a stroke. This thesis…
(more)
▼ Robotic exoskeletons for gait assistance carry the potential to dramatically improve the quality of life for individuals with hemiparesis resulting from a stroke. This thesis presents the design and implementation of a modular lower-limb exoskeleton emulator: a new research platform intended for accelerated research into and development of lower-limb exoskeletons. The device features five lightweight, modular braces for human interface with ten total lower-limb degrees of freedom. Braces are actuated by four off-board motors via Bowden-cable transmission. A closed-loop controller utilizing high-frequency real-time measurements provides accurate and responsive torque application to the wearer. A versatile control software model featuring real-time gait event detection has been developed and verified with preliminary experimentation conducted with the emulator. Future investigations with the device will inform the design of a novel assistive, multi-joint body-powered leg exoskeleton for hemiparetic gait assistance.
Advisors/Committee Members: Celik, Ozkan (advisor), Silverman, Anne K. (committee member), Petrella, Anthony J. (committee member).
Subjects/Keywords: exoskeleton; Emulator; Gait
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APA (6th Edition):
Heer, K. B. (2017). Design and control of a lower-limb exoskeleton emulator for accelerated development of gait exoskeletons. (Masters Thesis). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/171178
Chicago Manual of Style (16th Edition):
Heer, Kyle B. “Design and control of a lower-limb exoskeleton emulator for accelerated development of gait exoskeletons.” 2017. Masters Thesis, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/171178.
MLA Handbook (7th Edition):
Heer, Kyle B. “Design and control of a lower-limb exoskeleton emulator for accelerated development of gait exoskeletons.” 2017. Web. 28 Feb 2021.
Vancouver:
Heer KB. Design and control of a lower-limb exoskeleton emulator for accelerated development of gait exoskeletons. [Internet] [Masters thesis]. Colorado School of Mines; 2017. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/171178.
Council of Science Editors:
Heer KB. Design and control of a lower-limb exoskeleton emulator for accelerated development of gait exoskeletons. [Masters Thesis]. Colorado School of Mines; 2017. Available from: http://hdl.handle.net/11124/171178
Colorado School of Mines
2.
Young, Kevyn C.
Computer and visual interface development for Wrist Gimbal forearm and wrist exoskeleton.
Degree: MS(M.S.), Mechanical Engineering, 2016, Colorado School of Mines
URL: http://hdl.handle.net/11124/170249
► Stroke is the leading cause of long-term adult disability in the U.S., with an annual cost estimated at 69 billion. Neuroplasticity of the brain allows…
(more)
▼ Stroke is the leading cause of long-term adult disability in the U.S., with an annual cost estimated at 69 billion. Neuroplasticity of the brain allows stroke patients to regain lost motor function, but does require intensive therapy protocols. The outcome of motor rehabilitation strongly depends on the dose of exercises, which is commonly limited by high costs associated with both traditional and robot-aided therapy protocols. Development of cost-efficient rehabilitation robots coupled with engaging visual interfaces carries the potential to improve accessibility of robot-aided therapy protocols to a larger number of patients and to motivate patients to complete high-dose, intensive exercise protocols. The first goal of this project has been development of a custom computer interface, to achieve cost reduction for Wrist Gimbal, a forearm and wrist rehabilitation robot that enables programmable force feedback for stroke therapy. The interface developed as part of this project has successfully reduced the materials cost of the robot (originally 10,200) more than 50%. A solution including digital signal processor-based hardware together with C# .NET based software has been implemented and validated. The second goal of the project has been development of a game-like visual interface to enable engaging exercise tasks for stroke patients. A literature review of games for rehabilitation has been completed. A unique visual interface has been developed and implemented, building upon concepts from serious games, virtual reality, patient motivation, art therapy, and assistive force feedback algorithms.
Advisors/Committee Members: Celik, Ozkan (advisor), Van Bossuyt, Douglas L. (committee member), Silverman, Anne K. (committee member).
Subjects/Keywords: mechatronics; rehabilitation; rehabilitation games; robotics; serious games; stroke rehabilitation
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APA (6th Edition):
Young, K. C. (2016). Computer and visual interface development for Wrist Gimbal forearm and wrist exoskeleton. (Masters Thesis). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/170249
Chicago Manual of Style (16th Edition):
Young, Kevyn C. “Computer and visual interface development for Wrist Gimbal forearm and wrist exoskeleton.” 2016. Masters Thesis, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/170249.
MLA Handbook (7th Edition):
Young, Kevyn C. “Computer and visual interface development for Wrist Gimbal forearm and wrist exoskeleton.” 2016. Web. 28 Feb 2021.
Vancouver:
Young KC. Computer and visual interface development for Wrist Gimbal forearm and wrist exoskeleton. [Internet] [Masters thesis]. Colorado School of Mines; 2016. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/170249.
Council of Science Editors:
Young KC. Computer and visual interface development for Wrist Gimbal forearm and wrist exoskeleton. [Masters Thesis]. Colorado School of Mines; 2016. Available from: http://hdl.handle.net/11124/170249
Colorado School of Mines
3.
Lee, Jason Y.
Lower-limb exoskeleton emulator to be employed in estimation of hip impedance in normal gait, A.
Degree: MS(M.S.), Mechanical Engineering, 2017, Colorado School of Mines
URL: http://hdl.handle.net/11124/171298
► Recent progress in robotic control and technology has contributed to an increase in interest and applications of wearable robotics, also known as exoskeletons. Identification of…
(more)
▼ Recent progress in robotic control and technology has contributed to an increase in interest and applications of wearable robotics, also known as exoskeletons. Identification of exoskeleton mechanical and control parameters that will provide the best performance for specific tasks remains as a significant challenge. Exoskeleton emulators, which allow real-time adjustment of device parameters (such as stiffness of an emulated spring) have emerged as valuable tools that enable fast, iterative experimentation and testing. This thesis presents design, implementation, and characterization results of a lower-limb exoskeleton emulator system with offloaded actuation. The emulator is able to apply controlled torques in the ankle, knee and hip joint sagittal degrees of freedom through five braces that were developed. A PID controller was implemented for the emulator to control the torques applied at the brace joints. Characterization of hip joint impedance is essential to the groundwork for design and control system of exoskeletons, orthoses, and prostheses. A pilot test with a single healthy subject was conducted, using the emulator as a perturbation source and focusing on identification of hip impedance parameters during normal walking. A model, that incorporated stiffness, damping, and inertia parameters as polynomial coefficients, was used to calculate the impedance values from the collected data. The results showed that the perturbation amplitudes were inadequate and soft tissues at the leg attachment points prevented effective delivery of the torques to the leg. Future work on impedance estimation of hip will focus on improving brace leg attachments and enhancing the delivered torque. In conclusion, an exoskeleton emulator for the lower-limb was successfully designed, constructed, characterized, and tested. The exoskeleton emulator will enable a variety of future studies on gait augmentation and assistance.
Advisors/Committee Members: Celik, Ozkan (advisor), Petrella, Anthony J. (committee member), Silverman, Anne K. (committee member).
Subjects/Keywords: exoskeleton; impedance; hip; emulator
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APA (6th Edition):
Lee, J. Y. (2017). Lower-limb exoskeleton emulator to be employed in estimation of hip impedance in normal gait, A. (Masters Thesis). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/171298
Chicago Manual of Style (16th Edition):
Lee, Jason Y. “Lower-limb exoskeleton emulator to be employed in estimation of hip impedance in normal gait, A.” 2017. Masters Thesis, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/171298.
MLA Handbook (7th Edition):
Lee, Jason Y. “Lower-limb exoskeleton emulator to be employed in estimation of hip impedance in normal gait, A.” 2017. Web. 28 Feb 2021.
Vancouver:
Lee JY. Lower-limb exoskeleton emulator to be employed in estimation of hip impedance in normal gait, A. [Internet] [Masters thesis]. Colorado School of Mines; 2017. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/171298.
Council of Science Editors:
Lee JY. Lower-limb exoskeleton emulator to be employed in estimation of hip impedance in normal gait, A. [Masters Thesis]. Colorado School of Mines; 2017. Available from: http://hdl.handle.net/11124/171298
Colorado School of Mines
4.
Hegarty, Amy K.
Effects of physical therapy on individual muscle force production and function in children with cerebral palsy, The.
Degree: MS(M.S.), Mechanical Engineering, 2015, Colorado School of Mines
URL: http://hdl.handle.net/11124/20111
► Cerebral Palsy (CP) is a chronic neurological disorder that affects the ability to perform basic motor tasks, posture, and muscle coordination. Current intervention techniques, including…
(more)
▼ Cerebral Palsy (CP) is a chronic neurological disorder that affects the ability to perform basic motor tasks, posture, and muscle coordination. Current intervention techniques, including physical therapy, can produce vast improvements in some children, while other children do not respond. The underlying muscular improvements that are associated with physical therapy are unclear, and may be important to understanding why only some children benefit from therapeutic interventions. Musculoskeletal modeling and simulation can be used to determine changes in dynamic muscle force production and muscle contributions to body center of mass accelerations at the individual muscle level as a result of physical therapy. Changes in muscle force and function were characterized for children with CP who participated in both gait and strength training. Gait training significantly affected contributions to body support from the vasti and rectus femoris muscles, and contributions to body propulsion from the soleus, resulting in muscle functional roles more similar to able-bodied gait. Strength training significantly affected gastrocnemius contributions to support, again resulting in muscle function more consistent with able-bodied gait. Changes in muscle function as a result of gait training metrics were significantly correlated to the 6-minute walk test, which is a clinical assessment of muscle endurance. Changes in muscle force and function as a result of strength training were not consistent with measured isometric strength at the joint level, suggesting that dynamic muscle behavior during movement tasks cannot strictly be predicted by static measures. Musculoskeletal modeling and simulation are therefore needed to assess how muscles coordinate to improve mobility. Both types of therapy produced highly variable changes in muscle dynamic metrics across children, which corresponded to the highly variable neuromusculoskeletal impairments of children with CP. The use of musculoskeletal modeling and simulation can identify the muscular deficits of individual children, and have the potential to be instrumental in developing targeted physical therapy protocols that are tailored to a specific patient.
Advisors/Committee Members: Silverman, Anne K. (advisor), Petrella, Anthony J. (committee member), Kurz, Max J. (committee member).
Subjects/Keywords: gait; musculoskeletal modeling; cerebral palsy; physical therapy; lower limb muscle function
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APA (6th Edition):
Hegarty, A. K. (2015). Effects of physical therapy on individual muscle force production and function in children with cerebral palsy, The. (Masters Thesis). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/20111
Chicago Manual of Style (16th Edition):
Hegarty, Amy K. “Effects of physical therapy on individual muscle force production and function in children with cerebral palsy, The.” 2015. Masters Thesis, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/20111.
MLA Handbook (7th Edition):
Hegarty, Amy K. “Effects of physical therapy on individual muscle force production and function in children with cerebral palsy, The.” 2015. Web. 28 Feb 2021.
Vancouver:
Hegarty AK. Effects of physical therapy on individual muscle force production and function in children with cerebral palsy, The. [Internet] [Masters thesis]. Colorado School of Mines; 2015. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/20111.
Council of Science Editors:
Hegarty AK. Effects of physical therapy on individual muscle force production and function in children with cerebral palsy, The. [Masters Thesis]. Colorado School of Mines; 2015. Available from: http://hdl.handle.net/11124/20111
Colorado School of Mines
5.
Honegger, Jasmin D.
Development of a multiscale model of the lumbar spine: application for persons with a lower-limb amputation.
Degree: MS(M.S.), Mechanical Engineering, 2017, Colorado School of Mines
URL: http://hdl.handle.net/11124/171598
► Low back pain (LBP) is a large problem in the general population and especially among people with a lower-limb amputation (LLA). The primary causes of…
(more)
▼ Low back pain (LBP) is a large problem in the general population and especially among people with a lower-limb amputation (LLA). The primary causes of LBP for people with LLA are whole-body kinematic and muscle asymmetries. However, the sources of LBP are known to exist at the tissue-level such as within the intervertebral discs or facet joint capsules. No previous study has identified the connection between determining the source of pain at the tissue-level and the cause of pain at the whole-body level. Identification of this interconnectivity is required for better understanding of LBP and therapeutic intervention for people with LLA. The purpose of this research was to create a multiscale model of the human lumbar spine in order to help identify and characterize the interconnectivity between whole-body biomechanics and tissue-level metrics leading to LBP for LLA. The results revealed that people with LLA have greater tissue-level loads than able-bodied individuals and suggest that people with LLA may perform certain motions with a more consistent strategy as compared to people without an amputation. These findings help to improve the current understanding of multiscale lumbar spine biomechanics, elucidate the greater risk for LBP in people with LLA, and can help to inform future treatment for biomechanical LBP.
Advisors/Committee Members: Petrella, Anthony J. (advisor), Silverman, Anne K. (committee member), Berger, John R. (committee member).
Subjects/Keywords: low back pain; multiscale modeling; transtibial amputation; lumbar spine; finite element modeling; musculoskeletal modeling
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APA (6th Edition):
Honegger, J. D. (2017). Development of a multiscale model of the lumbar spine: application for persons with a lower-limb amputation. (Masters Thesis). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/171598
Chicago Manual of Style (16th Edition):
Honegger, Jasmin D. “Development of a multiscale model of the lumbar spine: application for persons with a lower-limb amputation.” 2017. Masters Thesis, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/171598.
MLA Handbook (7th Edition):
Honegger, Jasmin D. “Development of a multiscale model of the lumbar spine: application for persons with a lower-limb amputation.” 2017. Web. 28 Feb 2021.
Vancouver:
Honegger JD. Development of a multiscale model of the lumbar spine: application for persons with a lower-limb amputation. [Internet] [Masters thesis]. Colorado School of Mines; 2017. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/171598.
Council of Science Editors:
Honegger JD. Development of a multiscale model of the lumbar spine: application for persons with a lower-limb amputation. [Masters Thesis]. Colorado School of Mines; 2017. Available from: http://hdl.handle.net/11124/171598
Colorado School of Mines
6.
Actis, Jason.
Modeling low back biomechanics in people with a transtibial amputation.
Degree: MS(M.S.), Mechanical Engineering, 2017, Colorado School of Mines
URL: http://hdl.handle.net/11124/171596
► Low back pain is a debilitating and costly condition that affects the majority of people in their lifetime. Some populations, like people with a transtibial…
(more)
▼ Low back pain is a debilitating and costly condition that affects the majority of people in their lifetime. Some populations, like people with a transtibial amputation, have a higher risk for developing low back pain, which may be explained by altered biomechanical loading. People with a transtibial amputation have altered movement strategies during walking that lead to changes in low back loading, but little is known about their low back biomechanics during the sit-to-stand motion. A musculoskeletal model with detail of the lumbar spine was developed and validated during trunk range of motion trials. This model was used to analyze eight people with a transtibial amputation and eight people without an amputation. People with an amputation had greater trunk angles compared to people without an amputation, which was associated with greater low back compressive loads. Identifying this movement strategy has potential to guide interventions aimed at reducing low back pain.
Advisors/Committee Members: Silverman, Anne K. (advisor), Petrella, Anthony J. (committee member), Gates, Deanna H. (committee member).
Subjects/Keywords: biomechanics; modeling; sit-to-stand; low back pain; amputation; prosthesis
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APA (6th Edition):
Actis, J. (2017). Modeling low back biomechanics in people with a transtibial amputation. (Masters Thesis). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/171596
Chicago Manual of Style (16th Edition):
Actis, Jason. “Modeling low back biomechanics in people with a transtibial amputation.” 2017. Masters Thesis, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/171596.
MLA Handbook (7th Edition):
Actis, Jason. “Modeling low back biomechanics in people with a transtibial amputation.” 2017. Web. 28 Feb 2021.
Vancouver:
Actis J. Modeling low back biomechanics in people with a transtibial amputation. [Internet] [Masters thesis]. Colorado School of Mines; 2017. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/171596.
Council of Science Editors:
Actis J. Modeling low back biomechanics in people with a transtibial amputation. [Masters Thesis]. Colorado School of Mines; 2017. Available from: http://hdl.handle.net/11124/171596
Colorado School of Mines
7.
Pickle, Nathaniel T.
Whole-body angular momentum during walking on stairs using passive and powered lower-limb prostheses.
Degree: MS(M.S.), Mechanical Engineering, 2012, Colorado School of Mines
URL: http://hdl.handle.net/11124/76807
► Stair walking is a biomechanically challenging task, particularly for impaired populations such as individuals with unilateral transtibial amputation (TTA). In addition, TTA have an increased…
(more)
▼ Stair walking is a biomechanically challenging task, particularly for impaired populations such as individuals with unilateral transtibial amputation (TTA). In addition, TTA have an increased fall risk relative to able-bodied individuals (AB). The regulation of whole-body angular momentum (H) is important for maintaining balance and avoiding a fall. This study therefore evaluated H during stair ascent and descent in TTA using passive and powered prostheses compared to AB. The range of H was generally reduced in TTA and AB during descent relative to ascent, which may be a mechanism to reduce fall risk during descent. TTA using both types of prostheses had an increased range of sagittal H during prosthetic limb stance compared to AB during ascent, but no differences in H were observed between prostheses. Thus, TTA have altered H relative to AB during stair ascent, and H is not significantly affected by the use of a powered prosthesis.
Advisors/Committee Members: Silverman, Anne K. (advisor), Bach, Joel M. (committee member), Steele, John P. H. (committee member).
Subjects/Keywords: Prosthesis; Artificial legs; Biomechanics; Biomedical engineering – Technological innovations
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APA (6th Edition):
Pickle, N. T. (2012). Whole-body angular momentum during walking on stairs using passive and powered lower-limb prostheses. (Masters Thesis). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/76807
Chicago Manual of Style (16th Edition):
Pickle, Nathaniel T. “Whole-body angular momentum during walking on stairs using passive and powered lower-limb prostheses.” 2012. Masters Thesis, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/76807.
MLA Handbook (7th Edition):
Pickle, Nathaniel T. “Whole-body angular momentum during walking on stairs using passive and powered lower-limb prostheses.” 2012. Web. 28 Feb 2021.
Vancouver:
Pickle NT. Whole-body angular momentum during walking on stairs using passive and powered lower-limb prostheses. [Internet] [Masters thesis]. Colorado School of Mines; 2012. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/76807.
Council of Science Editors:
Pickle NT. Whole-body angular momentum during walking on stairs using passive and powered lower-limb prostheses. [Masters Thesis]. Colorado School of Mines; 2012. Available from: http://hdl.handle.net/11124/76807
Colorado School of Mines
8.
Yoder, Adam J.
Low back biomechanics during walking of individuals with a lower-limb amputation.
Degree: MS(M.S.), Mechanical Engineering, 2014, Colorado School of Mines
URL: http://hdl.handle.net/11124/450
► Individuals with a lower-limb amputation have an increased prevalence of chronic low back pain (LBP), relative to the general adult population. Altered, dynamic whole-body biomechanics…
(more)
▼ Individuals with a lower-limb amputation have an increased prevalence of chronic low back pain (LBP), relative to the general adult population. Altered, dynamic whole-body biomechanics resulting from limb loss are thought to be a primary cause of the increased susceptibility. However, biomechanical LBP development is a multi-factorial problem, and a definitive cause has yet to be ascertained using only traditional, laboratory methods. Thus, the purpose of this work was to compare dynamic, in vivo low back biomechanics between individuals with and without unilateral, transtibial amputation during walking, estimated using patient-specific computational modeling and simulation. A generic, muscle-actuated whole-body model with additional detail in the L1-L5 lumbar was adjusted to represent each individual. Experimentally-measured motion capture, ground reaction force, and surface electromyography for each individual were used to simulate a gait cycle to estimate concurrent internal low back biomechanics. Results showed several group differences in computed low back metrics during particular phases of the gait cycle. Most significant in individuals with an amputation was greater lateral trunk motion towards the residual side during residual single limb stance, concurrently with greater intact-side trunk muscle forces and a greater L4L5 lumbar joint contact force. A greater range of axial trunk rotation near toe off of the residual limb was also found concurrently with greater force in residual-side erector spinae and psoas. The repetition of such abnormal biomechanics over time has potential to cause deficiencies in muscular endurance, strength asymmetries, inhibited proprioception, and myofascial pain, each associated with increased susceptibility to chronic, biomechanical LBP and other secondary musculoskeletal disorders. This work contributes to a broader goal of developing computational modeling and simulation into a supplementary clinical tool to aid in diagnosis and treatment of biomechanical disorders.
Advisors/Committee Members: Silverman, Anne K. (advisor), Petrella, Anthony J. (committee member), Bach, Joel M. (committee member).
Subjects/Keywords: low back pain; walking; transtibial amputation; simulation; musculoskeletal modeling; Biomechanics; Leg – Amputation; Backache; Musculoskeletal system – Mechanical properties; Musculoskeletal system – Computer simulation
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APA (6th Edition):
Yoder, A. J. (2014). Low back biomechanics during walking of individuals with a lower-limb amputation. (Masters Thesis). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/450
Chicago Manual of Style (16th Edition):
Yoder, Adam J. “Low back biomechanics during walking of individuals with a lower-limb amputation.” 2014. Masters Thesis, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/450.
MLA Handbook (7th Edition):
Yoder, Adam J. “Low back biomechanics during walking of individuals with a lower-limb amputation.” 2014. Web. 28 Feb 2021.
Vancouver:
Yoder AJ. Low back biomechanics during walking of individuals with a lower-limb amputation. [Internet] [Masters thesis]. Colorado School of Mines; 2014. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/450.
Council of Science Editors:
Yoder AJ. Low back biomechanics during walking of individuals with a lower-limb amputation. [Masters Thesis]. Colorado School of Mines; 2014. Available from: http://hdl.handle.net/11124/450
Colorado School of Mines
9.
Sturdy, Jordan.
Development of a musculoskeletal model for load carriage.
Degree: MS(M.S.), Mechanical Engineering, 2019, Colorado School of Mines
URL: http://hdl.handle.net/11124/173069
► Musculoskeletal injury of the lumbar spine and lower extremity is prevalent among military service members, and results in more lost duty days than any other…
(more)
▼ Musculoskeletal injury of the lumbar spine and lower extremity is prevalent among military service members, and results in more lost duty days than any other medical condition. Most of these musculoskeletal conditions, such as muscle strains, stress fractures, and joint pain and degradation are attributed to overuse. A key
contributor to this overuse is the heavy load service members routinely carry during training and deployment, which is often in excess of recommended maximum weights. Walking with heavy backpack loads causes postural changes and increases the mechanical demand on the musculoskeletal system. In order to alleviate the effects backpack loads on the spine, backpacks are often designed with hip belts in order to redistribute some of the total load from the shoulders and the pelvis. However, it is unknown to what extent the internal forces related to injury risk in the lumbar spine, such as muscle and joint contact forces, are affected by these mitigation strategies. Therefore, the purpose of this study was to develop a musculoskeletal model incorporating backpack attachment to the torso and pelvis in order to analyze lumbar spine and lower extremity injury risk. Joint contact forces in the lumbar spine and hip were quantified while walking using (1) a shoulder-borne only and (2) a hip-belt assisted backpack design. In addition, robustness of the model was assessed with a probabilistic sensitivity study to investigate the uncertainty in joint contact force estimates due to assumed uncertainty in model parameter values. The results from this work provide novel information regarding injury risk to the lumbar spine related to load carriage. Lumbar spine and hip joint contact forces are greater when walking with backpack loads compared to without. However, implementation of a hip-belt to distribute half of the load from the shoulders to the pelvis does not influence lumbar spine or hip joint contact forces. In addition, backpack attachment parameter values did not substantially effect joint contact force estimates. These results indicate that other factors such as, the total load carried and walking speed, have greater influence on joint contact forces than backpack design. The load carriage model developed will be useful for future analysis of various backpack designs during additional conditions such as sloped walking or running.
Advisors/Committee Members: Silverman, Anne K. (advisor), Sessoms, Pinata H. (committee member), Ackerman, Jeffrey (committee member).
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APA (6th Edition):
Sturdy, J. (2019). Development of a musculoskeletal model for load carriage. (Masters Thesis). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/173069
Chicago Manual of Style (16th Edition):
Sturdy, Jordan. “Development of a musculoskeletal model for load carriage.” 2019. Masters Thesis, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/173069.
MLA Handbook (7th Edition):
Sturdy, Jordan. “Development of a musculoskeletal model for load carriage.” 2019. Web. 28 Feb 2021.
Vancouver:
Sturdy J. Development of a musculoskeletal model for load carriage. [Internet] [Masters thesis]. Colorado School of Mines; 2019. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/173069.
Council of Science Editors:
Sturdy J. Development of a musculoskeletal model for load carriage. [Masters Thesis]. Colorado School of Mines; 2019. Available from: http://hdl.handle.net/11124/173069
Colorado School of Mines
10.
Webb, Jeremy D.
Gaze control for remote robotics.
Degree: MS(M.S.), Mechanical Engineering, 2016, Colorado School of Mines
URL: http://hdl.handle.net/11124/170226
► Robotic teleoperation is increasingly being used across the world to perform tasks where it is dangerous or impossible for a human to be physically present…
(more)
▼ Robotic teleoperation is increasingly being used across the world to perform tasks where it is dangerous or impossible for a human to be physically present and complete the task directly themselves. However, robotic teleoperation is difficult due to the disconnect between the operator and the robot caused by the lack of sensory feedback presented to the operator. It is therefore important to introduce an intuitive control interface that can improve performance and enhance safety. Introducing gaze as a control input can achieve these goals by offering a rich information source that requires minimal additional effort on the part of the operator. Several different techniques for the use of gaze control in remote robotic operation are investigated. The merits of a hybrid position control method which blends the current location of a robot with the target position in order to attract the robot towards it are evaluated. This system is built on by adding haptic virtual fixtures which guide the operator towards the target point and restrict motion to an area near the target through the use of a safety boundary. This approach is then adjusted based on the system's confidence in the predicted target position. Finally, a fuzzy logic controller which guides a robot through use of the user's gaze is presented. These methods illustrate how gaze can enhance performance while ensuring an interface is natural and comfortable to use.
Advisors/Committee Members: Zhang, Xiaoli (advisor), Silverman, Anne K. (committee member), Van Bossuyt, Douglas L. (committee member).
Subjects/Keywords: confidence; fuzzy logic; gaze; haptics; intent; teleoperation
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APA (6th Edition):
Webb, J. D. (2016). Gaze control for remote robotics. (Masters Thesis). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/170226
Chicago Manual of Style (16th Edition):
Webb, Jeremy D. “Gaze control for remote robotics.” 2016. Masters Thesis, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/170226.
MLA Handbook (7th Edition):
Webb, Jeremy D. “Gaze control for remote robotics.” 2016. Web. 28 Feb 2021.
Vancouver:
Webb JD. Gaze control for remote robotics. [Internet] [Masters thesis]. Colorado School of Mines; 2016. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/170226.
Council of Science Editors:
Webb JD. Gaze control for remote robotics. [Masters Thesis]. Colorado School of Mines; 2016. Available from: http://hdl.handle.net/11124/170226
Colorado School of Mines
11.
Wagner, Katherine E.
Effect of prosthetic alignment on muscle activity for people with a unilateral transtibial amputation during sit-to-stand, The.
Degree: MS(M.S.), Mechanical Engineering, 2019, Colorado School of Mines
URL: http://hdl.handle.net/11124/173064
► People with a lower limb amputation have altered motion strategies during daily tasks compared to people without an amputation. These altered motion strategies can result…
(more)
▼ People with a lower limb amputation have altered motion strategies during daily tasks compared to people without an amputation. These altered motion strategies can result in the development of secondary conditions, such as residual limb or low back pain, but the underlying muscle activity that causes altered motion strategies, and potentially pain development, is often unclear. For people with a lower limb amputation, prosthetic alignment is an important component that may contribute to altered motion strategies and can be easily adjusted in a clinical setting. However, the effect of altered prosthetic alignment on muscle activity is not well understood, especially during sit-to-stand, which is an important activity of daily living. Therefore, the purpose of this work was to evaluate the effect of altered prosthetic alignment on muscle activity for people with a unilateral transtibial amputation (TTA) during sit-to-stand. Characterizing this muscle activity will contribute to the understanding of altered motion strategies associated with TTA and how they may contribute secondary conditions. Further, this work will increase our knowledge of the effects of prosthetic alignment, which is important for improving alignment prescription guidelines.
Advisors/Committee Members: Silverman, Anne K. (advisor), Gates, Deanna H. (committee member), Petrella, Anthony J. (committee member).
Subjects/Keywords: electromyography; prosthetic alignment; amputation; sit-to-stand; muscle activity
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APA (6th Edition):
Wagner, K. E. (2019). Effect of prosthetic alignment on muscle activity for people with a unilateral transtibial amputation during sit-to-stand, The. (Masters Thesis). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/173064
Chicago Manual of Style (16th Edition):
Wagner, Katherine E. “Effect of prosthetic alignment on muscle activity for people with a unilateral transtibial amputation during sit-to-stand, The.” 2019. Masters Thesis, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/173064.
MLA Handbook (7th Edition):
Wagner, Katherine E. “Effect of prosthetic alignment on muscle activity for people with a unilateral transtibial amputation during sit-to-stand, The.” 2019. Web. 28 Feb 2021.
Vancouver:
Wagner KE. Effect of prosthetic alignment on muscle activity for people with a unilateral transtibial amputation during sit-to-stand, The. [Internet] [Masters thesis]. Colorado School of Mines; 2019. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/173064.
Council of Science Editors:
Wagner KE. Effect of prosthetic alignment on muscle activity for people with a unilateral transtibial amputation during sit-to-stand, The. [Masters Thesis]. Colorado School of Mines; 2019. Available from: http://hdl.handle.net/11124/173064
Colorado School of Mines
12.
Saadatzi, Mohammadhossein.
Combined simulation of musculoskeletal biomechanics and exoskeletons.
Degree: PhD, Mechanical Engineering, 2018, Colorado School of Mines
URL: http://hdl.handle.net/11124/172541
► Wearable robots are becoming increasingly common, in both research laboratories and the industry, due to their significant potential benefits in rehabilitation engineering, assistive robotics, ergonomics,…
(more)
▼ Wearable robots are becoming increasingly common, in both research laboratories and the industry, due to their significant potential benefits in rehabilitation engineering, assistive robotics, ergonomics, and power augmentation. Thus far, design and control of these devices have primarily relied on exhaustive experimental procedures. Alternatively, combined predictive simulations of device and human musculoskeletal mechanics offer a promising approach to decreasing necessary human subject experiment scenarios and cost. In simulation, the device parameter space can be explored to determine the most promising design solutions and parameter values, which, in turn, can inform the human subject experiment design. This dissertation focuses on building a framework for combined musculoskeletal and exoskeleton dynamics for walking. In the framework, the actuation profiles of body muscles are optimized using a single-shooting method. The single-shooting method facilitates convenient consideration of human musculoskeletal system models with varying levels of complexity, various exoskeletons and controllers, and different objective functions. High-throughput computing resources are employed for the computationally-intensive optimizations in this framework. The proposed framework is used for study and design of passive exoskeletons for reducing the metabolic energy expenditure during walking. The simulation results suggest that elastic elements acting in parallel with lower-limb uniarticular muscles can reduce the metabolic cost of walking by up to 28%. These results support the use of predictive simulations as a tool for the study and conceptual design of exoskeletons and can accelerate device and control development.
Advisors/Committee Members: Silverman, Anne K. (advisor), Celik, Ozkan (committee member), Bach, Joel M. (committee member), Petrella, Anthony J. (committee member), Zhang, Hao (committee member).
Subjects/Keywords: bipedal walking; passive exoskeletons; wearable robots; metabolic energy expenditure; biomechanics; predictive simulation
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APA (6th Edition):
Saadatzi, M. (2018). Combined simulation of musculoskeletal biomechanics and exoskeletons. (Doctoral Dissertation). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/172541
Chicago Manual of Style (16th Edition):
Saadatzi, Mohammadhossein. “Combined simulation of musculoskeletal biomechanics and exoskeletons.” 2018. Doctoral Dissertation, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/172541.
MLA Handbook (7th Edition):
Saadatzi, Mohammadhossein. “Combined simulation of musculoskeletal biomechanics and exoskeletons.” 2018. Web. 28 Feb 2021.
Vancouver:
Saadatzi M. Combined simulation of musculoskeletal biomechanics and exoskeletons. [Internet] [Doctoral dissertation]. Colorado School of Mines; 2018. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/172541.
Council of Science Editors:
Saadatzi M. Combined simulation of musculoskeletal biomechanics and exoskeletons. [Doctoral Dissertation]. Colorado School of Mines; 2018. Available from: http://hdl.handle.net/11124/172541
Colorado School of Mines
13.
Roth, Kevin B.
Combination of hydrodynamic and optical forces for cell mechanical flow cytometry.
Degree: PhD, Chemical and Biological Engineering, 2015, Colorado School of Mines
URL: http://hdl.handle.net/11124/17108
► Cell mechanical properties are a label-free biomarker capable of differentiating between healthy and diseased cells. Currently, cell deformability is measured by testing the mechanics of…
(more)
▼ Cell mechanical properties are a label-free biomarker capable of differentiating between healthy and diseased cells. Currently, cell deformability is measured by testing the mechanics of a suspension of cells to yield population averaged properties. This approach can mask the presence of sub-populations of diseased cells. Alternatively, individual cell measurements provide detailed information of individual cells, but are inherently low throughput, making data acquisition tedious and scale-up impractical. To address these issues, we propose using optical-based cell deformation techniques in microfluidic platforms to measure cell mechanical properties non-invasively, non-destructively and in a high-throughput manner (> 1 cell/s). In this thesis two different techniques are proposed: optical alignment compression (OAC) cytometry and optical stretching in flow. Both techniques combine optical and hydrodynamic forces in low Reynolds number flows. In OAC cytometry, an aligning optical trap is combined with extensional flow in a microfluidic device to allow hydrodynamic forces to cause measurable deformation through cell-cell collisions at the flow stagnation point. Results demonstrate the utility of optical-based testing by testing two red blood cell systems. To further examine optically based techniques, we employ optical forces to induce deformation. In optical stretching with improved laser imaging, a linear diode bar laser is aligned parallel to flow in a microfluidic device to deform cells that pass through the trap. The combination of optical and hydrodynamic forces at high flow rates allows for high-throughput measurements (~50 cells/s). Technique viability is tested with both red blood cells and neutrophils. By considering these two approaches we will characterize the interplay of optical and hydrodynamic forces and their contributions to cell deformation in optical-based cell mechanical property testing.
Advisors/Committee Members: Marr, David W. M. (advisor), Neeves, Keith B. (advisor), Squier, Jeff A. (committee member), Silverman, Anne K. (committee member), Wu, Ning (committee member).
Subjects/Keywords: Flow cytometry; Cells – Mechanical properties; Optics; Hydrodynamics; Microfluidics
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APA (6th Edition):
Roth, K. B. (2015). Combination of hydrodynamic and optical forces for cell mechanical flow cytometry. (Doctoral Dissertation). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/17108
Chicago Manual of Style (16th Edition):
Roth, Kevin B. “Combination of hydrodynamic and optical forces for cell mechanical flow cytometry.” 2015. Doctoral Dissertation, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/17108.
MLA Handbook (7th Edition):
Roth, Kevin B. “Combination of hydrodynamic and optical forces for cell mechanical flow cytometry.” 2015. Web. 28 Feb 2021.
Vancouver:
Roth KB. Combination of hydrodynamic and optical forces for cell mechanical flow cytometry. [Internet] [Doctoral dissertation]. Colorado School of Mines; 2015. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/17108.
Council of Science Editors:
Roth KB. Combination of hydrodynamic and optical forces for cell mechanical flow cytometry. [Doctoral Dissertation]. Colorado School of Mines; 2015. Available from: http://hdl.handle.net/11124/17108
Colorado School of Mines
14.
Campbell, J. Quinn.
Population-based methods to evaluate the effect of anatomical variation on lumbar spine biomechanics.
Degree: PhD, Mechanical Engineering, 2015, Colorado School of Mines
URL: http://hdl.handle.net/11124/166659
► Low back pain is a widespread problem throughout the developed world. There is a need for a rigorous multidisciplinary approach to studying this problem and…
(more)
▼ Low back pain is a widespread problem throughout the developed world. There is a need for a rigorous multidisciplinary approach to studying this problem and evaluating solutions. Computational methods are beginning to be used to evaluate and test new surgical treatments and medical devices. With the application of computational models in a clinical setting the need for more robust, well validated, and efficient computational techniques is increasing. Patient-specific and population-based computational methods have been applied to some regions of the body but have not been previously published for the lumbar spine. The primary goal of this research was to develop robust methods for performing probabilistic simulation based on anatomical variation in the full lumbar spine. The research has been broken up into three separate aims. Aim 1 was to develop a method to repeatably and reliably identify and extract geometric features and landmarks of lumbar vertebrae and use that information to automatically create finite element models with subject-specific geometry. An automated method was developed and tested. Eighteen subject-specific full lumbar spine finite element (FE) models were created based on automated landmark identification of 90 lumbar vertebrae. The subject-specific FE models were produced with good accuracy, quality, and robustness. The new automated method represents an improvement over manual and semiautomated methods previously reported in the literature. Aim 2 was to validate the automation process and resulting FE models. Mesh convergence, direct validation, and indirect validation studies were performed. The studies showed that the automated models can be used to reliably evaluate lumbar spine biomechanics, specifically within the intended context of use: in pure bending modes, under relatively low non-injurious in vivo loads, to predict torque rotation response, disc pressures, and facet forces. Aim 3 was to create and evaluate a statistical shape model (SSM) of the lumbar spine for use in probabilistic modeling. The research successfully demonstrated the use of a SSM combined with automated methods for landmark identification and FE model generation to create a fully parameterized FE model of the lumbar spine. The SSM was evaluated using compactness, generalization ability, and specificity. The shape modes were also evaluated visually, quantitatively, and biomechanically. Functional FE models of the mean shape and the extreme shapes (±3 standard deviations) of all 17 shape modes were created demonstrating the robust nature of the methods. This research represents an advancement in FE modeling of the lumbar spine and will allow population-based modeling including anatomical variation in the future.
Advisors/Committee Members: Petrella, Anthony J. (advisor), Bach, Joel M. (committee member), Silverman, Anne K. (committee member), Greivel, G. Gustave (committee member).
Subjects/Keywords: automation; finite element; lumbar spine; probabilistic; statistical shape model; subject-specific
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APA ·
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APA (6th Edition):
Campbell, J. Q. (2015). Population-based methods to evaluate the effect of anatomical variation on lumbar spine biomechanics. (Doctoral Dissertation). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/166659
Chicago Manual of Style (16th Edition):
Campbell, J Quinn. “Population-based methods to evaluate the effect of anatomical variation on lumbar spine biomechanics.” 2015. Doctoral Dissertation, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/166659.
MLA Handbook (7th Edition):
Campbell, J Quinn. “Population-based methods to evaluate the effect of anatomical variation on lumbar spine biomechanics.” 2015. Web. 28 Feb 2021.
Vancouver:
Campbell JQ. Population-based methods to evaluate the effect of anatomical variation on lumbar spine biomechanics. [Internet] [Doctoral dissertation]. Colorado School of Mines; 2015. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/166659.
Council of Science Editors:
Campbell JQ. Population-based methods to evaluate the effect of anatomical variation on lumbar spine biomechanics. [Doctoral Dissertation]. Colorado School of Mines; 2015. Available from: http://hdl.handle.net/11124/166659
Colorado School of Mines
15.
Filatov, Anton.
Impact of prehensor stiffness on quality of haptic feedback in body-powered upper limb prostheses.
Degree: PhD, Mechanical Engineering, 2016, Colorado School of Mines
URL: http://hdl.handle.net/11124/170475
► The design goal of a prosthesis is to replicate or replace the lost functionality of the missing limb. However, currently available upper limb prosthetic devices…
(more)
▼ The design goal of a prosthesis is to replicate or replace the lost functionality of the missing limb. However, currently available upper limb prosthetic devices generally fall short of this goal, and as a consequence are often abandoned or rejected by the users. Potentially contributing to this shortfall is the lack of stiffness modulation in commercial prostheses – whereas intact individuals are able to adapt the stiffness properties of their limbs to the requirements of specific tasks, prosthesis users do not have this option. One particularly troubled area of prosthesis functionality is the quality of haptic feedback provided by the prosthesis to the user. Body-powered prostheses, which account for the majority of all upper limb prostheses in use, provide a degree of haptic feedback by default, a consequence of the direct mechanical coupling between the actuating joint and the prehensor. The usually static prehensor stiffness is part of this mechanical linkage, and may be affecting the quality of the feedback transmitted to the user. Is it possible to improve the performance of the user in feedback-dependent tasks by modulating the prehensor stiffness of a body-powered prosthesis depending on the nature of the task? This work, attempts to answer this question based on the results of three successive human subject studies, in which able-bodied volunteers used a prosthesis emulator system to complete feedback-dependent tasks at various prehensor stiffness settings. The main conclusions may be summarized as 1) prehensor stiffness has a quantifiable and significant impact on the quality of haptic feedback provided to a prosthesis user, 2) the optimal prehensor stiffness varies depending on the task, and 3) the users are aware of the impact of prehensor stiffness on their performance, and are able to make informed, task-dependent adjustments. These three conclusions serve as an endorsement for the inclusion of prehensor stiffness modulation as a control modality in the design of future prosthesis, which may result in increased user satisfaction and capability.
Advisors/Committee Members: Celik, Ozkan (advisor), Johnson, Kathryn E. (committee member), Silverman, Anne K. (committee member), Bach, Joel M. (committee member).
Subjects/Keywords: haptic feedback; upper limb prostheses; stiffness discrimination; disturbance detection
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APA (6th Edition):
Filatov, A. (2016). Impact of prehensor stiffness on quality of haptic feedback in body-powered upper limb prostheses. (Doctoral Dissertation). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/170475
Chicago Manual of Style (16th Edition):
Filatov, Anton. “Impact of prehensor stiffness on quality of haptic feedback in body-powered upper limb prostheses.” 2016. Doctoral Dissertation, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/170475.
MLA Handbook (7th Edition):
Filatov, Anton. “Impact of prehensor stiffness on quality of haptic feedback in body-powered upper limb prostheses.” 2016. Web. 28 Feb 2021.
Vancouver:
Filatov A. Impact of prehensor stiffness on quality of haptic feedback in body-powered upper limb prostheses. [Internet] [Doctoral dissertation]. Colorado School of Mines; 2016. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/170475.
Council of Science Editors:
Filatov A. Impact of prehensor stiffness on quality of haptic feedback in body-powered upper limb prostheses. [Doctoral Dissertation]. Colorado School of Mines; 2016. Available from: http://hdl.handle.net/11124/170475
Colorado School of Mines
16.
Cano, Daniel S.
Anthropomorphic adaptation of a mechanically-variable, near-infinite range-of-stiffness mechanism.
Degree: MS(M.S.), Mechanical Engineering, 2013, Colorado School of Mines
URL: http://hdl.handle.net/11124/77680
► Traditional mechatronic systems utilize stiff actuators, but applications such as prostheses, rehabilitation exoskeletons, legged robots, and industrial robotics have begun to integrate variable-compliance mechanisms into…
(more)
▼ Traditional mechatronic systems utilize stiff actuators, but applications such as prostheses, rehabilitation exoskeletons, legged robots, and industrial robotics have begun to integrate variable-compliance mechanisms into their systems. Several variable-compliance mechanisms have been designed and tested, but they tend to have low ranges of stiffness and complex designs. A variable-compliance system known as the Adjustable Mechanism with a Nominally Infinite Range of Stiffness (AMNIRS) has been previously designed and tested. The AMNIRS device can theoretically achieve stiffnesses from zero to rigid. Through this work, a continuation of the AMNIRS device, AMNIRS-II, has been developed and tested. AMNIRS-II is an improved design that addresses several design limitations in the original AMNIRS device. In addition, AMNIRS-II is smaller than the original AMNIRS, and therefore provides an anthropomorphic configuration. AMNIRS-II was developed in two stages: miniaturization and characterization. The miniaturization phase of the project adapted the original AMNIRS design into a compact device that emulated the physical characteristics of a human elbow. A prototype for the AMNIRS-II was built and characterized. The characterization phase quantified key attributes of the AMNIRS-II system. The AMNIRS-II device included an integrated stiffness setting motor. The parameters that were characterized included the rotational stiffness, elastic energy storage, and stiffness-varying capabilities. The results of the characterization verified the desired characteristics of AMNIRS-II. AMNIRS-II is a compact device that may be integrated into a prosthetic forearm in future work.
Advisors/Committee Members: Petrella, Anthony J. (advisor), Silverman, Anne K. (advisor), Weir, Richard F. (committee member), Steele, John P. H. (committee member).
Subjects/Keywords: prosthetic; mechatronics; anthropomorphic; variable-stiffness; variable-compliance; elbow; Mechatronics; Mechanical movements; Prosthesis; Robotics
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APA (6th Edition):
Cano, D. S. (2013). Anthropomorphic adaptation of a mechanically-variable, near-infinite range-of-stiffness mechanism. (Masters Thesis). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/77680
Chicago Manual of Style (16th Edition):
Cano, Daniel S. “Anthropomorphic adaptation of a mechanically-variable, near-infinite range-of-stiffness mechanism.” 2013. Masters Thesis, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/77680.
MLA Handbook (7th Edition):
Cano, Daniel S. “Anthropomorphic adaptation of a mechanically-variable, near-infinite range-of-stiffness mechanism.” 2013. Web. 28 Feb 2021.
Vancouver:
Cano DS. Anthropomorphic adaptation of a mechanically-variable, near-infinite range-of-stiffness mechanism. [Internet] [Masters thesis]. Colorado School of Mines; 2013. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/77680.
Council of Science Editors:
Cano DS. Anthropomorphic adaptation of a mechanically-variable, near-infinite range-of-stiffness mechanism. [Masters Thesis]. Colorado School of Mines; 2013. Available from: http://hdl.handle.net/11124/77680
Colorado School of Mines
17.
Adams, Matthew J.
Multi-scale modeling and analysis via surrogate modeling techniques for in vivo knee loading predictions.
Degree: MS(M.S.), Mechanical Engineering, 2014, Colorado School of Mines
URL: http://hdl.handle.net/11124/10637
► Total knee replacement is a viable treatment for end-stage knee arthritis. With a greater number of younger patients opting for total knee replacement surgery, their…
(more)
▼ Total knee replacement is a viable treatment for end-stage knee arthritis. With a greater number of younger patients opting for total knee replacement surgery, their increasingly active lifestyles will result in higher wear rates while decreasing the life expectancy of the tibial insert component of the knee replacement implant. In response to the eventuality of patients with more active lifestyles requiring knee replacement surgery, this research proposed to accurately estimate in vivo knee loading over a gait cycle through a multi-scale modeling approach. Estimates for knee loading were compared to publicly-available in vivo knee loading measurements from a telemetric implant. A whole-body musculoskeletal modeling approach was used to simulate the gait cycle of a person who had undergone total knee replacement surgery. This approach was used to calculate net knee joint contact forces. Then, an explicit dynamic finite element analysis was used to estimate the load distribution in the medial and lateral compartments of the knee using a six degree of freedom knee joint. Surrogate modeling via spline interpolations was then utilized to reduce computational time and effort for calculation of the load distributions from finite element analysis to less than five seconds. Results suggest that generic whole-body modeling and hybrid forward dynamic simulation techniques for estimating knee joint loads may become clinically feasible in the near future. Finite element modeling and analysis produced two key results. First, the best results from varying the location of the femoral component reference point did not accurately reflect an ISO wear model location for the femoral reference point. Second, the finite element model accurately estimated the medial and lateral contact forces during the stance phase. However, surrogate modeling successfully interpolated the load distributions in the medial and lateral contact surfaces using results from the finite element analysis without requiring any knowledge of the geometry of the contact surfaces. This research concludes by proposing to couple whole-body modeling and simulation techniques with a surrogate optimization scheme to provide clinicians with a patient's knee loading behavior. A path toward improving predictive wear modeling and simulation is also provided.
Advisors/Committee Members: Turner, Cameron J. (advisor), Silverman, Anne K. (advisor), Petrella, Anthony J. (committee member), Blacklock, Jenifer (committee member).
Subjects/Keywords: Knee – Movements – Computer simulation; Musculoskeletal system – Computer simulation; Multiscale modeling; Finite element method; Surrogate-based optimization; Total knee replacement
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APA (6th Edition):
Adams, M. J. (2014). Multi-scale modeling and analysis via surrogate modeling techniques for in vivo knee loading predictions. (Masters Thesis). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/10637
Chicago Manual of Style (16th Edition):
Adams, Matthew J. “Multi-scale modeling and analysis via surrogate modeling techniques for in vivo knee loading predictions.” 2014. Masters Thesis, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/10637.
MLA Handbook (7th Edition):
Adams, Matthew J. “Multi-scale modeling and analysis via surrogate modeling techniques for in vivo knee loading predictions.” 2014. Web. 28 Feb 2021.
Vancouver:
Adams MJ. Multi-scale modeling and analysis via surrogate modeling techniques for in vivo knee loading predictions. [Internet] [Masters thesis]. Colorado School of Mines; 2014. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/10637.
Council of Science Editors:
Adams MJ. Multi-scale modeling and analysis via surrogate modeling techniques for in vivo knee loading predictions. [Masters Thesis]. Colorado School of Mines; 2014. Available from: http://hdl.handle.net/11124/10637
Colorado School of Mines
18.
Sepp, Lauren Anita.
Running biomechanics for people with a unilateral transtibial amputation using running-specific and daily-use prostheses.
Degree: PhD, Mechanical Engineering, 2019, Colorado School of Mines
URL: http://hdl.handle.net/11124/173991
► 8 in 10 people with an amputation desire to participate in physical activity, yet lack of prosthetic availability and inadequately designed prostheses are the primary…
(more)
▼ 8 in 10 people with an amputation desire to participate in physical activity, yet lack of prosthetic availability and inadequately designed prostheses are the primary barriers for participation in sports and activities. Furthermore, the population of people with an amputation is predicted to more than double by the year 2050. Physical activity is beneficial for physical, social, and emotional health, and is important for maintaining a healthy lifestyle, especially for people who have had an amputation. Running-specific prostheses (RSPs) are designed for running and sprinting due to their large energy storage and return capabilities. However, RSPs are expensive and may not be covered by medical insurance. Therefore, if a person with an amputation wishes to run, they may do so using their daily-use prosthesis (DUP), which is not designed for highly dynamic activities. People with a unilateral transtibial amputation (TTA) have numerous biomechanical differences between the intact and amputated legs, and compared to people without TTA. TTA results in changes in joint kinetics, ground reaction forces, muscular coordination, and internal joint loading, which has been previously observed during walking. However, the effect of amputation together with the effect of prosthesis choice (DUP vs. RSP) and running speed have not been investigated among people with TTA during running. Characterizing the running biomechanics of people with TTA is important for understanding implications of device choice and amputation on outcomes related to overall functionality and long-term injury, which is prevalent for people with TTA. Therefore, the purpose of this work was to characterize the running biomechanics of people with TTA to understand the effect of prosthesis choice (RSP vs. DUP), the presence of an amputation, and running speed on coordination and injury risk. People with and without TTA ran at speeds ranging from 2.5 m/s to 5.0 m/s (10:44 min/mile - 5:21 min/mile) while kinematics, kinetics, and muscle activity were collected. Musculoskeletal models were developed to estimate internal hip joint contact forces. Compared to DUPs, the use of RSPs reduced the amount of compensatory amputated side hip work, increased device energy return, reduced total muscle activity, improved peak muscle activation timing, and reduced bilateral peak hip joint contact forces. Understanding the effects of amputation, prosthesis type, and running speed on metrics related to injury risk for people with TTA is important for informing device selection, providing evidence for medical insurance coverage, and improving long-term joint health outcomes. Outcomes from this research have the potential to improve device availability and ultimately, eliminate barriers for people with TTA to freely participate in running and sporting activities.
Advisors/Committee Members: Silverman, Anne K. (advisor), Bach, Joel M. (committee member), Petrella, Anthony J. (committee member), Krebs, Melissa D. (committee member), Nelson-Wong, Erika (committee member), Baum, Brian S. (committee member).
Subjects/Keywords: biomechanics; running; prosthetics; amputation
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APA (6th Edition):
Sepp, L. A. (2019). Running biomechanics for people with a unilateral transtibial amputation using running-specific and daily-use prostheses. (Doctoral Dissertation). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/173991
Chicago Manual of Style (16th Edition):
Sepp, Lauren Anita. “Running biomechanics for people with a unilateral transtibial amputation using running-specific and daily-use prostheses.” 2019. Doctoral Dissertation, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/173991.
MLA Handbook (7th Edition):
Sepp, Lauren Anita. “Running biomechanics for people with a unilateral transtibial amputation using running-specific and daily-use prostheses.” 2019. Web. 28 Feb 2021.
Vancouver:
Sepp LA. Running biomechanics for people with a unilateral transtibial amputation using running-specific and daily-use prostheses. [Internet] [Doctoral dissertation]. Colorado School of Mines; 2019. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/173991.
Council of Science Editors:
Sepp LA. Running biomechanics for people with a unilateral transtibial amputation using running-specific and daily-use prostheses. [Doctoral Dissertation]. Colorado School of Mines; 2019. Available from: http://hdl.handle.net/11124/173991
Colorado School of Mines
19.
Hegarty, Amy Kathryn.
Biomechanical modeling of gait in children with cerebral palsy.
Degree: PhD, Mechanical Engineering, 2018, Colorado School of Mines
URL: http://hdl.handle.net/11124/172520
► Cerebral palsy, a severe motor disability among children, is a chronic neuromuscular disorder that affects an individual’s ability to control basic motor tasks, posture, and…
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▼ Cerebral palsy, a severe motor disability among children, is a chronic neuromuscular disorder that affects an individual’s ability to control basic motor tasks, posture, and muscle coordination. Children diagnosed with cerebral palsy often have reduced walking ability compared to their typically developing peers, which limits their independence and overall quality of life. Despite early intervention to address anatomical and functional deficits for children with cerebral palsy, some children do not respond to treatment, in part, because the driving musculoskeletal sources of reduced mobility are challenging to identify separate from compensatory muscle action. For example, children with cerebral palsy often walk with a hip compensation strategy; however, how this strategy is related to the child’s self-selected walking speed remains unclear. In addition, tibial torsion, a common bone deformity seen in children with cerebral palsy, results in reduced capacity of lower limb muscles to support the body during gait. However, implications for compensatory gait strategies adopted by children with bone deformities have not yet been explored. Musculoskeletal modeling and simulation is a non-invasive tool used to evaluate muscle forces and functional roles during gait. These tools can be used to identify sources of altered walking patterns and evaluate current physical therapy and surgical procedures. However, the application of musculoskeletal models for children with cerebral palsy remains limited by model assumptions. The purpose of this work was to provide a quantitative analysis of walking in children with cerebral palsy. Both joint and muscle level analyses were completed to evaluate how children with cerebral palsy walk, including how children walk at faster self-selected walking speeds and how children use compensatory gait patterns with lower limb bone deformities. Current assumptions limiting the accuracy and use of musculoskeletal modeling and simulation for children with cerebral palsy were addressed using sensitivity analyses and subject-specific model development. The results from this work provide novel information regarding gait mechanics in children with cerebral palsy and methods that have potential to guide therapy interventions.
Advisors/Committee Members: Silverman, Anne K. (advisor), Diniz Behn, Cecilia (committee member), Petrella, Anthony J. (committee member), Bach, Joel M. (committee member), Kurz, Max J. (committee member).
Subjects/Keywords: muscle function; pathological gait; musculoskeletal simulation; gait dynamics
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APA ·
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MLA ·
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CSE |
Export
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APA (6th Edition):
Hegarty, A. K. (2018). Biomechanical modeling of gait in children with cerebral palsy. (Doctoral Dissertation). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/172520
Chicago Manual of Style (16th Edition):
Hegarty, Amy Kathryn. “Biomechanical modeling of gait in children with cerebral palsy.” 2018. Doctoral Dissertation, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/172520.
MLA Handbook (7th Edition):
Hegarty, Amy Kathryn. “Biomechanical modeling of gait in children with cerebral palsy.” 2018. Web. 28 Feb 2021.
Vancouver:
Hegarty AK. Biomechanical modeling of gait in children with cerebral palsy. [Internet] [Doctoral dissertation]. Colorado School of Mines; 2018. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/172520.
Council of Science Editors:
Hegarty AK. Biomechanical modeling of gait in children with cerebral palsy. [Doctoral Dissertation]. Colorado School of Mines; 2018. Available from: http://hdl.handle.net/11124/172520
Colorado School of Mines
20.
Pickle, Nathaniel Todd.
Dynamic balance and muscle function in individuals with and without unilateral transtibial amputation during sloped walking.
Degree: PhD, Mechanical Engineering, 2016, Colorado School of Mines
URL: http://hdl.handle.net/11124/170227
► Lower-limb amputation results in mobility impairments that adversely affect activities of daily living, such as walking on uphill and downhill slopes. Sloped walking is characterized…
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▼ Lower-limb amputation results in mobility impairments that adversely affect activities of daily living, such as walking on uphill and downhill slopes. Sloped walking is characterized by greater muscular demands and higher risk of slipping compared to level-ground walking, and is more difficult for people with transtibial amputation relative to able-bodied people. The greater difficulty of sloped walking for this population is due at least in part to the lost function of the ankle plantarflexor muscles, which are critical for propelling the body forward and maintaining dynamic balance. Passive prostheses are typically prescribed following amputation, but these devices do not replace the net positive mechanical power generation of the plantarflexors. Alternatively, powered prostheses generate mechanical power using a motorized ankle joint and have been shown to better replicate normative ankle mechanics and reduce the metabolic cost of level-ground walking relative to passive prostheses. However, how the use of powered prostheses affects balance and muscle function in comparison to passive prostheses during sloped walking remains unclear. In addition, while powered prostheses are tuned to provide normative ankle torque and power during walking, they may still result in altered biomechanics at other joints relative to able-bodied people because of compromised function of the biarticular gastrocnemius, an ankle plantarflexor muscle that spans both the knee and ankle. Therefore, the overall purpose of this work was to provide a quantitative analysis of the biomechanical function of powered and passive prostheses as well as their effects on dynamic balance during sloped walking. A variety of methods were used to assess dynamic balance, including whole-body angular momentum, margin of stability, foot placement estimate and capture point. Musculoskeletal modeling and simulation were also used to quantify prosthesis and muscle function during sloped walking. The contributions of the prostheses and individual muscles to mechanical power in the trunk and legs were used to assess the effects of different types of prostheses on muscle compensations and coordination of movement. The results provide an evaluation of the performance of powered and passive prostheses during sloped walking and identify goals for future prosthesis design.
Advisors/Committee Members: Silverman, Anne K. (advisor), Johnson, Kathryn E. (committee member), Celik, Ozkan (committee member), Grabowksi, Alena M. (committee member), Petrella, Anthony J. (committee member), Turner, Cameron J. (committee member).
Record Details
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Record Details
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Pickle, N. T. (2016). Dynamic balance and muscle function in individuals with and without unilateral transtibial amputation during sloped walking. (Doctoral Dissertation). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/170227
Chicago Manual of Style (16th Edition):
Pickle, Nathaniel Todd. “Dynamic balance and muscle function in individuals with and without unilateral transtibial amputation during sloped walking.” 2016. Doctoral Dissertation, Colorado School of Mines. Accessed February 28, 2021.
http://hdl.handle.net/11124/170227.
MLA Handbook (7th Edition):
Pickle, Nathaniel Todd. “Dynamic balance and muscle function in individuals with and without unilateral transtibial amputation during sloped walking.” 2016. Web. 28 Feb 2021.
Vancouver:
Pickle NT. Dynamic balance and muscle function in individuals with and without unilateral transtibial amputation during sloped walking. [Internet] [Doctoral dissertation]. Colorado School of Mines; 2016. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/11124/170227.
Council of Science Editors:
Pickle NT. Dynamic balance and muscle function in individuals with and without unilateral transtibial amputation during sloped walking. [Doctoral Dissertation]. Colorado School of Mines; 2016. Available from: http://hdl.handle.net/11124/170227
. 
Open Access Theses and Dissertations