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Delft University of Technology
1.
van der Planken, Jonathan (author).
Energy-Optimized Toed Walking on Flexible Soles for Humanoids.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:6bc3aacf-a97b-44bc-82f9-e7fc542852ad 
► In this research the role of thick flexible soles in energy-efficient humanoid walking is analyzed. It is hypothesized that, the addition of underactuated degrees of…
(more)
▼ In this research the role of thick flexible soles in energy-efficient humanoid walking is analyzed. It is hypothesized that, the addition of underactuated degrees of freedom under the foot gives the robot the potential to execute a pseudo-passive walking motion 1, which yields a decrease in ankle torque and energy expenditure. Furthermore it is hypothesized that, if these principles are applied to toed gait walking patterns, instead of flat foot walking patterns the decreases will be larger in magnitude. To isolate the effects of adding a sole, a toe joint and both at the same time, four walking types are compared in simulation; flat foot and toed gait walking, both with and without sole. To asses the cases without sole, energy-optimized walking pattern generation is used. For walking on soles, the optimized walking patterns are used as input for a deformation estimator that calculates the sole compression. Simulation results show that the rolling motion of the sole reduces the ankle torque and the energy consumption. The results prove that the reduction effects are especially large for toed gait walking, thereby validating both the hypotheses.
Advisors/Committee Members: Vallery, Heike (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: flexible; Sole; Energy; optimization; gait; generation; humanoid; deformation; estimation; HRP-4; pseudo-passive; passive; walking
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APA (6th Edition):
van der Planken, J. (. (2017). Energy-Optimized Toed Walking on Flexible Soles for Humanoids. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:6bc3aacf-a97b-44bc-82f9-e7fc542852ad
Chicago Manual of Style (16th Edition):
van der Planken, Jonathan (author). “Energy-Optimized Toed Walking on Flexible Soles for Humanoids.” 2017. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:6bc3aacf-a97b-44bc-82f9-e7fc542852ad.
MLA Handbook (7th Edition):
van der Planken, Jonathan (author). “Energy-Optimized Toed Walking on Flexible Soles for Humanoids.” 2017. Web. 26 Jan 2021.
Vancouver:
van der Planken J(. Energy-Optimized Toed Walking on Flexible Soles for Humanoids. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:6bc3aacf-a97b-44bc-82f9-e7fc542852ad.
Council of Science Editors:
van der Planken J(. Energy-Optimized Toed Walking on Flexible Soles for Humanoids. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:6bc3aacf-a97b-44bc-82f9-e7fc542852ad
Delft University of Technology
2.
van Lohuijzen, Michiel (author).
Towards incremental kinesthetic teaching of bipedal walking.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:08c3139b-bd0b-40f5-93c2-877e1b14b24a
► The large dimensionality of walking motions is a challenge for robot learning. The human seems designated to assist in this learning process, because of their…
(more)
▼ The large dimensionality of walking motions is a challenge for robot learning. The human seems designated to assist in this learning process, because of their aptness in walking. This paper presents a step in the investigation how a human can teach a robot a walking-like motion using incremental kinesthetic teaching. This approach lets the human evaluate and correct the teaching actions during robot learning. A state-dependent tracking method is designed, which allows for spatio-temporal variations of the trajectory during the teaching process. A model-free iterative learning control method identifies a torque trajectory for accurate reference tracking even with low-impedance feedback control. The human teacher switches between iterative learning control and incremental kinesthetic demonstrations with a button press. To investigate the teaching performance of the human, a metric is introduced representing the error between a predefined target trajectory and the reference trajectory as taught to the robot. Experiments with one leg of the TUlip humanoid robot show accurate tracking performance of the iterative learning controller. They identify an optimal learning rate of the incremental kinesthetic teaching algorithm with respect to the teaching performance of a human subject. However, unintuitive indication of demonstration periods decreases the teaching performance, such that a significant error between the target and the taught reference trajectory still exists. Future work should focus on a more intuitive interface to teach whole body motions more accurately.
Advisors/Committee Members: Vallery, Heike (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: Kinesthetic Teaching; Iterative Learning Control; Bipedal Walking; Learning from Demonstrations; Learning by Imitation; Robots
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APA (6th Edition):
van Lohuijzen, M. (. (2017). Towards incremental kinesthetic teaching of bipedal walking. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:08c3139b-bd0b-40f5-93c2-877e1b14b24a
Chicago Manual of Style (16th Edition):
van Lohuijzen, Michiel (author). “Towards incremental kinesthetic teaching of bipedal walking.” 2017. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:08c3139b-bd0b-40f5-93c2-877e1b14b24a.
MLA Handbook (7th Edition):
van Lohuijzen, Michiel (author). “Towards incremental kinesthetic teaching of bipedal walking.” 2017. Web. 26 Jan 2021.
Vancouver:
van Lohuijzen M(. Towards incremental kinesthetic teaching of bipedal walking. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:08c3139b-bd0b-40f5-93c2-877e1b14b24a.
Council of Science Editors:
van Lohuijzen M(. Towards incremental kinesthetic teaching of bipedal walking. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:08c3139b-bd0b-40f5-93c2-877e1b14b24a
Delft University of Technology
3.
Krämer, Koen (author).
Control of a quadrupedal manipulator using hierarchical inverse dynamics.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:f19083e3-e03f-4142-84f2-5df10b141f25
► Currently the prevalence of general purpose mobile robots with manipulation capabilities is still low, despite various applications of such systems such as: disaster response, payload…
(more)
▼ Currently the prevalence of general purpose mobile robots with manipulation capabilities is still low, despite various applications of such systems such as: disaster response, payload delivery, and assistive/service tasks. A suitable design for such a robot would be that of a torque-controllable quadrupedal manipulator. Its capability for legged locomotion enables high mobility, specifically on rough terrain, while its quadrupedal morphology provides a relatively large and stable base of support compared to bipedal robots. Torque-controlled joints allow for safer and more controllable interaction with the environment. For such a system a challenge lies in the design of a controller that actually achieves the promising capabilities for locomotion and manipulation that the mechanical system offers. One of the currently most promising control frameworks for this purpose is that of hierarchical inverse dynamics. This real-time whole-body control framework allows for dynamic whole-body motions and compliant interaction with the environment while enforcing a strict priority between the desired control tasks. Although promising results have previously been attained with such controllers, it has not yet been applied for the control of a quadrupedal manipulator. The focus of this thesis is on the implementation of a hierarchical inverse dynamics controller for the control of a simulated quadrupedal manipulator, with a particular focus on the design of prioritized sets of control tasks which generate forms of stationary whole-body manipulation. First a basic set of prioritized control tasks is presented, which is shown to satisfy the robot's most crucial control requirements. Subsequently three extended sets of control tasks are presented, which result in additional desirable emergent behavior of the robot. The first one of these depends on the inclusion of kinematic joint limit tasks to prevent kinematic singularities and self-collision, and to trigger whole-body reaching motion. Secondly a set of tasks is presented which is focused on utilizing motion of some of the torso's degrees of freedom to optimize the arm's posture according to a posture-related cost function. Thirdly a set of tasks is presented which enables contact force control at the end-effector for force-based manipulation. In addition to this final set of tasks, a higher-level controller is presented which detects external forces acting on the robot and computes a desired shift of the position of the robot's center of mass in order to mitigate the balance-disturbing effects of external forces. All of the presented sets of tasks do not exclude each other and allow to be implemented simultaneously in order to combine the individual benefits that they offer. The results of this research project show that hierarchical inverse dynamics control can be successfully applied for the control of a simulated torque-controllable quadrupedal manipulator. Moreover, it is shown that well-designed sets of prioritized control tasks allow for emergent…
Advisors/Committee Members: Bharatheesha, Mukunda (mentor), Vallery, Heike (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Whole-body Control; Hierarchical Inverse Dynamics; Mobile Manipulation
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APA (6th Edition):
Krämer, K. (. (2018). Control of a quadrupedal manipulator using hierarchical inverse dynamics. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:f19083e3-e03f-4142-84f2-5df10b141f25
Chicago Manual of Style (16th Edition):
Krämer, Koen (author). “Control of a quadrupedal manipulator using hierarchical inverse dynamics.” 2018. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:f19083e3-e03f-4142-84f2-5df10b141f25.
MLA Handbook (7th Edition):
Krämer, Koen (author). “Control of a quadrupedal manipulator using hierarchical inverse dynamics.” 2018. Web. 26 Jan 2021.
Vancouver:
Krämer K(. Control of a quadrupedal manipulator using hierarchical inverse dynamics. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:f19083e3-e03f-4142-84f2-5df10b141f25.
Council of Science Editors:
Krämer K(. Control of a quadrupedal manipulator using hierarchical inverse dynamics. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:f19083e3-e03f-4142-84f2-5df10b141f25
Delft University of Technology
4.
Rachmat Akbar, Alfian (author).
Modeling and Control of Novel Tensegrity Joint Based on TCPM: Simulation and Trajectory Tracking Using MPC.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:06d79412-c8cb-4a22-a68f-f932eb8cda57
► This thesis presents modeling and control of novel tensegrity joint based on Twisted and Coiled Polymer Muscle (TCPM) that is biologically inspired by the human…
(more)
▼ This thesis presents modeling and control of novel tensegrity joint based on Twisted and Coiled Polymer Muscle (TCPM) that is biologically inspired by the human elbow. The tensegrity principle that is used to construct this joint has made it structurally compliance. Therefore, this joint can be categorized as a compliance actuator. The modeling is performed by constraining the joint movement to 2 Degree of Freedom (DoF). As a result, the joint kinematics and dynamics can be simplified and approximated as rigid body movement. To actuate the joint, the length of the TCPMs can be controlled individually by Joule heating. This joint can be seen as a MIMO system subject to multiple constraints. These constraints are imposed by the TCPM and used to prevent the joint from failure during actuation. Model Predictive Control (MPC) is designed to control the joint movement. This controller is suitable to handle a multivariable system subject to constraints. MPC controller based on linearized model and Hammerstein-Wiener model are designed and their performance on controlling the joint is compared. Finally, trajectory tracking simulation with various cases is provided to assess the controller performance.
Systems and Control
Advisors/Committee Members: Vallery, Heike (mentor), van den Boom, Ton (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: MPC; Hammerstein-Wiener; TCPM; Artificial Muscle
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APA (6th Edition):
Rachmat Akbar, A. (. (2018). Modeling and Control of Novel Tensegrity Joint Based on TCPM: Simulation and Trajectory Tracking Using MPC. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:06d79412-c8cb-4a22-a68f-f932eb8cda57
Chicago Manual of Style (16th Edition):
Rachmat Akbar, Alfian (author). “Modeling and Control of Novel Tensegrity Joint Based on TCPM: Simulation and Trajectory Tracking Using MPC.” 2018. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:06d79412-c8cb-4a22-a68f-f932eb8cda57.
MLA Handbook (7th Edition):
Rachmat Akbar, Alfian (author). “Modeling and Control of Novel Tensegrity Joint Based on TCPM: Simulation and Trajectory Tracking Using MPC.” 2018. Web. 26 Jan 2021.
Vancouver:
Rachmat Akbar A(. Modeling and Control of Novel Tensegrity Joint Based on TCPM: Simulation and Trajectory Tracking Using MPC. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:06d79412-c8cb-4a22-a68f-f932eb8cda57.
Council of Science Editors:
Rachmat Akbar A(. Modeling and Control of Novel Tensegrity Joint Based on TCPM: Simulation and Trajectory Tracking Using MPC. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:06d79412-c8cb-4a22-a68f-f932eb8cda57
Delft University of Technology
5.
Prasanth, Hari (author).
A robust real-time gait detection method for spinal cord injury rehabilitation.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:dac63eee-9215-4f57-b67a-901357d1044d
► In a recent first-in-human clinical study, a therapy based on targeted epidural electrical stimulation together with body weight support has been validated to restore voluntary…
(more)
▼ In a recent first-in-human clinical study, a therapy based on targeted epidural electrical stimulation together with body weight support has been validated to restore voluntary locomotion in chronically paralyzed subjects with Spinal Cord Injury (SCI). However, the system is currently open-loop controlled, meaning that the stimulation pattern cannot be influenced by the patient. Introducing closed-loop control with real-timemotion feedback is expected to improve activity-based plasticity and thereby the therapy, to which this thesis will be contributing. To be specific, this thesis investigates the possibility of a robust real-time gait event detection method for SCI patients, to be used to synchronize the stimulation to movement in real-time. The gait of SCI patients deviates remarkably from the gait of a healthy subject. We identified several factors contributing to the deviation and studied them separately. Datasets were created by mimicking various walking scenarios observed from video references of patients from the ongoing clinical study. A robust real-time gait detection method with three variations of it – one using zero crossings of angular velocity in sagittal plane, another using high frequency contents extracted using wavelet transform and a third using additional trunk kinematics - is proposed and tested in this study with IMU signals from foot, shank and trunk. The results were promising when tested on themimicked datasets and was then tested on the limited patients available. For patient with motor incomplete paralysis (AIS-D), the method seemingly identified events correctly 9 out of 10 times both for TO and HS detection. The performance dropped noticeably for TO detection (to around an F1 score of 0.24) for motor complete patient (AIS-B) while still maintaining the HS detection performance (at around an F1 score of 0.83). We conclude that patient-group-specific strategies might be necessary and that motor complete patients may require additional motion intention recognition strategies. In addition to this, a method to emulate IMU signals from motion capture datasets when limited number of markers are used, is also presented in this study, so as to be able to convert the already existing motion capture datasets to IMU datasets, and to time-synchronize these datasets explicitly when they are collected using independent sensors. Correlation values as high as 0.977 were observed between the emulated IMU signals (sagittal plane angular velocity) and that of the actual IMU signals.
Mechanical Engineering
Advisors/Committee Members: Vallery, Heike (mentor), von Zitzewitz, Joachim (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: real-time; gait detection; spinal cord injury; EES; IMU; emulation; neurostimulator; Systematic review; paralysis
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APA (6th Edition):
Prasanth, H. (. (2019). A robust real-time gait detection method for spinal cord injury rehabilitation. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:dac63eee-9215-4f57-b67a-901357d1044d
Chicago Manual of Style (16th Edition):
Prasanth, Hari (author). “A robust real-time gait detection method for spinal cord injury rehabilitation.” 2019. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:dac63eee-9215-4f57-b67a-901357d1044d.
MLA Handbook (7th Edition):
Prasanth, Hari (author). “A robust real-time gait detection method for spinal cord injury rehabilitation.” 2019. Web. 26 Jan 2021.
Vancouver:
Prasanth H(. A robust real-time gait detection method for spinal cord injury rehabilitation. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:dac63eee-9215-4f57-b67a-901357d1044d.
Council of Science Editors:
Prasanth H(. A robust real-time gait detection method for spinal cord injury rehabilitation. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:dac63eee-9215-4f57-b67a-901357d1044d
Delft University of Technology
6.
Röling, Marloes (author).
Effect of series versus parallel electrical configuration on self-sensing in a structure of twisted and coiled polymer muscles.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:4e108ea7-5a78-4ebf-a042-5de859e5fbd1
► The Twisted and Coiled Polymer Muscle (TCPM) is a new, light weight compliant actuator that is easy and inexpensive to produce. As a result there…
(more)
▼ The Twisted and Coiled Polymer Muscle (TCPM) is a new, light weight compliant actuator that is easy and inexpensive to produce. As a result there is a growing body of research, with the goal of implementation of the TCPM. Our research combines two existing fields: 1. Self-sensing, eliminating the need for an external force and displacement sensor. 2. Structures of multiple TCPMs. This research compares the effect of a series versus parallel electrical configuration on self-sensing in Joule heated TCPMs. Experiments show that both series and parallel connection are fit for self-sensing. Relative errors in series configuration are 6.7% 6.9% and 5.1% for respectively strain, temperature and force. Relative errors in parallel configuration are 8.3% 10.4% and 7.8%. These data show series configuration performs better on self-sensing accuracy. This is due to the 2-3dB difference in signal to noise ratio, in favour of series. In addition good repeatability was found in the mechanical behaviour of the TCPMs, with a variance in the spring constant that is smaller than 10% for all cases. This research therefore demonstrates good repeatability as well as accurate self-sensing in a structure in favour of a series electrical configuration.
Advisors/Committee Members: van der Weijde, Joost (mentor), Vallery, Heike (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: electrical configuration; twisted and coiled polymer muscle; self-sensing
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APA ·
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APA (6th Edition):
Röling, M. (. (2017). Effect of series versus parallel electrical configuration on self-sensing in a structure of twisted and coiled polymer muscles. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:4e108ea7-5a78-4ebf-a042-5de859e5fbd1
Chicago Manual of Style (16th Edition):
Röling, Marloes (author). “Effect of series versus parallel electrical configuration on self-sensing in a structure of twisted and coiled polymer muscles.” 2017. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:4e108ea7-5a78-4ebf-a042-5de859e5fbd1.
MLA Handbook (7th Edition):
Röling, Marloes (author). “Effect of series versus parallel electrical configuration on self-sensing in a structure of twisted and coiled polymer muscles.” 2017. Web. 26 Jan 2021.
Vancouver:
Röling M(. Effect of series versus parallel electrical configuration on self-sensing in a structure of twisted and coiled polymer muscles. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:4e108ea7-5a78-4ebf-a042-5de859e5fbd1.
Council of Science Editors:
Röling M(. Effect of series versus parallel electrical configuration on self-sensing in a structure of twisted and coiled polymer muscles. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:4e108ea7-5a78-4ebf-a042-5de859e5fbd1
Delft University of Technology
7.
Valk, Laurens (author).
Distributed Control of Underactuated and Heterogeneous Mechanical Systems: Using Passivity-Based Control by Interconnection and Damping Assignment as a Tool for Distributed Control Design and Human-Machine Interaction.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:f689e074-d744-4f63-865e-3c59a7e69dfd
► Passivity-based control is a well-established technique for coordinating groups of fully-actuated systems, but existing methods for underactuated systems are limited to groups of homogeneous systems,…
(more)
▼ Passivity-based control is a well-established technique for coordinating groups of fully-actuated systems, but existing methods for underactuated systems are limited to groups of homogeneous systems, coordinate synchronization tasks, and to specific applications. We propose a generic distributed control method that enables heterogeneous groups of underactuated and fully-actuated mechanical systems to cooperatively assume desired task-space formations, with or without leaders with constant task-space references. Extending the method of passivity-based control by interconnection and damping assignment (IDA-PBC) to distributed networks of mechanical systems, we derive matching conditions and control laws to achieve the desired stable group behavior. For a suitable choice of virtual coupling forces between the systems in the task space, we can decouple the matching conditions into three conditions local to each agent, independent of the topology of the undirected and connected network. If these local conditions are satisfied, we show how existing single-system IDA-PBC solutions can be used to construct distributed control laws, thereby enabling distributed control design for a large class of applications. By shaping the input-output behavior of a system in addition to shaping its total energy, we also show how human operators can interact with groups of underactuated mechanical systems using the proposed distributed control scheme. The procedure is illustrated using simulation studies of networks of unmanned aerial vehicles that can assume formations and dock with underactuated flexible-joint manipulators.
Systems and Control
Advisors/Committee Members: Keviczky, Tamas (mentor), Vallery, Heike (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: Passivity-Based Control; Distributed Control; Mechanical Systems; Underactuated Systems; Human-Machine Interaction
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APA ·
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Manager
APA (6th Edition):
Valk, L. (. (2018). Distributed Control of Underactuated and Heterogeneous Mechanical Systems: Using Passivity-Based Control by Interconnection and Damping Assignment as a Tool for Distributed Control Design and Human-Machine Interaction. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:f689e074-d744-4f63-865e-3c59a7e69dfd
Chicago Manual of Style (16th Edition):
Valk, Laurens (author). “Distributed Control of Underactuated and Heterogeneous Mechanical Systems: Using Passivity-Based Control by Interconnection and Damping Assignment as a Tool for Distributed Control Design and Human-Machine Interaction.” 2018. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:f689e074-d744-4f63-865e-3c59a7e69dfd.
MLA Handbook (7th Edition):
Valk, Laurens (author). “Distributed Control of Underactuated and Heterogeneous Mechanical Systems: Using Passivity-Based Control by Interconnection and Damping Assignment as a Tool for Distributed Control Design and Human-Machine Interaction.” 2018. Web. 26 Jan 2021.
Vancouver:
Valk L(. Distributed Control of Underactuated and Heterogeneous Mechanical Systems: Using Passivity-Based Control by Interconnection and Damping Assignment as a Tool for Distributed Control Design and Human-Machine Interaction. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:f689e074-d744-4f63-865e-3c59a7e69dfd.
Council of Science Editors:
Valk L(. Distributed Control of Underactuated and Heterogeneous Mechanical Systems: Using Passivity-Based Control by Interconnection and Damping Assignment as a Tool for Distributed Control Design and Human-Machine Interaction. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:f689e074-d744-4f63-865e-3c59a7e69dfd
Delft University of Technology
8.
Fopma, Nathan (author).
Influence of Vertical and Lateral Bodyweight-Support Forces on Lateral Balance.
Degree: 2020, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:0c670fdc-8c6e-4c78-b96d-dc65b6b69d9f
► Bodyweight-supported gait training enables functional and task-specific training of walking shortly after a neurological injury. After a neurological injury, individuals have to relearn their active…
(more)
▼ Bodyweight-supported gait training enables functional and task-specific training of walking shortly after a neurological injury. After a neurological injury, individuals have to relearn their active control of lateral balance to avoid falling. However, bodyweight-support forces seem to influence the dynamics of lateral balance. Existing literature does not sufficiently explain the interplay between bodyweight support and lateral balance, and conflicting results have been reported. One possible explanation of the inconsistent results is the concurrent application of vertical unloading and lateral support forces. This manner of force application is inherent to the mechanics of most bodyweight-support systems. This experiment aims to study the independent effect of vertical and lateral bodyweight-support forces on lateral balance. A RYSEN (Motek Medical B.V., Amsterdam, The Netherlands) bodyweight-support system was used, which allows the independent control of vertical unloading and lateral support forces. Fifteen participants walked overground in six different unloading conditions of the RYSEN. In the first part of the experiment, the vertical unloading force was increased, while no active lateral support forces were applied. In the second part of the experiment, the vertical unloading force was kept at a constant value, while the lateral support forces were changed. Gait characteristics related to lateral balance were extracted from motion capture and force plate data. Increasing the vertical unloading had a significant effect on the step width, center of mass displacement and velocity, margin of stability, foot progression angle, and the relative time spent in the double support phase. An analysis that used the equations of motion for human walking revealed that the contribution of the foot-placement and ankle strategy to the mediolateral ground reaction force decreased due to unloading. This decrease may have been caused by an increased use of the counter-rotation strategy to control lateral balance. However, further analysis showed how the lateral alignment of the body weight support force with the center of mass biased this analysis. Lateral support showed much less effects than expected from literature. This seemed to be caused by the lateral support conditions producing too similar support forces.
Biomechanical Design
Advisors/Committee Members: Vallery, Heike (mentor), Berry, Andrew (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: Bodyweight SUpport; Bodyweight Unloading; Lateral Balance; Frontal Plane Balance; Balance Strategies
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APA (6th Edition):
Fopma, N. (. (2020). Influence of Vertical and Lateral Bodyweight-Support Forces on Lateral Balance. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:0c670fdc-8c6e-4c78-b96d-dc65b6b69d9f
Chicago Manual of Style (16th Edition):
Fopma, Nathan (author). “Influence of Vertical and Lateral Bodyweight-Support Forces on Lateral Balance.” 2020. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:0c670fdc-8c6e-4c78-b96d-dc65b6b69d9f.
MLA Handbook (7th Edition):
Fopma, Nathan (author). “Influence of Vertical and Lateral Bodyweight-Support Forces on Lateral Balance.” 2020. Web. 26 Jan 2021.
Vancouver:
Fopma N(. Influence of Vertical and Lateral Bodyweight-Support Forces on Lateral Balance. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:0c670fdc-8c6e-4c78-b96d-dc65b6b69d9f.
Council of Science Editors:
Fopma N(. Influence of Vertical and Lateral Bodyweight-Support Forces on Lateral Balance. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:0c670fdc-8c6e-4c78-b96d-dc65b6b69d9f
Delft University of Technology
9.
Zelvyte, Aureja (author).
Characterization and Modeling of a Bioinspired Artificial Muscle Structure made of Twisted and Coiled Polymer Actuators.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:072f09c0-ca51-48ba-8bb6-cf082fcf817f
► Twisted and Coiled Polymer Actuators (TCPAs) are a new type of thermally driven fiber artificial muscles with many attractive advantages, including high power-to-weight ratio, large…
(more)
▼ Twisted and Coiled Polymer Actuators (TCPAs) are a new type of thermally driven fiber artificial muscles with many attractive advantages, including high power-to-weight ratio, large contractions, lightweight, and low cost. However, one drawback is a low force that one TCPA can generate. To fully implement TCPAs in robotic systems, TCPAs must be combined into larger structures to achieve higher forces. A common force amplification strategy, arranging actuators in parallel, can lead to bulky structures, especially for TCPAs. This design strategy differs from that in nature. Nature arranges muscle fibers in angular orientation, which is a space-saving strategy, to build powerful muscles in a slender muscle-like form factor. Subsequently, control of TCPA structures requires a model. Closely packing multiple TCPAs potentially introduces a thermal interaction between the TCPA fibers in a structure that could affect their force production. This work investigates whether the behavior of a bioinspired TCPA structure can be predicted given a force model of single TCPA fiber. To that end, this work studies the influence of the neighboring thermal effects between TCPAs. The Joule-heated TCPAs were modeled using a Standard Linear Solid model in combination with a proportional contribution by temperature. Experiments were conducted to determine the influence of neighboring effects, by varying (1) the distance between fibers and (2) the number of fibers. Planar structures composed of up to 8 TCPAs were experimentally investigated. The scaled and geometrically-translated Joule-heated TCPA force model was used to compare the mechanical behavior of structures with different conditions. The tested structures showed no notable difference in force measurements. It was concluded that the varied number of fibers and the distance between fibers in the TCPA structures did not affect force production of individual TCPA fibers, meaning that neighboring effects can be neglected. When heated, however, the thermodynamics of the structures could not be predicted by the TCPA force model, which was estimated in a separate experiment. Adaptations to convection coefficient in the TCPA force model resulted in sufficient prediction of the TCPA structures. The difference in model convection coefficient between experiments highlighted the TCPAs' sensitivity to conditions in the working environment. It was suggested that the TCPA structures up to 8 fibers could be adequately predicted given TCPA force model estimated under the exactly same ambient conditions as used in the structure. This work provides the basis for TCPA structure modeling to promote the use of TCPAs in the wider force range robotic applications.
Advisors/Committee Members: Vallery, Heike (mentor), van der Weijde, Joost (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: Polymer Actuator; Artificial Muscle Structure; Bio-inspired
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APA (6th Edition):
Zelvyte, A. (. (2018). Characterization and Modeling of a Bioinspired Artificial Muscle Structure made of Twisted and Coiled Polymer Actuators. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:072f09c0-ca51-48ba-8bb6-cf082fcf817f
Chicago Manual of Style (16th Edition):
Zelvyte, Aureja (author). “Characterization and Modeling of a Bioinspired Artificial Muscle Structure made of Twisted and Coiled Polymer Actuators.” 2018. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:072f09c0-ca51-48ba-8bb6-cf082fcf817f.
MLA Handbook (7th Edition):
Zelvyte, Aureja (author). “Characterization and Modeling of a Bioinspired Artificial Muscle Structure made of Twisted and Coiled Polymer Actuators.” 2018. Web. 26 Jan 2021.
Vancouver:
Zelvyte A(. Characterization and Modeling of a Bioinspired Artificial Muscle Structure made of Twisted and Coiled Polymer Actuators. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:072f09c0-ca51-48ba-8bb6-cf082fcf817f.
Council of Science Editors:
Zelvyte A(. Characterization and Modeling of a Bioinspired Artificial Muscle Structure made of Twisted and Coiled Polymer Actuators. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:072f09c0-ca51-48ba-8bb6-cf082fcf817f
Delft University of Technology
10.
van den Broek, Maarten (author).
Fast Self-Stable Planar Bipedal Running.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:3b31bc33-1f67-4fda-85db-5dace4835bcf
► Bipedal running gaits may be self-stable if they rely on the intrinsic system dynamics to attenuate deviations. This use of passive dynamics for gait stability…
(more)
▼ Bipedal running gaits may be self-stable if they rely on the intrinsic system dynamics to attenuate deviations. This use of passive dynamics for gait stability has been observed in biological running and applied for running robotics, supported with the results of numerical simulations. It is an important aspect of the development of fast and agile legged robotic locomotion over complex terrain. One part of running stability, trunk stabilization, can be described using a virtual pendulum model. We believe such a metacentric model may be applied in robotic design to achieve passive stabilization of body pitch for fast bipedal running. In this study, we test metacentric models for self-stabilization of body pitch in bipedal running and evaluate the effects of running speed, design parameter variations, and control strategies. We extract data from experiments with the Planar Elliptical Runner and compare these with a planar spring-loaded inverted pendulum model with a trunk (TSLIP). We find passive self-stable gaits in the TSLIP model with the centre of mass below the hip. These gaits demonstrate robustness to disturbances and do not require inertial measurements or high-gain feedback control. At high velocities, foot placement and choice of leg stiffness become less critical for gait stability. Data from experiments with the Planar Elliptical Runner support the findings from the model behaviour as it runs reliably, with passively stable body pitch, and without feedback control. A metacentric model, such as the virtual pendulum model, may explain the observed passive body-pitch stabilization. Evidence from the model ground reaction forces suggests that pitch stability for the Planar Elliptical Runner can also be explained with a metacentric model. Stability in height and velocity can be explained with the compliant leg behaviour in stance. Constructing a metacentre through mechanical design is beneficial to intrinsic body-pitch stability and subsequently facilitates full gait self-stability in fast running robotics. Implicit feedback allows off-loading of high-gain feedback control onto the system mechanical design, thus contributing to developments for fast legged locomotion over rough terrain.
Advisors/Committee Members: Vallery, Heike (mentor), Pratt, Jerry (mentor), Griffin, Robert (mentor), Wisse, Martijn (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: fast bipedal running; robotic locomotion; self-stability; robustness; running gaits; spring-mass model
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APA (6th Edition):
van den Broek, M. (. (2019). Fast Self-Stable Planar Bipedal Running. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:3b31bc33-1f67-4fda-85db-5dace4835bcf
Chicago Manual of Style (16th Edition):
van den Broek, Maarten (author). “Fast Self-Stable Planar Bipedal Running.” 2019. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:3b31bc33-1f67-4fda-85db-5dace4835bcf.
MLA Handbook (7th Edition):
van den Broek, Maarten (author). “Fast Self-Stable Planar Bipedal Running.” 2019. Web. 26 Jan 2021.
Vancouver:
van den Broek M(. Fast Self-Stable Planar Bipedal Running. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:3b31bc33-1f67-4fda-85db-5dace4835bcf.
Council of Science Editors:
van den Broek M(. Fast Self-Stable Planar Bipedal Running. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:3b31bc33-1f67-4fda-85db-5dace4835bcf
Delft University of Technology
11.
Filius, Suzanne (author).
Non steady-state prediction of the instantaneous metabolic energy expenditure in pathological gait: an exploratory study.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:da503201-95b8-41fe-99b9-58d227bd73be
► BACKGROUND - In a variety of patients with locomotive disorders gait efficiency is often assessed using mobile metabolic gas analysis during rehabilitative interventions. Conventionally, these…
(more)
▼ BACKGROUND - In a variety of patients with locomotive disorders gait efficiency is often assessed using mobile metabolic gas analysis during rehabilitative interventions. Conventionally, these measurements take 6 minutes per evaluated condition (e.g. with/without ankle-foot-orthosis; AFO). This duration is required since there is a dynamical delay between the instantaneous metabolic energy expenditure (ImEE), and the respiratory response measured at the mouth. Moreover, the breath-by-breath data is sparely sampled and noisy. Gait efficiency is therefore computed from an averaged (i.e. of 1-3 minutes) respiratory response during a steady-state metabolism (i.e. reached after 3-4 minutes). This is time consuming and can be exhausting for patients with severe gait impairments. In up-coming human-in-the-loop techniques, fast (2-3 minutes) predictions of the ImEE are made using an Instantaneous Cost Mapping (ICM) model. The ICM is based on a first-order response with a known time constant (τ) to a change in an external load (e.g. another walking speed). The τ is either identified on a subject-specific basis or set to a fixed average time constant already identified for healthy adults (42s; Selinger & Donelan, 2014). It is unknown whether this technique could be applied in patient populations with additional gait impairments. When applicable, the ICM model could speed-up the assessment of the gait efficiency and open ways to make human-in-the-loop protocols feasible device optimization (e.g. AFO tuning) in rehabilitation. AIM - This study investigates whether the subject-specific and/or general ICM model could reduce the required measurement duration in a variety of patients that cope with gait impairments as consequence of a neurology or neuromuscular disease. Secondarily, it explores whether there are differences in the identified subject-specific τ among the pathologies.METHODS - Post hoc metabolic data, recorded in the period of 2006 to 2019 within the Amsterdam
University Medical Centers (UMC) was collected, containing walking trials of patients with Multiple Sclerosis, Cerebral Palsy, several neuromuscular disorders, healthy adults and typically developing children. The ICM model was tested for the subject-specific and general τ to estimate the ImEE. First, using full measurement durations and later the identified reduced measurement durations. The model outcome was assessed for individually correctness. RESULTS - Results show (n = 28) that the ICM model correctly estimates the ImEE using the total conventional measurement duration (subject-specific: 96%; general: 89% individually correctness). For the identified reduced measure duration (subject-specific: 2m33s; general: 3m:04s) reduced the individually correctness to 57%. No differences among the groups were found for the subject-specific τ and the average (τ = 41.7s ± 13.5s) was similar to the reported τ for healthy adults. CONCLUSIONS - Based on the results, it can be concluded that the ICM model show similar results to healthy adults from literature. This…
Advisors/Committee Members: Harlaar, Jaap (mentor), Dodou, Dimitra (graduation committee), Vallery, Heike (graduation committee), de Winter, Joost (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: human-in-the-loop; instantaneous-cost-mapping; wearable device optimization; metabolic gas analysis; non-steady-state prediction; gait impairments
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APA ·
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MLA ·
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Export
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Manager
APA (6th Edition):
Filius, S. (. (2019). Non steady-state prediction of the instantaneous metabolic energy expenditure in pathological gait: an exploratory study. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:da503201-95b8-41fe-99b9-58d227bd73be
Chicago Manual of Style (16th Edition):
Filius, Suzanne (author). “Non steady-state prediction of the instantaneous metabolic energy expenditure in pathological gait: an exploratory study.” 2019. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:da503201-95b8-41fe-99b9-58d227bd73be.
MLA Handbook (7th Edition):
Filius, Suzanne (author). “Non steady-state prediction of the instantaneous metabolic energy expenditure in pathological gait: an exploratory study.” 2019. Web. 26 Jan 2021.
Vancouver:
Filius S(. Non steady-state prediction of the instantaneous metabolic energy expenditure in pathological gait: an exploratory study. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:da503201-95b8-41fe-99b9-58d227bd73be.
Council of Science Editors:
Filius S(. Non steady-state prediction of the instantaneous metabolic energy expenditure in pathological gait: an exploratory study. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:da503201-95b8-41fe-99b9-58d227bd73be
Delft University of Technology
12.
Song, Jaeyong (author).
Evaluation of Force Controllers for a Gravity-Compensating Upper Limb Soft Exoskeleton.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:59eeef4f-2d26-4c90-9cde-2429af0c2ec5
► For assistive exoskeletons, researchers have introduced soft exoskeletons (exosuits) because they tend to be lightweight, easily worn and mobile for daily use. However, most existing…
(more)
▼ For assistive exoskeletons, researchers have introduced soft exoskeletons (exosuits) because they tend to be lightweight, easily worn and mobile for daily use. However, most existing devices have not introduced closed-loop control methods that users can intuitively learn and use during activities of daily living. The goal of this pilot study is to design and test adequate controllers on the shoulder exosuit for the main study with human trials. In this paper, three controllers, namely a direct force (DF) controller, a direct force controller with a friction compensation (DFF) and an indirect force (IF) admittance controller, are introduced and tested for their feasibility and performance on the exosuit on a human. The controllers were initially tested on the test bench and the DF and IF controllers were selected and compared to a no-controller condition as a pilot study on the exosuit with four participants. Three different conditions did not show significant difference in tracking error, smoothness and bandwidth in arm elevation. However, the IF controller showed better performance in force than the DF controller for the tracking error of 2.95±0.15N (mean±standard deviation) and 9.34±2.99N, and for the smoothness of movements (SPectral ARC length) of -4.70±0.61 and -7.07±0.89, respectively. The force error between reference and measured force noticeably increased from 0.5Hz of elevation movements which is similar to their force bandwidth of 0.55Hz for the IF controller and 0.4Hz for the DF controller. Despite the fact that the obtained results may not suffice to verify that the controllers provide sufficient assistance to a user, the indirect force admittance controller with the given experiment procedure shows promising results and performance with the exosuit which can later be used for further studies and human trials.
BioMedical Engineering
Advisors/Committee Members: Vallery, Heike (mentor), Georgarakis, Anna-Maria (mentor), Xiloyannis, Michele (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Upper limb exoskeleton; soft exoskeleton; exosuit; robot-assisted; activities of daily living; Cable-driven; Controller Design; Admittance control
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APA ·
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APA (6th Edition):
Song, J. (. (2019). Evaluation of Force Controllers for a Gravity-Compensating Upper Limb Soft Exoskeleton. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:59eeef4f-2d26-4c90-9cde-2429af0c2ec5
Chicago Manual of Style (16th Edition):
Song, Jaeyong (author). “Evaluation of Force Controllers for a Gravity-Compensating Upper Limb Soft Exoskeleton.” 2019. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:59eeef4f-2d26-4c90-9cde-2429af0c2ec5.
MLA Handbook (7th Edition):
Song, Jaeyong (author). “Evaluation of Force Controllers for a Gravity-Compensating Upper Limb Soft Exoskeleton.” 2019. Web. 26 Jan 2021.
Vancouver:
Song J(. Evaluation of Force Controllers for a Gravity-Compensating Upper Limb Soft Exoskeleton. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:59eeef4f-2d26-4c90-9cde-2429af0c2ec5.
Council of Science Editors:
Song J(. Evaluation of Force Controllers for a Gravity-Compensating Upper Limb Soft Exoskeleton. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:59eeef4f-2d26-4c90-9cde-2429af0c2ec5
Delft University of Technology
13.
van den Bos, Pepijn (author).
Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6
► With the decrease in sensor and actuator costs decentralized control strategies have become increasingly attractive, aiming to use multiple simpler robots for achieving a global…
(more)
▼ With the decrease in sensor and actuator costs decentralized control strategies have become increasingly attractive, aiming to use multiple simpler robots for achieving a global objective. The problem of reaching the global objective generally results in a consensus problem requiring communication amongst the agents. The cooperative manipulation problem, where a payload is manipulated using multiple robots, poses an attractive alternative: By using the payload's motion as the means of communication, the agents can reach consensus without using explicit communication. The advantage being that no additional bandwidth is required as the number of participating agents increases and all to all communication is effectively achieved. Whereas previous works considered only the translation dynamics this thesis work considers the use of the full rigid body motion as a means of communication, such that the agents reach consensus on the desired wrench and the payload is stabilized at any desired configuration. As a possible application the towing of a payload by multiple UAV via cables is considered. This brings the additional challenge of underactuation from the perspective of each agent, since only forces can be used to control the full payload's motion. The result is a decentralized nonlinear control law for the forces applied to a payload such that consensus is reached amongst the agents, the leader's control action is amplified and the payload is stabilized at any desired configuration. Proofs are constructed via Lyapunov arguments and the applicability of the control design to the aerial towing problem is validated in simulation.
Advisors/Committee Members: Keviczky, Tamas (mentor), Vallery, Heike (mentor), Proskurnikov, Anton (mentor), Alonso Mora, Javier (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: decentralized control; aerial towing; cooperative manipulation
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APA ·
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APA (6th Edition):
van den Bos, P. (. (2018). Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6
Chicago Manual of Style (16th Edition):
van den Bos, Pepijn (author). “Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem.” 2018. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6.
MLA Handbook (7th Edition):
van den Bos, Pepijn (author). “Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem.” 2018. Web. 26 Jan 2021.
Vancouver:
van den Bos P(. Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6.
Council of Science Editors:
van den Bos P(. Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6
Delft University of Technology
14.
Kuipers, Steven (author).
Design of a magnetic coupling for reducing maintenance in long-term-autonomous bio-inspired underwater vehicles.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:3f8e1b2e-5a37-42ab-b0b6-c4a89603115c
► Bio-inspired underwater vehicles are highly researched as a means for low-invasive monitoring. As a result, the performance of these vehicles has improved greatly. Research has…
(more)
▼ Bio-inspired underwater vehicles are highly researched as a means for low-invasive monitoring. As a result, the performance of these vehicles has improved greatly. Research has thus far been directed towards the performances of the swimming motion. In order for the development of these bio-inspired underwater vehicles to continue, the increased reliability and durability should also be investigated. This research is aimed at long-term-autonomous bio-inspired underwater vehicles, specifically vehicles based on Median/Paired Fin swimming, which could provide continuous, unassisted monitoring of an area. The goal is to investigate existing options for the propulsive mechanism and find the most suitable solution. A suitable propulsive mechanism can cope with the pressure changes that the vehicle will face due to the varying depths while requiring no maintenance for extended periods of time. This expresses itself in a mechanism that has no dynamic contact between the internal mechanics of the vehicle and the external environment because the dynamic contact is prone to leakage. One actuator and two transmissions are proposed as propulsive mechanisms in this research. The actuator is a reluctance actuator and the transmissions are a flexure joint and a magnetic coupling. The transmissions will be used in combination with an electric motor that is located inside the hull. The reluctance actuator has been found to lack torque generation. The flexure joint will be fused with both the hull and the fin and will be actuated from within the vehicle. It has the ability to either follow the large deflections that are required without encountering fatigue or to resist pressure differences, but both are required. The magnetic coupling does possess the torque, the range of motion, and the rigidity to resist the pressure, and is therefore chosen to be used as the propulsive mechanism that will be investigated further. Existing designs of the magnetic coupling do not comply with the requirements of this swimming mode. Three types of designs are therefore proposed, the coaxial, the face-to-face, and the moment-arm design. To reduce the resultant noncontributing magnetic forces on the fin, the designs have been made symmetrical in the motion plane. To reduce the effect of unstable equilibriums that result from attractive forces on both sides, each type of design has a repulsive design as well as an attractive design. In addition, the designs have magnet orientations that are inspired by Halbach arrays to increase the magnetic field where desired and reduce it elsewhere. Simulations have been performed on the designs using the magnetic finite element method. These simulations indicated that the coaxial designs do not create enough coupling torque and the moment-arm designs create too much radial forces on the fin. The face-to-face coupling designs show promise, both in coupling torque and in resultant force directions. Simulations of the double-sided, face-to-face coupling with Halbach-inspired magnet orientation have been validated…
Advisors/Committee Members: Verhoeven, Chris (mentor), Vallery, Heike (mentor), Vercruyssen, Tim (mentor), Lemus Perez, Daniel (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: Bio-inspired; magnetic coupling; maintenance reduction; underwater vehicle; long-term autonomous
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APA ·
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APA (6th Edition):
Kuipers, S. (. (2019). Design of a magnetic coupling for reducing maintenance in long-term-autonomous bio-inspired underwater vehicles. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:3f8e1b2e-5a37-42ab-b0b6-c4a89603115c
Chicago Manual of Style (16th Edition):
Kuipers, Steven (author). “Design of a magnetic coupling for reducing maintenance in long-term-autonomous bio-inspired underwater vehicles.” 2019. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:3f8e1b2e-5a37-42ab-b0b6-c4a89603115c.
MLA Handbook (7th Edition):
Kuipers, Steven (author). “Design of a magnetic coupling for reducing maintenance in long-term-autonomous bio-inspired underwater vehicles.” 2019. Web. 26 Jan 2021.
Vancouver:
Kuipers S(. Design of a magnetic coupling for reducing maintenance in long-term-autonomous bio-inspired underwater vehicles. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:3f8e1b2e-5a37-42ab-b0b6-c4a89603115c.
Council of Science Editors:
Kuipers S(. Design of a magnetic coupling for reducing maintenance in long-term-autonomous bio-inspired underwater vehicles. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:3f8e1b2e-5a37-42ab-b0b6-c4a89603115c
Delft University of Technology
15.
Gudmundsson, Kjartan (author).
Tensegrity Full Body Control: An Inequality Constrained Optimization Approach.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:51377918-74be-4ec4-bad2-115276e35cd8
► Tensegrity is a structural form that is defined as a set of rigid elements suspended in a net of continuous tension. This structure shows potential…
(more)
▼ Tensegrity is a structural form that is defined as a set of rigid elements suspended in a net of continuous tension. This structure shows potential for compliance, impact tolerance and mechanical robustness. However, its non-linear coupled dynamics and often complex geometry require advanced control strategies. An actuator reference planning strategy to bring tensegrity robots closer to controlled full body movements was proposed by Guido Tournois in 2017. This strategy, called the Full Body Reference Planner (FBRP), finds a sequence of equilibrium configurations for a tensegrity structure, predominantly to follow a trajectory in space. However, the method is incapable of incorporating inequality constraints while obtaining said equilibrium configurations. This is a problem when dealing with certain restrictions, e.g., actuator limitations and stability of the structure. In this thesis we implemented a robust way to account for inequality constraints while utilizing the FBRP. That was done by means of optimization, i.e., an implementation of a Sequential Quadratic Programming method to ensure inequality constraints were respected for each configuration. The approach was validated in scenarios related to practical applications where inequality constraints were enforced. The results showed advancements towards practical feasibility. Furthermore, the robustness, efficiency and accuracy of the method were validated. The extended implementation depicted robustness to parameter variations and good results in terms of accuracy. However, given the iterative nature of the method, it was more computationally expensive than its precursor.
Mechanical Engineering
Advisors/Committee Members: van der Weijde, Joost (mentor), Vallery, Heike (graduation committee), Peternel, Luka (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Tensegrity; Robotics; Optimization
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APA (6th Edition):
Gudmundsson, K. (. (2019). Tensegrity Full Body Control: An Inequality Constrained Optimization Approach. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:51377918-74be-4ec4-bad2-115276e35cd8
Chicago Manual of Style (16th Edition):
Gudmundsson, Kjartan (author). “Tensegrity Full Body Control: An Inequality Constrained Optimization Approach.” 2019. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:51377918-74be-4ec4-bad2-115276e35cd8.
MLA Handbook (7th Edition):
Gudmundsson, Kjartan (author). “Tensegrity Full Body Control: An Inequality Constrained Optimization Approach.” 2019. Web. 26 Jan 2021.
Vancouver:
Gudmundsson K(. Tensegrity Full Body Control: An Inequality Constrained Optimization Approach. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:51377918-74be-4ec4-bad2-115276e35cd8.
Council of Science Editors:
Gudmundsson K(. Tensegrity Full Body Control: An Inequality Constrained Optimization Approach. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:51377918-74be-4ec4-bad2-115276e35cd8
Delft University of Technology
16.
van Duijneveldt, Joris (author).
On correction prediction in man and robot using the cerebellar model articulation controller.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:5b99031c-ab3e-4b01-a151-3b3e40ba2676
► The subject of this thesis is to investigate whether the Cerebellar Model Articulation Controller (CMAC) can be used to anticipate controller corrections and increase performance…
(more)
▼ The subject of this thesis is to investigate whether the Cerebellar Model Articulation Controller (CMAC) can be used to anticipate controller corrections and increase performance by reducing delays in humanoid robots. This question can be divided into two subquestions. Firstly, whether the CMAC is a suitable architecture for the prediction of controller actions for a humanoid soccer robot. Using a 2D model of a robotic leg, the results of this thesis show that the CMAC can indeed learn to anticipate a corrective control signal 30 ms ahead. Secondly, whether the architecture of the aforementioned setup can increase the performance of adequately passing a ball by reducing delays. The experiments show that the use of a CMAC can increase the performance of the robotic setup.
Advisors/Committee Members: Jonker, Pieter (mentor), Wisse, Martijn (graduation committee), Vallery, Heike (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: (Artificial) Cerebellum; Delay reduction; Cerebellar Model Articulation Controller (CMAC); Purkinje Cell
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APA (6th Edition):
van Duijneveldt, J. (. (2019). On correction prediction in man and robot using the cerebellar model articulation controller. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:5b99031c-ab3e-4b01-a151-3b3e40ba2676
Chicago Manual of Style (16th Edition):
van Duijneveldt, Joris (author). “On correction prediction in man and robot using the cerebellar model articulation controller.” 2019. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:5b99031c-ab3e-4b01-a151-3b3e40ba2676.
MLA Handbook (7th Edition):
van Duijneveldt, Joris (author). “On correction prediction in man and robot using the cerebellar model articulation controller.” 2019. Web. 26 Jan 2021.
Vancouver:
van Duijneveldt J(. On correction prediction in man and robot using the cerebellar model articulation controller. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:5b99031c-ab3e-4b01-a151-3b3e40ba2676.
Council of Science Editors:
van Duijneveldt J(. On correction prediction in man and robot using the cerebellar model articulation controller. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:5b99031c-ab3e-4b01-a151-3b3e40ba2676
Delft University of Technology
17.
Izzi, Fabio (author).
Arm-based control of a lower limb exoskeleton: Proof of concept of a novel approach based on the shoulder kinematics.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:aa1749a0-e281-4fda-94f2-b6d5729b326b
► Recognising the user’s locomotive intentions is crucial for the correct functionality of exoskeletons and active orthoses. For gait applications, extrapolating control inputs from the arm…
(more)
▼ Recognising the user’s locomotive intentions is crucial for the correct functionality of exoskeletons and active orthoses. For gait applications, extrapolating control inputs from the arm swing may be worthwhile, since arm oscillations naturally occur during human locomotion. A similar method would be unaffected by severe impairments of the lower limbs, and there is evidence suggesting enhanced results of gait rehabilitation when arms and legs exercise together. In this thesis, we propose a control algorithm to drive online a lower limb exoskeleton through the arm swing. Contrary to a previous EMG-based approach by La Scaleia et al. (2014), our algorithm exploits shoulder kinematic data to mimic “single swinging”, a natural mode of human interlimb coordination which is characterised by each arm swinging in-phase with the contralateral leg. Our proposed control architecture relies on two major modules: an Arm Observer and a Gait Generator. The Arm Observer consists of an adaptive frequency oscillator which extrapolates the frequency and phase of the arm swing by receiving online measurements of the angular shoulder position in the sagittal plane. This data is used by the Gait Generator to compute lower limb trajectories, based on regression models from a previous study by Koopman et al. (2014). We validated our controller through human-subject experiments, involving three participants walking on a treadmill with and without a lower limb exoskeleton, the Lopes II. When feed by data associated with natural walking, our adaptive frequency oscillator could very precisely replicate the arm swing frequency, stride cadence and timing of shoulder flexion peaks when walking faster than 0.5 m/s. When wearing the exoskeleton, our algorithm allowed the participants to cope with constant and variable treadmill velocities in the range of 0.5-1.25 m/s. As such, the results of this thesis show that our proposed approach can extend the applicability of arm-based control to walking speeds suitable for gait rehabilitation and assistance.
Mechanical Engineering | BioMechanical Design
Advisors/Committee Members: van der Kooij, Herman (mentor), Vallery, Heike (graduation committee), Peternel, Luka (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: interlimb coordination; lower limb exoskeleton; arm-based control; wearable robotics control
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APA (6th Edition):
Izzi, F. (. (2019). Arm-based control of a lower limb exoskeleton: Proof of concept of a novel approach based on the shoulder kinematics. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:aa1749a0-e281-4fda-94f2-b6d5729b326b
Chicago Manual of Style (16th Edition):
Izzi, Fabio (author). “Arm-based control of a lower limb exoskeleton: Proof of concept of a novel approach based on the shoulder kinematics.” 2019. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:aa1749a0-e281-4fda-94f2-b6d5729b326b.
MLA Handbook (7th Edition):
Izzi, Fabio (author). “Arm-based control of a lower limb exoskeleton: Proof of concept of a novel approach based on the shoulder kinematics.” 2019. Web. 26 Jan 2021.
Vancouver:
Izzi F(. Arm-based control of a lower limb exoskeleton: Proof of concept of a novel approach based on the shoulder kinematics. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:aa1749a0-e281-4fda-94f2-b6d5729b326b.
Council of Science Editors:
Izzi F(. Arm-based control of a lower limb exoskeleton: Proof of concept of a novel approach based on the shoulder kinematics. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:aa1749a0-e281-4fda-94f2-b6d5729b326b
Delft University of Technology
18.
Ashok Kumar, Aneesh (author).
Performance-based Adaptation of Lateral Robotic Balance Assistance during Slackline Walking.
Degree: 2020, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:60516c91-0e9a-41f0-a1cf-621df72ae010
► As part of the ongoing research on balance assistance at the Delft Biorobotics Lab, the goal of this project was to analyse the relevance of…
(more)
▼ As part of the ongoing research on balance assistance at the
Delft Biorobotics Lab, the goal of this project was to analyse the relevance of optimising the control action to each individual user. In order to explore the feasibility of tuning balance assistance based on task performance as well as controller assistance, an experimental study was conducted on the optimisation of lateral balance assistance during slackline walking. The task performance was quantified as the distance walked on the slackline. The balance assistance was provided by the RYSEN– an active Bodyweight Support (BWS) system used in gait training– in the form of lateral damping. The damping value was tuned over successive trials to optimise the trade-off between maximising the distance walked by the participants before loss of balance and minimising the lateral impulses applied by the RYSEN during each trial. The Covariance Matrix Adaptation Evolution Strategy (CMAES) was used for the automated optimisation of the lateral damping assistance. The performance of the CMAES algorithm was compared to participant performance in optimising the damping based on the same cost measure. Using a final sample size of 15 healthy participants, comparisons were made between costs for trials conducted with Zero Damping (ZD), the optimal damping estimate returned by the algorithm (D
a) and the optimal damping estimate selected by the participants (D
h), with the expectation that lower trial costs would be returned by the optimal damping estimates. No significant difference was found among the median cost measures of the three conditions (p = 0.24, Friedman’s ANOVA). Significant differences were found between the corresponding distance measures (p = 0.002, Friedman’s ANOVA), with significantly longer distances walked in Da and D
h trials compared to ZD trials (p = 0.003 and p = 0.005 respectively), but no significant differences between the measures for D
a and D
h trials (p = 0.61). Analysis of the primary cost measures based on Grid Search (GS) trials indicated a shallow cost landscape with high variability. Post-hoc optimisation simulations were run using CMAES and Bayesian optimisation upon individual participant grid search data. Results indicated the possibility of better performance upon increasing the number of candidates sampled per generation and the initial step size used in the algorithm, using an alternative cost function with a quadratic distance cost component, or by using Bayesian optimisation for a comparable number of trial iterations.
Advisors/Committee Members: Berry, Andrew (mentor), Vallery, Heike (mentor), de Winter, Joost (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: balance assistance; Lateral Balance; Bodyweight Unloading; robotic assistance; optimisation; Rehabilitation Area
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APA (6th Edition):
Ashok Kumar, A. (. (2020). Performance-based Adaptation of Lateral Robotic Balance Assistance during Slackline Walking. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:60516c91-0e9a-41f0-a1cf-621df72ae010
Chicago Manual of Style (16th Edition):
Ashok Kumar, Aneesh (author). “Performance-based Adaptation of Lateral Robotic Balance Assistance during Slackline Walking.” 2020. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:60516c91-0e9a-41f0-a1cf-621df72ae010.
MLA Handbook (7th Edition):
Ashok Kumar, Aneesh (author). “Performance-based Adaptation of Lateral Robotic Balance Assistance during Slackline Walking.” 2020. Web. 26 Jan 2021.
Vancouver:
Ashok Kumar A(. Performance-based Adaptation of Lateral Robotic Balance Assistance during Slackline Walking. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:60516c91-0e9a-41f0-a1cf-621df72ae010.
Council of Science Editors:
Ashok Kumar A(. Performance-based Adaptation of Lateral Robotic Balance Assistance during Slackline Walking. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:60516c91-0e9a-41f0-a1cf-621df72ae010
Delft University of Technology
19.
Sekoor Lakshmana Sankar, Prajish (author).
Trajectory Optimization For Hybrid Walking-Driving Motions On Wheeled Quadrupedal Robots.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:d9ab7bed-6512-4fc0-af26-a377546ec41c
► Wheeled-legged (hybrid) robots have the potential for highly agile and versatile locomotion in any real-world application requiring rapid, long-distance mobility skills on challenging terrain. The…
(more)
▼ Wheeled-legged (hybrid) robots have the potential for highly agile and versatile locomotion in any real-world application requiring rapid, long-distance mobility skills on challenging terrain. The ability to walk and drive simultaneously is an attractive feature of these hybrid systems, but is unexplored in literature. This thesis work presents an online trajectory optimization framework for high-dimensional wheeled-legged quadrupedal robots where the feet and base trajectories are generated in a model predictive control fashion for robustness against disturbances. Our feet optimization employs a unique parameterization that captures the velocity constraints of the wheels’ rolling and our base optimization uses a ZMP-based balance criterion. Our approach is verified on a torque-controlled quadrupedal robot with nonsteerable wheels. The robot performs hybrid locomotion with different gait sequences on flat and rough terrain. Moreover, our optimization framework generates base trajectories at a rate of about 100 Hz and feet trajectories at 1000 Hz or higher. In addition, we validated the robotic platform at the Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge, where the robot rapidly maps, navigates, and explores dynamic underground environments.
Advisors/Committee Members: Vallery, Heike (mentor), Bjelonic, Marko (mentor), Hutter, Marco (mentor), Wisse, Martijn (graduation committee), Schwab, Arend (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Legged Robots; Trajectory Optimization; Optimal Control
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APA (6th Edition):
Sekoor Lakshmana Sankar, P. (. (2019). Trajectory Optimization For Hybrid Walking-Driving Motions On Wheeled Quadrupedal Robots. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:d9ab7bed-6512-4fc0-af26-a377546ec41c
Chicago Manual of Style (16th Edition):
Sekoor Lakshmana Sankar, Prajish (author). “Trajectory Optimization For Hybrid Walking-Driving Motions On Wheeled Quadrupedal Robots.” 2019. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:d9ab7bed-6512-4fc0-af26-a377546ec41c.
MLA Handbook (7th Edition):
Sekoor Lakshmana Sankar, Prajish (author). “Trajectory Optimization For Hybrid Walking-Driving Motions On Wheeled Quadrupedal Robots.” 2019. Web. 26 Jan 2021.
Vancouver:
Sekoor Lakshmana Sankar P(. Trajectory Optimization For Hybrid Walking-Driving Motions On Wheeled Quadrupedal Robots. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:d9ab7bed-6512-4fc0-af26-a377546ec41c.
Council of Science Editors:
Sekoor Lakshmana Sankar P(. Trajectory Optimization For Hybrid Walking-Driving Motions On Wheeled Quadrupedal Robots. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:d9ab7bed-6512-4fc0-af26-a377546ec41c
Delft University of Technology
20.
Voordouw, Janneke (author).
Forward dynamic model for rowing performance; driven by rower specific data and variable rigging setup.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:ddfe8888-3142-4f92-ac78-b66d9c3feca3
► In this research the influence of the rower behavior and rigging setup on the boat performance is investigated in a data-driven model. There are different…
(more)
▼ In this research the influence of the rower behavior and rigging setup on the boat performance is investigated in a data-driven model. There are different rowing styles and techniques between rowers. Making rowers row in synchrony, while important for the boat performance, is not easy. Rowers have their own signature rowing curve, of which only few aspects can be changed. The signature rowing curve can be based on the oar angle or the relative displacement of the rower. The latter is assumed to be constant for changes in the rigging setup and therefore preferred. The data used in this study comes from a woman’s double, the rowers of which are members of the KNRB. In the boat measurements are done on the gate and foot forces, as well as the oar angles, the seat displacement and boat accelerations. From the free body diagrams of the different parts of the system, a one-dimensional rowing model is derived. The model is driven with the measured forces on the rower and the oar angles. It can be validated with the measured boat accelerations. The distribution of the masses in the system are slightly changed. All drag force on the system is assumed to be viscous and is assumed to be proportional to the square of the boat velocity. The lateral forces on the blade and the oar deformation are neglected. The relative motions of the rower are best predicted with the forces acting directly on the rower, after a compensation of the measured foot force. The best fit for the boat accelerations are found by combining the system acceleration with the relative accelerations of the rowers. With the assumption that the rower can be modeled as a force constraint model, the rigging setup of the modeled boat is changed. The blade forces have a leading role on the resulting boat motions when changing the rigging parameters. However the blade forces might not be realistically modeled. Changing the lever ratio of the oar, by increasing the inboard length leads to a bigger covered oar angle and a higher boat velocity, but a lower work per stroke applied on the handle by the rower. Moving the footstretcher towards the bow of the boat shifts the oar angle and leads to a higher boat velocity and lower handle work per stroke as well. Changing individual rigging parameters did not result in big differences between the rowers. No indications of improved synchronization between the rowers are found and the energy balance of the system is disrupted. The model simplifications of the blade forces may not be justified. After implementation of a more complex modeling of the blade forces indications of the synchronization might be found.
Advisors/Committee Members: Schwab, Arend (mentor), Vallery, Heike (graduation committee), Wisse, Martijn (graduation committee), Hofmijster, M.J. (graduation committee), Meenhorst, E. (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Forward dynamic model; Rowing; Synchronization
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APA (6th Edition):
Voordouw, J. (. (2018). Forward dynamic model for rowing performance; driven by rower specific data and variable rigging setup. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:ddfe8888-3142-4f92-ac78-b66d9c3feca3
Chicago Manual of Style (16th Edition):
Voordouw, Janneke (author). “Forward dynamic model for rowing performance; driven by rower specific data and variable rigging setup.” 2018. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:ddfe8888-3142-4f92-ac78-b66d9c3feca3.
MLA Handbook (7th Edition):
Voordouw, Janneke (author). “Forward dynamic model for rowing performance; driven by rower specific data and variable rigging setup.” 2018. Web. 26 Jan 2021.
Vancouver:
Voordouw J(. Forward dynamic model for rowing performance; driven by rower specific data and variable rigging setup. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:ddfe8888-3142-4f92-ac78-b66d9c3feca3.
Council of Science Editors:
Voordouw J(. Forward dynamic model for rowing performance; driven by rower specific data and variable rigging setup. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:ddfe8888-3142-4f92-ac78-b66d9c3feca3
Delft University of Technology
21.
Wermink, Suzanne (author).
Improving Brace Effectiveness for Adolescent Idiopathic Scoliosis Patients.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:7b3e70ed-d7b4-4035-a3bc-4855d96dc479
► Adolescent idiopathic scoliosis (AIS) is a three-dimensional deformity of the spine that can be treated by wearing a correctional rigid brace. The goal of brace…
(more)
▼ Adolescent idiopathic scoliosis (AIS) is a three-dimensional deformity of the spine that can be treated by wearing a correctional rigid brace. The goal of brace treatment is prevention of curve progression, and in some cases the curve even decreases. The current problem concerning treatment of AIS lays in the design decisions made during manufacturing of the brace. Correctional forces are applied through static pressure pads added to the inside of the brace. Evaluation of the correct positioning and size of these forces is done through radiographic imaging which allows limited feedback intervals as cumulative exposure to ionizing radiation increases the risk of cancer development. The design of scoliotic braces is currently suboptimal as the manufacturing remains an inefficient process. Moreover, it was hypothesized that the corrective forces show decreasing time dependant behaviour due to viscoelastic properties of the human body adapting to the load. The objectives of this study were therefore to increase the effectiveness of brace treatment, by determination of the time dependant behaviour and accurate positioning and sizing of correctional forces. A dynamic brace was developed containing pressure regulated cuffs creating a three-point-bending system on the spine. A healthy (non-scoliotic) test subject wore the brace with the goal of creating a spinal curvature. The cuffs were tested on stress relaxation behaviour, which was needed to determine if possible changes in pressure were due to viscoelasticity of the cuffs or the body. The tests showed that pressure stayed constant over time, which excludes viscoelasticity of the cuffs. Moreover, compression tests were executed on a cuff to determine the relationship between external loads and internal pressures. Ultrasound (US) imaging was used to evaluate the effect of the three-point-bending system on the spine. The images showed a curvature, but the results varied too much to draw conclusions from, as this imaging technique works best for large scoliotic curves. BoneMRI has higher imaging accuracy and adds an extra dimension, however supine positioning decreases the spinal curvature. The boneMRI results show a subtle curvature after applying pressure. The cuffs lengthened the spine and caused mechanical torsion. After one hour the lengthening remained equal but the mechanical torsion decreased to its starting value. Lengthening of the spine could be useful in brace treatment to create more space between vertebrae and facilitate vertebral realignment. This research served as a proof of concept which can be further developed by testing on a scoliotic patient with a moderate spinal curvature. This could result in a dynamic brace used as a method to enhance the positioning and sizing of pressure pads for a static brace, or the dynamic brace design needs adjustment to use it as a daily worn brace which keeps correctional forces constant by adjusting pressures automatically.
Advisors/Committee Members: Weinans, Harrie (mentor), Vallery, Heike (graduation committee), Tümer, Nazli (graduation committee), Delft University of Technology (degree granting institution), University Medical Center Utrecht (degree granting institution).
Subjects/Keywords: Brace; Adolescent Idiopathic Scoliosis; Manufacturing
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APA ·
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APA (6th Edition):
Wermink, S. (. (2019). Improving Brace Effectiveness for Adolescent Idiopathic Scoliosis Patients. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:7b3e70ed-d7b4-4035-a3bc-4855d96dc479
Chicago Manual of Style (16th Edition):
Wermink, Suzanne (author). “Improving Brace Effectiveness for Adolescent Idiopathic Scoliosis Patients.” 2019. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:7b3e70ed-d7b4-4035-a3bc-4855d96dc479.
MLA Handbook (7th Edition):
Wermink, Suzanne (author). “Improving Brace Effectiveness for Adolescent Idiopathic Scoliosis Patients.” 2019. Web. 26 Jan 2021.
Vancouver:
Wermink S(. Improving Brace Effectiveness for Adolescent Idiopathic Scoliosis Patients. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:7b3e70ed-d7b4-4035-a3bc-4855d96dc479.
Council of Science Editors:
Wermink S(. Improving Brace Effectiveness for Adolescent Idiopathic Scoliosis Patients. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:7b3e70ed-d7b4-4035-a3bc-4855d96dc479
Delft University of Technology
22.
Hidalgo Araya, Marco (author).
Validation of a single wearable sensor to monitor performance during clinical measures of gait and balance.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:4f6fdfe3-1839-4e82-8c09-47f0db439afc
► Deterioration of gait and balance, whether from aging, disease, or injury, has been linked to reduced mobility and increased risk of falling. Wearable sensing technologies,…
(more)
▼ Deterioration of gait and balance, whether from aging, disease, or injury, has been linked to reduced mobility and increased risk of falling. Wearable sensing technologies, such as inertial measurement units (IMUs), may augment clinical assessments by providing continuous gait and balance data at an increased resolution. The objective of this work was to validate spatiotemporal gait features with a single IMU sensor and to examine changes in sensor-derived features with age during the common clinical tests of gait and balance. We tested the use of an IMU place in the lower back (L5) on age-ranged, healthy individuals (N=34, 20-70 years) during the 10-meter walk test (10MWT), Timed Up and Go (TUG), and Berg Balance Scale (BBS). A total of 49 features were derived from the sensors based on a novel selection of algorithms from previous works. Six spatiotemporal gait features were validated against gold standard measures to assess accuracy and bias. There was an excellent agreement for step time, stance time, swing time, and step count (ICCs 0.90–0.99), and good agreement for gait velocity and step length (ICCs 0.84–0.88). There were 33 linear correlations between age and the sensor-derived features, including a negative correlation between age and vertical displacement of the center of mass during gait. The strongest correlation with age was found for the first slope of the second turn in the TUG (r=-0.545, p≤0.001). For the features that showed moderate correlations (|r|>30, p<0.05), a hierarchical multivariate regression model showed that age was the most important predictor independent of weight, height, and gender. Furthermore, when looking at gender-specific differences after correcting for the contribution of weight and height, women exhibited 5-fold more correlations compared to men. In conclusion, sensor-derived features demonstrated greater sensitivity to individual differences in gait and balance, which may be of a particular interest for future implementation in a clinical setting in impaired populations. The structure of this thesis is as follows: The first chapter contains the project overview, future vision, and specific aims. The second chapter contains a manuscript that will be submitted for peer-reviewed journal publication. Finally, the third chapter is an appendix with more detailed explanations of the methods and findings of this work.
Biomedical Engineering | Biomechatronics
Advisors/Committee Members: Vallery, Heike (mentor), Jayaraman, Arun (mentor), O'Brien, Megan (mentor), Kok, Manon (graduation committee), Baines, Patricia (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Wearable Technology; Gait; Balance; Validation; IMU; continuous wavelet transform; discrete wavelet transform
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APA (6th Edition):
Hidalgo Araya, M. (. (2018). Validation of a single wearable sensor to monitor performance during clinical measures of gait and balance. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:4f6fdfe3-1839-4e82-8c09-47f0db439afc
Chicago Manual of Style (16th Edition):
Hidalgo Araya, Marco (author). “Validation of a single wearable sensor to monitor performance during clinical measures of gait and balance.” 2018. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:4f6fdfe3-1839-4e82-8c09-47f0db439afc.
MLA Handbook (7th Edition):
Hidalgo Araya, Marco (author). “Validation of a single wearable sensor to monitor performance during clinical measures of gait and balance.” 2018. Web. 26 Jan 2021.
Vancouver:
Hidalgo Araya M(. Validation of a single wearable sensor to monitor performance during clinical measures of gait and balance. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:4f6fdfe3-1839-4e82-8c09-47f0db439afc.
Council of Science Editors:
Hidalgo Araya M(. Validation of a single wearable sensor to monitor performance during clinical measures of gait and balance. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:4f6fdfe3-1839-4e82-8c09-47f0db439afc
Delft University of Technology
23.
Peñalver, Joaquin (author).
Is breaking it down better?: Enhancing motor learning via controlled sensory-motor integration.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:3c021cde-246d-4ad8-9d97-17ba13bdcbf5
► Complex motions are generally accepted as movements which consists of at least 2 Degrees of Freedom (DoFs) actuated in a coordinated manner, which takes more…
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▼ Complex motions are generally accepted as movements which consists of at least 2 Degrees of Freedom (DoFs) actuated in a coordinated manner, which takes more than one practice session to be mastered, and that are ecologically valid (see Wulf et al. 2002 for a clear statement). The techniques to teach and re-teach (also, (re-)learn) a complex motion are thoroughly investigated by the motor learning research community since decades and up to know. There is certain agreement on the theses of practice intensity and duration as a factor for learning. However, the content of the practice sessions is still, only, partially understood. One point which is still to be confirmed is the "Part-whole transfer" paradigm. This theory promulgates the fact that motions are rather a composition where alphabet items are skillfully combined to produce a dexterous movement and that the better the "alphabet" is known, the faster the learning will be and dexterous the result. The importance of the whole practice of a full motion remains still unknown. Our hypotheses were that inclusion of the full motion is crucial for correctly learning a complex motion pattern. We hypothesized, also, that the way of re-composition of a motion would play a role in the performance after the training and the retention of the learned skill, as well as the transferability of its fundamentals to a new skill. In this thesis, these questions are investigated. For this, an experiment with 16 healthy subjects has been conducted. The subjects where pseudo-randomly assigned to one of the following groups: whole visuo-haptic coordination training, anatomical visuo-haptic coordination training, anatomical visuo-haptic training and anatomical visual-only training. The importance of the haptic coordination training (i.e. practice of the whole motion together) was investigated in the first two groups, while the coordination pattern was shown only visually in the last two groups. Additionally, the way of showing the single components (anatomically or holistically) and the type of feedback (visual-only or visuo-haptic) was investigated in the different groups designed. The results showed that the full trajectory is better learned by subjects who were shown the full motion visuo-haptically (opposed to only visually). The transfer and the consolidation of the motion pattern (also translated into a better retention) are also benefited by adding special emphasis to the single components of a motion first (Group 2). Only the training of the speed profile is benefited by more practicing the full motion visuo-haptically (i.e. group 1). All these aspects have, obviously, an impact in motivation. The groups which were more guided (i.e. visuo-haptic full motion guidance) felt less pressure, committed with less effort but got higher sense of competence and more motivation, not necessarily translating in better performance (somewhat in agreement with the Guidance Hypothesis). The results of this study contribute to the field of motor…
Advisors/Committee Members: Vallery, Heike (mentor), Rauter, G (mentor), Marchal-Crespo, L (graduation committee), Duarte, J (graduation committee), Klamroth-Marganska, V (graduation committee), Riener, Robert (graduation committee), Abbink, David (graduation committee), Berry, Andrew (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Motor Learning; Part-whole Transfer; Robotic Training; Complex Motion; Exoskeletons
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APA ·
Chicago ·
MLA ·
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CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Peñalver, J. (. (2018). Is breaking it down better?: Enhancing motor learning via controlled sensory-motor integration. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:3c021cde-246d-4ad8-9d97-17ba13bdcbf5
Chicago Manual of Style (16th Edition):
Peñalver, Joaquin (author). “Is breaking it down better?: Enhancing motor learning via controlled sensory-motor integration.” 2018. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:3c021cde-246d-4ad8-9d97-17ba13bdcbf5.
MLA Handbook (7th Edition):
Peñalver, Joaquin (author). “Is breaking it down better?: Enhancing motor learning via controlled sensory-motor integration.” 2018. Web. 26 Jan 2021.
Vancouver:
Peñalver J(. Is breaking it down better?: Enhancing motor learning via controlled sensory-motor integration. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:3c021cde-246d-4ad8-9d97-17ba13bdcbf5.
Council of Science Editors:
Peñalver J(. Is breaking it down better?: Enhancing motor learning via controlled sensory-motor integration. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:3c021cde-246d-4ad8-9d97-17ba13bdcbf5
Delft University of Technology
24.
Apte, Salil (author).
Benchmarking gait models for simulating the influence of body weight unloading on human gait.
Degree: 2017, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:1516e2c0-c051-4777-ba58-1b2d2bf19500
Subjects/Keywords: Body weight support; Gait models; Gait characteristics; Simulation; Rehabilitation
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):
Apte, S. (. (2017). Benchmarking gait models for simulating the influence of body weight unloading on human gait. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:1516e2c0-c051-4777-ba58-1b2d2bf19500
Chicago Manual of Style (16th Edition):
Apte, Salil (author). “Benchmarking gait models for simulating the influence of body weight unloading on human gait.” 2017. Masters Thesis, Delft University of Technology. Accessed January 26, 2021.
http://resolver.tudelft.nl/uuid:1516e2c0-c051-4777-ba58-1b2d2bf19500.
MLA Handbook (7th Edition):
Apte, Salil (author). “Benchmarking gait models for simulating the influence of body weight unloading on human gait.” 2017. Web. 26 Jan 2021.
Vancouver:
Apte S(. Benchmarking gait models for simulating the influence of body weight unloading on human gait. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Jan 26].
Available from: http://resolver.tudelft.nl/uuid:1516e2c0-c051-4777-ba58-1b2d2bf19500.
Council of Science Editors:
Apte S(. Benchmarking gait models for simulating the influence of body weight unloading on human gait. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:1516e2c0-c051-4777-ba58-1b2d2bf19500
. 
Open Access Theses and Dissertations