You searched for +publisher:"Vanderbilt University" +contributor:("Michael Goldfarb").
Showing records 1 – 30 of
59 total matches.
◁ [1] [2] ▶
Vanderbilt University
1.
Russell, Ryan Christopher.
Computer Finite Element Simulation in Mechanical Design.
Degree: MS, Mechanical Engineering, 2013, Vanderbilt University
URL: http://hdl.handle.net/1803/14599 
► Finite element analysis employs the finite element numerical method to solve complicated engineering problems. Integrating finite element studies into the design cycle can help to…
(more)
▼ Finite element analysis employs the finite element numerical method to solve complicated engineering problems. Integrating finite element studies into the design cycle can help to shorten the design process. In this thesis, studies were performed within the framework of the Adaptive Vehicle Make (AVM) project and viewed through the lens of reliability, model validation, and the applicable takeaways of a finite element study. Next, the redesign cycle was performed for a brushless DC flat motor to improve its thermal performance. The motor was modeled using the ANSYS finite element analysis software and the results were validated experimentally. The finite element model was then modified, optimized, and tested with the creation of motor prototypes. The redesigned motor had a 40 percent increase in thermal performance, resulting in increased operating capabilities.
Advisors/Committee Members: Michael Goldfarb (committee member), Thomas J Withrow (Committee Chair), Haoxiang Luo (Committee Chair).
Subjects/Keywords: finite element analysis; brushless dc motor; adaptive vehicle make
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Russell, R. C. (2013). Computer Finite Element Simulation in Mechanical Design. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14599
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Russell, Ryan Christopher. “Computer Finite Element Simulation in Mechanical Design.” 2013. Thesis, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/14599.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Russell, Ryan Christopher. “Computer Finite Element Simulation in Mechanical Design.” 2013. Web. 17 Jan 2021.
Vancouver:
Russell RC. Computer Finite Element Simulation in Mechanical Design. [Internet] [Thesis]. Vanderbilt University; 2013. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/14599.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Russell RC. Computer Finite Element Simulation in Mechanical Design. [Thesis]. Vanderbilt University; 2013. Available from: http://hdl.handle.net/1803/14599
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
2.
Finley, Pierce Stephen.
A Study of Multifunctional Slope Adaptive Behaviors in Ankle Prostheses.
Degree: MS, Mechanical Engineering, 2019, Vanderbilt University
URL: http://hdl.handle.net/1803/13152
► While carbon fiber spring prostheses remain the standard in transtibial prostheses, an increasing number of multifunctional prostheses – those that provide different behaviors than a…
(more)
▼ While carbon fiber spring prostheses remain the standard in transtibial prostheses, an increasing number of multifunctional prostheses – those that provide different behaviors than a simple spring, such as hydraulic damping – have started to emerge. This thesis evaluates two multifunctional behaviors relative to a fixed-angle spring. One introduces damping in the mid-stance range of motion, which becomes a simple spring outside that range. The other also introduces conformal damping in the mid-stance range of motion, but incorporates a variable spring equilibrium angle to adapt to slopes. To assess these three behaviors in a consistent manner, a robotic ankle prosthesis emulator was used and controlled real-time from Simulink. It is expected that the spring will provide the best energy return and symmetry of gait, but the hydraulic damping will reduce socket moments, especially on inclines. The equilibrium-adjusting behavior should provide energy benefits similar to a simple spring, with reduced socket moments due to the conformal damping. Three participants walked with each ankle behavior on level, inclined, and declined angles. From motion capture and ground reaction force data, the energy return, symmetry of step length, and average socket moment were calculated for each step. The conclusion is threefold: 1) mid-stance damping increases comfort; 2) however, mid-stance damping decreases energy return and reduces step symmetry on level ground; 3) by introducing a variable spring equilibrium with mid-stance damping, the ankle can provide both increased comfort on level ground and slopes without sacrificing energy return and step symmetry.
Advisors/Committee Members: David Braun (committee member), Karl Zelik (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: Sloped Walking; Robotic Controller Emulation; Transtibial Prosthesis
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Finley, P. S. (2019). A Study of Multifunctional Slope Adaptive Behaviors in Ankle Prostheses. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13152
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Finley, Pierce Stephen. “A Study of Multifunctional Slope Adaptive Behaviors in Ankle Prostheses.” 2019. Thesis, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/13152.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Finley, Pierce Stephen. “A Study of Multifunctional Slope Adaptive Behaviors in Ankle Prostheses.” 2019. Web. 17 Jan 2021.
Vancouver:
Finley PS. A Study of Multifunctional Slope Adaptive Behaviors in Ankle Prostheses. [Internet] [Thesis]. Vanderbilt University; 2019. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/13152.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Finley PS. A Study of Multifunctional Slope Adaptive Behaviors in Ankle Prostheses. [Thesis]. Vanderbilt University; 2019. Available from: http://hdl.handle.net/1803/13152
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
3.
Gibson, Tyler J.
Exhaust Gas Energy Reclamation With a Pneumatic Boost Converter.
Degree: MS, Mechanical Engineering, 2017, Vanderbilt University
URL: http://hdl.handle.net/1803/13348
► This thesis presents the design and dynamic model for a prototype pneumatic boost converter, a device developed to be an energetic equivalent to the electrical…
(more)
▼ This thesis presents the design and dynamic model for a prototype pneumatic boost converter, a device developed to be an energetic equivalent to the electrical boost converter. The design of the system selects pneumatic components that are energetically equivalent to the components used in the analogous system in the electrical domain. A dynamic model for the pneumatic boost converter that describes the rapidly fluctuating pressures and volumes is developed. Movement within the system and mass flow through orifices connecting control volumes are also modeled. A prototype was developed to reclaim air at 653 kPa (80 psig) and experimental data was collected at two points within the system. This experimental data is used to validate the dynamic model by comparing experimental and simulated pressures. The experimental data is also used to calculate the total energy reclaimed by the pneumatic boost converter as well as the system efficiency.
Advisors/Committee Members: Kenneth Frampton (committee member), Michael Goldfarb (committee member), Eric J. Barth (Committee Chair).
Subjects/Keywords: energy reclamation; industrial applications; fluid power; mechanical design; dynamic modeling; pneumatics; experimental validation
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Gibson, T. J. (2017). Exhaust Gas Energy Reclamation With a Pneumatic Boost Converter. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13348
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Gibson, Tyler J. “Exhaust Gas Energy Reclamation With a Pneumatic Boost Converter.” 2017. Thesis, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/13348.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Gibson, Tyler J. “Exhaust Gas Energy Reclamation With a Pneumatic Boost Converter.” 2017. Web. 17 Jan 2021.
Vancouver:
Gibson TJ. Exhaust Gas Energy Reclamation With a Pneumatic Boost Converter. [Internet] [Thesis]. Vanderbilt University; 2017. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/13348.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Gibson TJ. Exhaust Gas Energy Reclamation With a Pneumatic Boost Converter. [Thesis]. Vanderbilt University; 2017. Available from: http://hdl.handle.net/1803/13348
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
4.
Pedchenko, Alexander Vadimovich.
Design and Finite Element Modeling of a High Energy Density Strain Energy Accumulator.
Degree: MS, Mechanical Engineering, 2014, Vanderbilt University
URL: http://hdl.handle.net/1803/10624
► This thesis provides an overview of the design and modeling of a hydraulic strain energy accumulator made out of an elastomeric material. The document first…
(more)
▼ This thesis provides an overview of the design and modeling of a hydraulic strain energy accumulator made out of an elastomeric material. The document first presents the theory and reasoning behind the design and fabrication of such a device. Next in the manuscript is a description of low-pressure prototype testing and discussion of the associated relevant findings. Then, the document expounds on the difficulties of modeling the behavior of a full-scale prototype of said device; a solution is subsequently offered by presenting full-scale behavior simulation results obtained with the use of the ABAQUS finite element analysis software package.
The thesis is concluded with a description of future work aimed at increasing model fidelity and creating an experimental setup suitable for testing the performance of the first full-scale strain energy accumulators.
Advisors/Committee Members: Thomas J Withrow (committee member), Michael Goldfarb (committee member), Eric J Barth (Committee Chair).
Subjects/Keywords: energy storage; hyperelastic modeling; accumulator design
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Pedchenko, A. V. (2014). Design and Finite Element Modeling of a High Energy Density Strain Energy Accumulator. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10624
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Pedchenko, Alexander Vadimovich. “Design and Finite Element Modeling of a High Energy Density Strain Energy Accumulator.” 2014. Thesis, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/10624.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Pedchenko, Alexander Vadimovich. “Design and Finite Element Modeling of a High Energy Density Strain Energy Accumulator.” 2014. Web. 17 Jan 2021.
Vancouver:
Pedchenko AV. Design and Finite Element Modeling of a High Energy Density Strain Energy Accumulator. [Internet] [Thesis]. Vanderbilt University; 2014. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/10624.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Pedchenko AV. Design and Finite Element Modeling of a High Energy Density Strain Energy Accumulator. [Thesis]. Vanderbilt University; 2014. Available from: http://hdl.handle.net/1803/10624
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
5.
Ledoux, Elissa Danielle.
Control and Evaluation of Stair Ascent with a Powered Transfemoral Prosthesis.
Degree: MS, Mechanical Engineering, 2016, Vanderbilt University
URL: http://hdl.handle.net/1803/13046
► This thesis describes the control and assessment of a powered transfemoral prosthesis for improving amputee stair ascent. It begins with motivation for the work and…
(more)
▼ This thesis describes the control and assessment of a powered transfemoral prosthesis for improving amputee stair ascent. It begins with motivation for the work and a description of current lower-limb prosthetic technology. Then it explains the finite-state-based impedance-admittance control philosophy and implementation for both the knee and the ankle joints of a powered prosthesis. Next, it presents experimental assessments and evaluates the effectiveness of the device and controller at reducing metabolic effort and improving joint biomechanics for three transfemoral amputee subjects climbing stairs. These sections finish with general conclusions regarding the biomechanical and energetic benefits of this technology.
Advisors/Committee Members: Thomas Withrow (committee member), Karl Zelik (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: amputee; prosthetics
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Ledoux, E. D. (2016). Control and Evaluation of Stair Ascent with a Powered Transfemoral Prosthesis. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13046
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Ledoux, Elissa Danielle. “Control and Evaluation of Stair Ascent with a Powered Transfemoral Prosthesis.” 2016. Thesis, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/13046.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Ledoux, Elissa Danielle. “Control and Evaluation of Stair Ascent with a Powered Transfemoral Prosthesis.” 2016. Web. 17 Jan 2021.
Vancouver:
Ledoux ED. Control and Evaluation of Stair Ascent with a Powered Transfemoral Prosthesis. [Internet] [Thesis]. Vanderbilt University; 2016. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/13046.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Ledoux ED. Control and Evaluation of Stair Ascent with a Powered Transfemoral Prosthesis. [Thesis]. Vanderbilt University; 2016. Available from: http://hdl.handle.net/1803/13046
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
6.
Winkelmann, Anna.
Design, Modeling, and Experimental Validation of a Stirling Engine with a Controlled Displacer Piston.
Degree: MS, Mechanical Engineering, 2015, Vanderbilt University
URL: http://hdl.handle.net/1803/10723
► This work presents the design, first-principles model, and experimental setup of a Stirling pressurizer. The Stirling pressurizer is a Stirling engine with an independently controlled…
(more)
▼ This work presents the design, first-principles model, and experimental setup of a Stirling pressurizer. The Stirling pressurizer is a Stirling engine with an independently controlled displacer piston. The directly controlled, loose-fit displacer is actuated with a small linear motor and moves the pre-pressurized working fluid (helium) between the hot and cold side of the sealed engine section; therefore inducing a pressure change. The position of the displacer is the only control input to the first-principles model. The first-principles model is validated with experimental results for different controlled displacer piston motion profiles. Modeled and experimentally measured pressures are compared for average pressures ranging from 10 – 20 bar, and heater head temperatures ranging from 250°C – 500°C. The first-principles model is intended for: 1) the design and sizing of the pressurizer and power piston / power extraction, 2) specification of a displacer piston motion profile to optimize the efficiency and/or power output, and 3) the general design of Stirling devices, beyond the design of the experimental prototype investigated here, through the use of a lumped parameter model with well-defined and measurable parameters. The Stirling pressurizer combined with a power extraction unit is intended to fill the technological gap of a compact, quiet, un-tethered, and high energy density power supply.
Advisors/Committee Members: Dr. Michael Goldfarb (committee member), Dr. Alvin Strauss (committee member), Dr. Eric J. Barth (Committee Chair).
Subjects/Keywords: Stirling Engine; high energy density power supply
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Winkelmann, A. (2015). Design, Modeling, and Experimental Validation of a Stirling Engine with a Controlled Displacer Piston. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10723
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Winkelmann, Anna. “Design, Modeling, and Experimental Validation of a Stirling Engine with a Controlled Displacer Piston.” 2015. Thesis, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/10723.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Winkelmann, Anna. “Design, Modeling, and Experimental Validation of a Stirling Engine with a Controlled Displacer Piston.” 2015. Web. 17 Jan 2021.
Vancouver:
Winkelmann A. Design, Modeling, and Experimental Validation of a Stirling Engine with a Controlled Displacer Piston. [Internet] [Thesis]. Vanderbilt University; 2015. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/10723.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Winkelmann A. Design, Modeling, and Experimental Validation of a Stirling Engine with a Controlled Displacer Piston. [Thesis]. Vanderbilt University; 2015. Available from: http://hdl.handle.net/1803/10723
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
7.
Lawson, Brian Edward.
A Multi-Purpose Finite State-Based Standing Controller for a Powered Transfemoral Prosthesis.
Degree: MS, Mechanical Engineering, 2011, Vanderbilt University
URL: http://hdl.handle.net/1803/15319
► This thesis presents the design and testing of a standing controller for a powered transfemoral prosthesis that is capable of real-time ground slope adaptation and…
(more)
▼ This thesis presents the design and testing of a standing controller for a powered transfemoral prosthesis that is capable of real-time ground slope adaptation and sit-to-stand and stand-to-sit transitions. The controller is implemented as a finite state machine that performs state transitions based upon mechanical signals measured in the prosthesis. The ground slope adaptation is enabled by an inertial measurement algorithm that utilizes accelerometers and gyroscopes. The performance of the controller is compared to a commercially-available passive prosthesis through testing on an amputee subject. The prosthesis is shown to provide biomechanically normal ankle impedances while standing on a range of ground slopes. Additionally, the test subject’s weight bearing distribution while using the powered prosthesis is improved on all tested slopes relative to the passive prosthesis.
Advisors/Committee Members: Eric Barth (committee member), Nilanjan Sarkar (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: prosthesis; transfemoral; amputee; standing; ground adaptation
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Lawson, B. E. (2011). A Multi-Purpose Finite State-Based Standing Controller for a Powered Transfemoral Prosthesis. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/15319
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Lawson, Brian Edward. “A Multi-Purpose Finite State-Based Standing Controller for a Powered Transfemoral Prosthesis.” 2011. Thesis, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/15319.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Lawson, Brian Edward. “A Multi-Purpose Finite State-Based Standing Controller for a Powered Transfemoral Prosthesis.” 2011. Web. 17 Jan 2021.
Vancouver:
Lawson BE. A Multi-Purpose Finite State-Based Standing Controller for a Powered Transfemoral Prosthesis. [Internet] [Thesis]. Vanderbilt University; 2011. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/15319.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Lawson BE. A Multi-Purpose Finite State-Based Standing Controller for a Powered Transfemoral Prosthesis. [Thesis]. Vanderbilt University; 2011. Available from: http://hdl.handle.net/1803/15319
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
8.
Hofacker, Mark Elliot.
Model-Based Design and Experimental Validation of Multi-Domain Dynamic Energy Conversion Devices.
Degree: PhD, Mechanical Engineering, 2013, Vanderbilt University
URL: http://hdl.handle.net/1803/15308
► This dissertation presents the unique design and control of three energy conversion devices. A prototype bridge vibration energy harvester, a free-piston engine compressor, and a…
(more)
▼ This dissertation presents the unique design and control of three energy conversion devices. A prototype bridge vibration energy harvester, a free-piston engine compressor, and a Stirling thermocompressor were modeled, designed and constructed. Although these projects differ in many important ways, this dissertation describes how to cast widely different energy conversion devices, such as these, into a common impedance matching framework.
This framework is first used to describe the design and control of a bridge vibration energy harvester meant to power bridge health monitoring electronics. Impedance matching considerations were applied to the mechanical design of a low friction 1-DOF mechanism and to a control law derived using the maximum power transfer theorem. The harvester’s dynamics were cast as a Thevenin equivalent circuit and an unstable, canonical controller that harvests the maximum power from every frequency was derived by taking the complex conjugate of the circuit’s multi-domain impedance. An implementable, stable controller was found through constrained optimization and is shown in simulation to improve performance over an equivalent, passively controlled device.
The second application of this framework is a free piston engine compressor intended to serve as an untethered pneumatic power supply for a compact rescue crawler robot. A prototype device is presented that makes improvements over previous iterations including a self-balancing, figure-8 liquid piston configuration, onboard electronics and control, a finite state control scheme, and an improved compressor head. The advantages of the check valve’s dynamics and the figure-8 piston configuration are proven mathematically. These improvements result in a low-vibration, stand-alone device that experimentally demonstrated a 60% increase in pumping pressure over previous iterations.
The third application of this framework is a Stirling thermocompressor intended to serve as a quiet, untethered, pneumatic power supply for an ankle foot orthosis. The goal of high efficiency at the target power density is pursued through the use of novel heat exchangers in combination with high operating temperature and frequency. The motion of the displacer piston is controlled utilizing a brushless DC motor which drives a continuous linear reciprocating screw. A dynamic model of the heat transfer and pressure dynamics portions of the thermocompressor are developed and experimentally validated.
Although the bridge vibration energy harvester, free piston engine compressors, and Stirling thermocompressor are quite dissimilar, this dissertation describes how to cast widely different energy conversion devices into a common impedance matching framework. Each of the devices presented in this document emphasize different aspects of the three major conceptual components: the energetic source, the source impedance and the load impedance. By considering the relevant conceptual components for each device, insights were gained into the fundamental mechanisms needed to transfer…
Advisors/Committee Members: Kenneth Pence (committee member), Pietro Valdastri (committee member), Michael Goldfarb (committee member), Robert Webster (committee member), Eric Barth (Committee Chair).
Subjects/Keywords: free piston engine compressor; Stirling thermocompressor; bridge vibration energy harvester; dynamic energy conversion
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Hofacker, M. E. (2013). Model-Based Design and Experimental Validation of Multi-Domain Dynamic Energy Conversion Devices. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/15308
Chicago Manual of Style (16th Edition):
Hofacker, Mark Elliot. “Model-Based Design and Experimental Validation of Multi-Domain Dynamic Energy Conversion Devices.” 2013. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/15308.
MLA Handbook (7th Edition):
Hofacker, Mark Elliot. “Model-Based Design and Experimental Validation of Multi-Domain Dynamic Energy Conversion Devices.” 2013. Web. 17 Jan 2021.
Vancouver:
Hofacker ME. Model-Based Design and Experimental Validation of Multi-Domain Dynamic Energy Conversion Devices. [Internet] [Doctoral dissertation]. Vanderbilt University; 2013. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/15308.
Council of Science Editors:
Hofacker ME. Model-Based Design and Experimental Validation of Multi-Domain Dynamic Energy Conversion Devices. [Doctoral Dissertation]. Vanderbilt University; 2013. Available from: http://hdl.handle.net/1803/15308
Vanderbilt University
9.
Rucker, Daniel Caleb.
The mechanics of continuum robots: model-based sensing and control.
Degree: PhD, Mechanical Engineering, 2011, Vanderbilt University
URL: http://hdl.handle.net/1803/14268
► This dissertation addresses modeling, control, and sensing with continuum robots. In particular, two continuum robot architectures are studied: (1) concentric-tube designs, and (2) designs actuated…
(more)
▼ This dissertation addresses modeling, control, and sensing with continuum robots. In particular, two continuum robot architectures are studied: (1) concentric-tube designs, and (2) designs actuated by embedded wires, cables, or tendons. The modeling approaches and sensing and control methods developed are also applicable to many
other varieties of continuum robot designs.
Concentric-tube continuum robot designs are also termed "active cannulas" because of their potential use as dexterous, needle sized manipulators for minimally invasive medical applications. These robots are composed of multiple pre-shaped tubes arranged concentrically, and their shape and pose are the result of elastic deformations, caused by interaction among the component tubes as well as external loads on the device. We derive two predictive models which describe this behavior
using the principle of minimum potential energy and Cosserat-rod theory. The proposed models are each validated experimentally.
Tendon-driven continuum manipulators are also being developed for a variety of applications. The kinematics of these robots are also governed by elastic deformations resulting from tendon interactions with the backbone structure as well as external loading. We show that this behavior may be modeled by coupling the Cosserat-rod
model with Cosserat-string models. This approach can be used to analyze designs in which the tendons are routed in general three-dimensional curves, as well as designs with precurved backbone structures, thus providing tools for the analysis and control of a large set of possible designs.
Model-based control of tendon-driven and concentric-tube robots is challenging because solving the kinematic and static models is often computationally burdensome. To address this, a we derive a method for obtaining Jacobians and compliance matrices for flexible robots which is computationally efficient enough to be used for real-time simulation and control. We then describe a Jacobian-based control algorithm and
a deflection-based method for estimating applied forces on a flexible robot. The feasibility of these approaches is demonstrated in simulation and on robot hardware.
Advisors/Committee Members: Nabil Simaan (committee member), Michael Goldfarb (committee member), Michael Miga (committee member), George Cook (committee member), Robert Webster III (Committee Chair).
Subjects/Keywords: robot; continuum robot; surgical robot; cosserat rod
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Rucker, D. C. (2011). The mechanics of continuum robots: model-based sensing and control. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14268
Chicago Manual of Style (16th Edition):
Rucker, Daniel Caleb. “The mechanics of continuum robots: model-based sensing and control.” 2011. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/14268.
MLA Handbook (7th Edition):
Rucker, Daniel Caleb. “The mechanics of continuum robots: model-based sensing and control.” 2011. Web. 17 Jan 2021.
Vancouver:
Rucker DC. The mechanics of continuum robots: model-based sensing and control. [Internet] [Doctoral dissertation]. Vanderbilt University; 2011. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/14268.
Council of Science Editors:
Rucker DC. The mechanics of continuum robots: model-based sensing and control. [Doctoral Dissertation]. Vanderbilt University; 2011. Available from: http://hdl.handle.net/1803/14268
Vanderbilt University
10.
Pile, Jason Anthony.
Wire-Actuated Parallel Robots for Cochlear Implantation with In-vivo Sensory Feedback.
Degree: PhD, Mechanical Engineering, 2015, Vanderbilt University
URL: http://hdl.handle.net/1803/12505
► Robot-assisted cochlear implant (CI) surgery is a new research area that emerged in the last decade. The goal of robotic assistance is to improve patient…
(more)
▼ Robot-assisted cochlear implant (CI) surgery is a new research area that emerged in the last decade. The goal of robotic assistance is to improve patient hearing outcomes through improved surgical access and the minimization of intracochlear trauma during implantation. This thesis presents several research efforts converging on a system for robotic atraumatic CI insertion. The work begins with the characterization of fundamental aspects of CI implantation. This leads to the synthesis of a robot design for the implantation task. Lastly, intelligent control through in-vivo sensory feedback is investigated for improvement in CI insertion and final placement.
The motivation behind this research stems from fundamental knowledge gaps in both characterization of the CI surgical domain and in robot design and control. Current solutions for robot-assisted CI surgery do not exhibit adaptability to changes from nominal CI insertion plans. This lead to exploration of a new domain of in-vivo sensory guided robotic insertion of CI electrode arrays.
The contributions of this work include a system architecture derived from the clinical specifications of CI surgery while simultaneously exploring theoretical gaps in the areas of mechanism design and static balancing of serial and parallel mechanisms. Methodical derivation of specifications for surgical access during CI implantation are presented and include available workspace, kinematic behavior of under-actuated implants, and baseline expectations of insertion forces. From this, the synthesis of a robotic wire-driven insertion platform for CI is presented. Lastly, both force and intra-cochlear impedance data collected by the proposed robot are used to add intelligent correction to the implantation procedure. These corrections include physical misalignment of the robotic system to the patient anatomy and incorrect models of the non-visible intra-cochlear geometry. Novel algorithms utilizing in-vivo sensory feedback for robot-assisted CI insertion guidance and fault detection are proposed and experimentally demonstrated using several robotic platforms. The implications of this research extend to providing new methods of CI insertion and also design of compact parallel robots with remote actuation.
Advisors/Committee Members: Pietro Valdastri (committee member), Mario Svirsky (committee member), George B. Wanna (committee member), Michael Goldfarb (committee member), Nabil Simaan (Committee Chair).
Subjects/Keywords: cochlear implants; electrical impedance; force control; medical robotics; intelligent control
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Pile, J. A. (2015). Wire-Actuated Parallel Robots for Cochlear Implantation with In-vivo Sensory Feedback. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12505
Chicago Manual of Style (16th Edition):
Pile, Jason Anthony. “Wire-Actuated Parallel Robots for Cochlear Implantation with In-vivo Sensory Feedback.” 2015. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/12505.
MLA Handbook (7th Edition):
Pile, Jason Anthony. “Wire-Actuated Parallel Robots for Cochlear Implantation with In-vivo Sensory Feedback.” 2015. Web. 17 Jan 2021.
Vancouver:
Pile JA. Wire-Actuated Parallel Robots for Cochlear Implantation with In-vivo Sensory Feedback. [Internet] [Doctoral dissertation]. Vanderbilt University; 2015. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/12505.
Council of Science Editors:
Pile JA. Wire-Actuated Parallel Robots for Cochlear Implantation with In-vivo Sensory Feedback. [Doctoral Dissertation]. Vanderbilt University; 2015. Available from: http://hdl.handle.net/1803/12505
Vanderbilt University
11.
Gorlewicz, Jenna Lynn.
The Efficacy of Surface Haptics and Force Feedback in Education.
Degree: PhD, Mechanical Engineering, 2013, Vanderbilt University
URL: http://hdl.handle.net/1803/11042
► This dissertation bridges the fields of haptics, engineering, and education to realize some of the potential benefits haptic devices may have in Science, Technology, Engineering,…
(more)
▼ This dissertation bridges the fields of haptics, engineering, and education to realize some of the potential benefits haptic devices may have in Science, Technology, Engineering, and Math (STEM) education. Specifically, this dissertation demonstrates the development, implementation, and assessment of two haptic devices in engineering and math education and then describes the modeling of a new class of tactile touchscreens. These force feedback and tactile devices provide robust, engaging interfaces to enhance student learning in the classroom.
First, we explore the potential of a force feedback device in teaching a core mechanical engineering undergraduate course. The haptic paddle, a one degree of freedom force feedback joystick, has been adopted at several universities for teaching system dynamics and controls in engineering education. Through design, hardware, and software improvements, we have enhanced the ease of use of the haptic paddle and have lowered its cost to less than $100 including all components but a laptop. We have performed the first formal assessment of the learning benefits of the haptic paddle laboratories in System Dynamics through a multi-year study evaluating both what concepts students are learning and when they are learning them. Our results show significant increases in student learning after having completed the haptic paddle laboratories.
Next, we explore the potential of commercially available tactile touchscreens for teaching graphical mathematics to blind students. Tactile (vibratory) touchscreens are specifically designed for portability and robustness, are commercially available, and share a small number of common software platforms, providing a unique opportunity for quick adoption and implementation within an educational setting. User studies with sighted and blind individuals demonstrate that users can perceive basic graphical mathematics concepts using surface vibrations and auditory feedback.
Toward enhancing the realism of current tactile feedback provided in touchscreens and toward providing a more engaging user experience, we then explore the modeling of a new class of variable friction touchscreens. These touchscreens use ultrasonic vibrations to create changes in perceived friction on flat surfaces, enabling users to feel sensations resembling textures and other surface properties. We model and simulate these plate vibrations under varying conditions, including number and location of actuators and plate properties. We experimentally validate our model under various cases and show its effectiveness in serving as a design tool for variable friction touchscreens.
Haptic devices, to date, have had only minimal exposure to educational settings, largely due to their high costs and unquantified evidence of enhanced learning experiences. The research in this dissertation is motivated by providing higher fidelity haptic interactions via new technologies, facilitating the adoption of haptic devices in educational settings, enhancing active learning environments through these…
Advisors/Committee Members: Michael Goldfarb (committee member), Stacy Klein-Gardner (committee member), Nilanjan Sarkar (committee member), Thomas Withrow (committee member), Robert J. Webster III (Committee Chair).
Subjects/Keywords: Haptics; Force Feedback; Surface Haptics; Haptic Paddle; Tactile Touchscreens; Mechatronic Systems; Engineering Education; Human Machine Interaction; Learning Technologies
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Gorlewicz, J. L. (2013). The Efficacy of Surface Haptics and Force Feedback in Education. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/11042
Chicago Manual of Style (16th Edition):
Gorlewicz, Jenna Lynn. “The Efficacy of Surface Haptics and Force Feedback in Education.” 2013. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/11042.
MLA Handbook (7th Edition):
Gorlewicz, Jenna Lynn. “The Efficacy of Surface Haptics and Force Feedback in Education.” 2013. Web. 17 Jan 2021.
Vancouver:
Gorlewicz JL. The Efficacy of Surface Haptics and Force Feedback in Education. [Internet] [Doctoral dissertation]. Vanderbilt University; 2013. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/11042.
Council of Science Editors:
Gorlewicz JL. The Efficacy of Surface Haptics and Force Feedback in Education. [Doctoral Dissertation]. Vanderbilt University; 2013. Available from: http://hdl.handle.net/1803/11042
Vanderbilt University
12.
Wang, Furui.
Design and control of robotic systems for upper extremity rehabilitation following stroke.
Degree: PhD, Mechanical Engineering, 2011, Vanderbilt University
URL: http://hdl.handle.net/1803/14982
► Stroke is the leading cause of serious, long-term disability in the United States. Each year, about 795,000 Americans experience a new or recurrent stroke, resulting…
(more)
▼ Stroke is the leading cause of serious, long-term disability in the United States. Each year, about 795,000 Americans experience a new or recurrent stroke, resulting in an estimated stroke population of 7 million in the USA. Upper extremity impairment is a prevalent outcome of stroke. Loss of arm and hand function due to neuromuscular disorders frequently prevents effective self-care and limits employment opportunities. In recent years, robot-assisted rehabilitation has been an active area of research. Various robotic systems and strategies have been developed to make robot an effective tool in stroke rehabilitation. This dissertation presents the research work to improve robot-assisted rehabilitation of the upper extremity. First, a high-level supervisory controller is designed to incorporate voice recognition to a robotic system for arm rehabilitation. The high-level controller monitors task execution and makes task adjustment according to the user¡¯s verbal feedback to impart effective rehabilitation therapies. The enhanced robotic system is able to improve the efficiency of arm rehabilitation therapy and reduce the workload of the therapist. Next, an integrated rehabilitation strategy of assist-as-needed and visual error augmentation is proposed and implemented on a robotic system. This strategy is evaluated in a crossover study with 20 subjects. The experimental results demonstrate that the proposed strategy has significantly improved the task performance of healthy subjects and has the potential to improve the efficiency of stroke rehabilitation. Last, an actuated hand exoskeleton is developed for hand rehabilitation study. The hand exoskeleton consists of an actuated finger exoskeleton (AFX) and an actuated thumb exoskeleton (ATX). It allows individual control of each joint of the index finger and the thumb with substantial joint torque and speed capacities that are necessary for stroke rehabilitation. The kinematic and kinetic performances of the AFX and the ATX have been tested and met all design requirements. This device will provide a platform that permits comprehensive research of different rehabilitation therapies and motor control studies of the hand. Contributions and future directions of the research work are discussed at the end of the dissertation.
Advisors/Committee Members: George E. Cook (committee member), Michael Goldfarb (committee member), Robert Webster (committee member), Nilanjan Sarkar (Committee Chair), Derek Kamper (Committee Chair).
Subjects/Keywords: mechanical design; control; Rehabilitation Robotics
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Wang, F. (2011). Design and control of robotic systems for upper extremity rehabilitation following stroke. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14982
Chicago Manual of Style (16th Edition):
Wang, Furui. “Design and control of robotic systems for upper extremity rehabilitation following stroke.” 2011. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/14982.
MLA Handbook (7th Edition):
Wang, Furui. “Design and control of robotic systems for upper extremity rehabilitation following stroke.” 2011. Web. 17 Jan 2021.
Vancouver:
Wang F. Design and control of robotic systems for upper extremity rehabilitation following stroke. [Internet] [Doctoral dissertation]. Vanderbilt University; 2011. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/14982.
Council of Science Editors:
Wang F. Design and control of robotic systems for upper extremity rehabilitation following stroke. [Doctoral Dissertation]. Vanderbilt University; 2011. Available from: http://hdl.handle.net/1803/14982
Vanderbilt University
13.
Shultz, Amanda Huff.
Control Methods for Powered Prostheses to Improve Mobility and Stability in Persons with Lower Limb Amputation.
Degree: PhD, Mechanical Engineering, 2017, Vanderbilt University
URL: http://hdl.handle.net/1803/13948
► This dissertation presents the motivation, development, and evaluation of controllers for powered lower limb prostheses. This document contains five chapters, three of which discuss individual…
(more)
▼ This dissertation presents the motivation, development, and evaluation of controllers for powered lower limb prostheses. This document contains five chapters, three of which discuss individual contributions. Chapter I describes the motivation, background, and scope of the work. Chapter II presents an activity level controller for running with a powered knee and ankle prosthesis, a supervisory controller to switch between running and walking for use in emergency situations, and evaluation of the set of controllers with an amputee subject. Chapter III introduces a suite of controllers for a powered ankle prosthesis for walking at multiple speeds on level ground and supportive ground adaptive standing for use on a large range of inclines, with a supervisory controller to provide natural transitions between the two, all evaluated with an amputee subject. Chapter IV describes research regarding ambulation on even and uneven terrain, with a healthy subject study revealing chiefly a relationship between shank angle and ankle moment during the middle stance phase of walking which exists on both even and uneven terrain; this motivated a walking controller for a powered ankle prosthesis which adapts to terrain with variable local slope, evaluated on an amputee subject. Finally, Chapter V offers some concluding remarks, including suggestions for future work.
Advisors/Committee Members: Karl Zelik (committee member), Robert J. Webster III (committee member), Robert Bodenheimer (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: prosthesis; biomechanics; control; transtibial; transfemoral; uneven terrain; walking; standing; running
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Shultz, A. H. (2017). Control Methods for Powered Prostheses to Improve Mobility and Stability in Persons with Lower Limb Amputation. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13948
Chicago Manual of Style (16th Edition):
Shultz, Amanda Huff. “Control Methods for Powered Prostheses to Improve Mobility and Stability in Persons with Lower Limb Amputation.” 2017. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/13948.
MLA Handbook (7th Edition):
Shultz, Amanda Huff. “Control Methods for Powered Prostheses to Improve Mobility and Stability in Persons with Lower Limb Amputation.” 2017. Web. 17 Jan 2021.
Vancouver:
Shultz AH. Control Methods for Powered Prostheses to Improve Mobility and Stability in Persons with Lower Limb Amputation. [Internet] [Doctoral dissertation]. Vanderbilt University; 2017. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/13948.
Council of Science Editors:
Shultz AH. Control Methods for Powered Prostheses to Improve Mobility and Stability in Persons with Lower Limb Amputation. [Doctoral Dissertation]. Vanderbilt University; 2017. Available from: http://hdl.handle.net/1803/13948
Vanderbilt University
14.
Gilbert, Hunter Bryant.
Concentric Tube Robots: Design, Deployment, and Stability.
Degree: PhD, Mechanical Engineering, 2016, Vanderbilt University
URL: http://hdl.handle.net/1803/13344
► Concentric tube robots are needle-diameter robots consisting of multiple precurved, nested, superelastic tubes. They can be made to controllably elongate and bend by grasping the…
(more)
▼ Concentric tube robots are needle-diameter robots consisting of multiple precurved, nested, superelastic tubes. They can be made to controllably elongate and bend by grasping the tubes at their bases and applying axial rotation and translation to each tube independently. This causes the tubes to bend and twist one another. This dissertation presents modeling, analysis, and design of these robots for medical uses as both robotic manipulators and steerable needles. The design of a robotic system for endoscopic endonasal surgery is presented, and a novel electrical technique for creating custom tube curvatures is described. The elastic stability of concentric tube robots is modeled and analyzed to provide design conditions for stability and a stability indicator that characterizes the relative stability of the robot based on its configuration. When used as a needle, the shaft of the robot must always remain along the path traced by the tip, as the robot elongates. Necessary and sufficient design and actuation conditions are presented that result in this behavior, and approximations of it are also considered. Lastly, a method is developed and experimentally characterized for mechanics-based force sensing using knowledge of the robot stiffness and position and/or orientation measurements along the shaft of the robot.
Advisors/Committee Members: Michael Goldfarb (committee member), Nilanjan Sarkar (committee member), Nabil Simaan (committee member), Michael I. Miga (committee member), Robert J. Webster III (Committee Chair).
Subjects/Keywords: medical robotics; concentric tube robots
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Gilbert, H. B. (2016). Concentric Tube Robots: Design, Deployment, and Stability. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13344
Chicago Manual of Style (16th Edition):
Gilbert, Hunter Bryant. “Concentric Tube Robots: Design, Deployment, and Stability.” 2016. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/13344.
MLA Handbook (7th Edition):
Gilbert, Hunter Bryant. “Concentric Tube Robots: Design, Deployment, and Stability.” 2016. Web. 17 Jan 2021.
Vancouver:
Gilbert HB. Concentric Tube Robots: Design, Deployment, and Stability. [Internet] [Doctoral dissertation]. Vanderbilt University; 2016. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/13344.
Council of Science Editors:
Gilbert HB. Concentric Tube Robots: Design, Deployment, and Stability. [Doctoral Dissertation]. Vanderbilt University; 2016. Available from: http://hdl.handle.net/1803/13344
Vanderbilt University
15.
Honert, Eric Christian.
Ankle and Foot Biomechanics during Human Walking: Powerful Insights on Multiarticular Muscles, Soft Tissues, and Toe Joint Dynamics.
Degree: PhD, Mechanical Engineering, 2019, Vanderbilt University
URL: http://hdl.handle.net/1803/10801
► The goal of my research is to investigate the biomechanical contributions of the human foot to walking. We examined the role of mono- and multi-…
(more)
▼ The goal of my research is to investigate the biomechanical contributions of the human foot to walking. We examined the role of mono- and multi- jointed musculatures across the human ankle and foot during walking through an electromyography-driven musculoskeletal model. We also examined an assumption made in many gait analyses: the entire human foot is a single rigid-body segment. This assumption neglects power generated/absorbed within the foot which can lead to misunderstandings related to (biological and prosthetic) foot function and thus distort our understanding of ankle and underlying muscle-tendon dynamics. Additionally, we examined the contributions of the foot and the shoe versus the rest-of-the-body to the soft tissue energy absorption during early stance of human walking. Lastly, through a custom-designed prosthesis, we examined the role of ankle stiffness, toe joint stiffness, toe shape, foot arch length (from heel to toe joint) and toe length as well as toe joint axis angle to walking biomechanics. This biological and non-biological understanding of the foot can inform design parameters for assistive devices such as prostheses to enhance walking for persons with amputation.
Advisors/Committee Members: Thomas J Withrow. (committee member), Kota Z. Takahashi (committee member), Gerasimos Bastas (committee member), Michael Goldfarb (committee member), Karl E. Zelik (Committee Chair).
Subjects/Keywords: gait; toe joint; metatarsophalangeal joint; musculoskeletal model; toe length; toe stiffness; toe sh
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Honert, E. C. (2019). Ankle and Foot Biomechanics during Human Walking: Powerful Insights on Multiarticular Muscles, Soft Tissues, and Toe Joint Dynamics. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10801
Chicago Manual of Style (16th Edition):
Honert, Eric Christian. “Ankle and Foot Biomechanics during Human Walking: Powerful Insights on Multiarticular Muscles, Soft Tissues, and Toe Joint Dynamics.” 2019. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/10801.
MLA Handbook (7th Edition):
Honert, Eric Christian. “Ankle and Foot Biomechanics during Human Walking: Powerful Insights on Multiarticular Muscles, Soft Tissues, and Toe Joint Dynamics.” 2019. Web. 17 Jan 2021.
Vancouver:
Honert EC. Ankle and Foot Biomechanics during Human Walking: Powerful Insights on Multiarticular Muscles, Soft Tissues, and Toe Joint Dynamics. [Internet] [Doctoral dissertation]. Vanderbilt University; 2019. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/10801.
Council of Science Editors:
Honert EC. Ankle and Foot Biomechanics during Human Walking: Powerful Insights on Multiarticular Muscles, Soft Tissues, and Toe Joint Dynamics. [Doctoral Dissertation]. Vanderbilt University; 2019. Available from: http://hdl.handle.net/1803/10801
Vanderbilt University
16.
Mitchell, Jason Edward.
Design of modular self contained knee and ankle prostheses.
Degree: PhD, Mechanical Engineering, 2014, Vanderbilt University
URL: http://hdl.handle.net/1803/14523
► Losing a lower limb and specifically the power that it generates, has a major impact on ambulation including having to expend more metabolic energy and…
(more)
▼ Losing a lower limb and specifically the power that it generates, has a major impact on ambulation including having to expend more metabolic energy and exert more hip power and torque on the affected side. There are currently a small number of commercially available powered prostheses but they are not capable of providing the full range of motion and power of the lost limb. Additionally there are no prostheses which have both a powered knee and ankle joint. It is the hypothesis of this work that lower limb prosthetic devices can be designed which provide biomechanically normal levels of torque, speed, and range of motion in self-contained, reliable, quiet, and anatomical packages. Described herein is the mechanical design, development and testing of several such devices. Initial work focused on the development of several key components including a ground contact sensing load cell, a biasing spring foot, and a robust and compact transmission design. Subsequent work incorporated these components into a transfemoral prosthesis with powered knee and ankle joints. In addition, a transtibial version was fabricated with a powered ankle joint. Both of these designs conform closely to the anatomical envelope of an average sized male limb. Experiments with amputee subjects validate the design through the demonstration of kinematics and kinetics that closely match those of the lost limb.
Advisors/Committee Members: Robert Webster (committee member), Eric Barth (committee member), Paul King (committee member), George Cook (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: powered prosthetic
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Mitchell, J. E. (2014). Design of modular self contained knee and ankle prostheses. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14523
Chicago Manual of Style (16th Edition):
Mitchell, Jason Edward. “Design of modular self contained knee and ankle prostheses.” 2014. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/14523.
MLA Handbook (7th Edition):
Mitchell, Jason Edward. “Design of modular self contained knee and ankle prostheses.” 2014. Web. 17 Jan 2021.
Vancouver:
Mitchell JE. Design of modular self contained knee and ankle prostheses. [Internet] [Doctoral dissertation]. Vanderbilt University; 2014. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/14523.
Council of Science Editors:
Mitchell JE. Design of modular self contained knee and ankle prostheses. [Doctoral Dissertation]. Vanderbilt University; 2014. Available from: http://hdl.handle.net/1803/14523
Vanderbilt University
17.
Pedchenko, Alexander Vadimovich.
The Power Harvesting Ratio: Design and Power Estimation of Vibration Energy Harvesters.
Degree: PhD, Mechanical Engineering, 2015, Vanderbilt University
URL: http://hdl.handle.net/1803/15221
► Due to approximately one quarter of the bridges in the United States being classified as “functionally obsolete” or “structurally deficient”, there is currently a large…
(more)
▼ Due to approximately one quarter of the bridges in the United States being classified as “functionally obsolete” or “structurally deficient”, there is currently a large demand for frequent bridge inspection. This demand can be addressed by remote structural health monitoring. The sensors and data transmission equipment necessary to implement remote monitoring requires electrical power, and wiring sensor networks to bridge power lines is expensive, while batteries require regular maintenance/replacement. By expanding the characteristically narrow operational bandwidth of conventional vibration energy harvesters, these devices can serve as local power sources for structural monitoring networks by harnessing the mechanical energy from vibrations produced during typical bridge use.
The presented research contributes to the developing field of multifrequency vibration energy harvesting by introducing two new techniques for linear harvesters. The first is a method for analyzing the effect of an electrical load on the dynamic stability of a harvester. This technique aids the recent research interest in the use of active loading to increase power generation by serving as a means to determine whether the chosen active load results in stable dynamics and, therefore, can actually be utilized.
The second introduced tool is a technique for estimating the average power generation of a vibration energy harvester from the device’s dynamics and the discrete Fourier transform (DFT) of its excitation. This method, termed the power harvesting ratio (PHR), presents the power output of a particular harvester/electrical load combination as a function of frequency and shows the power contribution of each frequency component comprising the excitation.
The stability assessment tool and PHR are experimentally validated using a custom electromagnetic vibration energy harvester. The stability assessment tool is shown to accurately predict whether a certain active load will lead to stable or unstable overall system dynamics. PHR is demonstrated to accurately predict power generation for a variety of excitations (including typical bridge vibrations) and electrical loads (both, passive and active). The PHR technique is also used to investigate potential benefits of active electrical over passive loading, optimization of power yields of different architectures of vibration energy harvesters, and effects of frequency and amplitude variations in the excitation on power yield.
Advisors/Committee Members: Kenneth Pence (committee member), Thomas Withrow (committee member), Douglas Adams (committee member), Michael Goldfarb (committee member), Eric J Barth (Committee Chair).
Subjects/Keywords: electromechanical generation; structural health monitoring; vibration energy harvesting
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Pedchenko, A. V. (2015). The Power Harvesting Ratio: Design and Power Estimation of Vibration Energy Harvesters. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/15221
Chicago Manual of Style (16th Edition):
Pedchenko, Alexander Vadimovich. “The Power Harvesting Ratio: Design and Power Estimation of Vibration Energy Harvesters.” 2015. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/15221.
MLA Handbook (7th Edition):
Pedchenko, Alexander Vadimovich. “The Power Harvesting Ratio: Design and Power Estimation of Vibration Energy Harvesters.” 2015. Web. 17 Jan 2021.
Vancouver:
Pedchenko AV. The Power Harvesting Ratio: Design and Power Estimation of Vibration Energy Harvesters. [Internet] [Doctoral dissertation]. Vanderbilt University; 2015. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/15221.
Council of Science Editors:
Pedchenko AV. The Power Harvesting Ratio: Design and Power Estimation of Vibration Energy Harvesters. [Doctoral Dissertation]. Vanderbilt University; 2015. Available from: http://hdl.handle.net/1803/15221
Vanderbilt University
18.
Lathrop, Ray Adams.
Dexterity and Guidance Without Automation: Surgical Robot-Like Capabilities at a Fraction of the Cost.
Degree: PhD, Mechanical Engineering, 2014, Vanderbilt University
URL: http://hdl.handle.net/1803/10507
► This dissertation offers ways that the dexterity and guidance associated with image-guided robotic surgery can be delivered without automation. The overall objective is to provide…
(more)
▼ This dissertation offers ways that the dexterity and guidance associated with image-guided
robotic surgery can be delivered without automation. The overall objective is to provide
highly capable instruments to surgeons, which can, in principle, be produced for a lower
overall cost or with greater overall capabilities than the robotic and image guidance systems
currently on the market. Of particular interest is creating a system for soft tissue
image guidance in a laparoscopic surgical setting, and designing laparoscopic tools that
can deliver dexterity similar to robotic surgical systems without the need for the robot.
Existing surgical registration systems for use in the abdominal cavity have used laser
triangulation or contact swabbing with a tracked probe to gather the point clouds of organ
surfaces. These point clouds are used to register the preoperative imaging to the work site.
This dissertation describes a new scanning system used to gather these point clouds which
is unlike prior systems because it requires no automation (indeed, it can be constructed
inexpensively from off-the-shelf components), is contactless, and can work through a laparoscopic
port. The system pairs a laser range finder with a standard optical tracking
system.
This dissertation then addresses the kinematic design of high dexterity tools with particular
attention to creating natural user interfaces. Since there exists no definition in the literature
for what constitutes a “natural” user interface for an articulated manual laparoscopic
tool, this dissertation puts forth a metric and a design guideline to design for “naturalness”
in this context. A user study is then used to explore the performance of several competing
instrument designs in the context of the metric and design guideline. Finally, the manner in which these results can inform surgical instrument design is illustrated in a description
of a prototype designed for throat surgery.
This dissertation then proceeds to consider natural user interfaces from an elastic energy
perspective. Under the assumption that a statically balanced mechanism that transparently
transfers user motion to instrument tip motion is most natural, this dissertation sets about
determining how energy storage elements used in laparoscopic “wrists” or “elbows” can
be statically balanced with additional elastic elements. Without static balance in these
mechanisms, the stored energy is felt by the user as a restorative force trying to return the
device to a neutral position. If the tool is required to have significant joint stiffness, the
restorative force felt by the user may be too high for practical surgical use. This section of
the dissertation culminates with the design of a novel, manual, laparoscopic prototype tool
with both wrist and elbow joints that features a statically balanced continuum joint.
The conclusion of this dissertation is that with appropriate mechanical design and sensor
choices it is possible to deliver many of the advantages promised by image-guided
robotic systems in manual devices.…
Advisors/Committee Members: Nabil Simaan (committee member), Michael Goldfarb (committee member), Robert L. Galloway (committee member), Stanley Duke Herrell (committee member), Robert Webster III (Committee Chair).
Subjects/Keywords: Dexterous Surgical Tools; Laparoscopic; Surgical Navigation
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Lathrop, R. A. (2014). Dexterity and Guidance Without Automation: Surgical Robot-Like Capabilities at a Fraction of the Cost. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10507
Chicago Manual of Style (16th Edition):
Lathrop, Ray Adams. “Dexterity and Guidance Without Automation: Surgical Robot-Like Capabilities at a Fraction of the Cost.” 2014. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/10507.
MLA Handbook (7th Edition):
Lathrop, Ray Adams. “Dexterity and Guidance Without Automation: Surgical Robot-Like Capabilities at a Fraction of the Cost.” 2014. Web. 17 Jan 2021.
Vancouver:
Lathrop RA. Dexterity and Guidance Without Automation: Surgical Robot-Like Capabilities at a Fraction of the Cost. [Internet] [Doctoral dissertation]. Vanderbilt University; 2014. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/10507.
Council of Science Editors:
Lathrop RA. Dexterity and Guidance Without Automation: Surgical Robot-Like Capabilities at a Fraction of the Cost. [Doctoral Dissertation]. Vanderbilt University; 2014. Available from: http://hdl.handle.net/1803/10507
Vanderbilt University
19.
Yong, Chao.
A virtual-cam based control methodology for free-piston engines.
Degree: PhD, Mechanical Engineering, 2011, Vanderbilt University
URL: http://hdl.handle.net/1803/13688
► In conventional internal combustion engines, valves are opened and closed using a cam surface. The cam is kinematically related to the piston positions through the…
(more)
▼ In conventional internal combustion engines, valves are opened and closed using a cam surface. The cam is kinematically related to the piston positions through the crankshaft and timing belt. In contrast, there is no crankshaft or kinematic cam surface in a free-piston engine to physically realize this mechanism. As a consequence, a free-piston engine has variable stroke lengths, which presents a challenge for active piston motion and precise stroke length control. For instance, the free-piston engine configuration is well suited for HCCI engines because the requirements for accurate ignition timing control are very flexible due to the fact that the piston motion is not restricted by crank-rod mechanism. However, accurate piston motion control is a challenge for HCCI free-piston engines [4]. This chapter presents a virtual-cam based approach to relate free-piston motion to actuated engine valve control within a clear and familiar intuitive physical context. The primary functionality of the virtual cam control framework is to create a repetitive index, which can be modified from cycle to cycle, for the exhaust/injection valves and spark timing similar to the function of physical cams in conventional engines. Since the cam is virtually created, it can be dynamically rebuilt to comply with cycle-to-cycle variations such as amount of the air/fuel supply, engine load and stroke length. This index rebuilding process is based on a cycle-to-cycle adaptive control method that uses the knowledge obtained from previous cycles to adjust the cam parameters. Experimental results are presented for a novel liquid-piston free-piston engine intended as a compact and efficient energy source for untethered power dense pneumatic systems such as untethered robots.
Advisors/Committee Members: George E. Cook (committee member), Robert J. Webster (committee member), Michael Goldfarb (committee member), Nilanjan Sarkar (committee member), Eric J. Barth (Committee Chair).
Subjects/Keywords: free-piston engines; Control
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Yong, C. (2011). A virtual-cam based control methodology for free-piston engines. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13688
Chicago Manual of Style (16th Edition):
Yong, Chao. “A virtual-cam based control methodology for free-piston engines.” 2011. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/13688.
MLA Handbook (7th Edition):
Yong, Chao. “A virtual-cam based control methodology for free-piston engines.” 2011. Web. 17 Jan 2021.
Vancouver:
Yong C. A virtual-cam based control methodology for free-piston engines. [Internet] [Doctoral dissertation]. Vanderbilt University; 2011. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/13688.
Council of Science Editors:
Yong C. A virtual-cam based control methodology for free-piston engines. [Doctoral Dissertation]. Vanderbilt University; 2011. Available from: http://hdl.handle.net/1803/13688
Vanderbilt University
20.
Bajo, Andrea.
Control, Sensing, and Telemanipulation of Surgical Continuum Robots.
Degree: PhD, Mechanical Engineering, 2013, Vanderbilt University
URL: http://hdl.handle.net/1803/12065
► New surgical paradigms such as natural orifice surgery and single port access surgery present technological challenges such as indirect routes of access, constrained workspace, sensory…
(more)
▼ New surgical paradigms such as natural orifice surgery and single port access surgery present technological challenges such as indirect routes of access, constrained workspace, sensory presence, higher degrees of freedom manipulators, force feedback and control. This research investigates design and control aspects of continuum robots as enabling technology that overcomes these new technological challenges while offering surgeons safe and intelligent surgical tools.
Although research in the area of continuum robots has grown exponentially in the last ten years, several knowledge gaps remain un-addressed in the area of control and sensing of these devices such as unified methods for enhanced tracking performance, real-time constrained motion planning, direct force control, collision detection, contact estimation, shape and stiffness characterization of unknown environments. This doctoral dissertation investigate algorithms and methods for addressing these technological gaps and evaluates them on state-of-the-art robotic systems for laparoscopy, transurethral bladder tumor resection, and transnasal access to the throat developed at the Advanced Robotics and Mechanisms Application Laboratory at
Vanderbilt University.
Advisors/Committee Members: Michael Goldfarb (committee member), Howie Choset (committee member), James Netterville (committee member), Robert J. Webster III (committee member), Nabil Simaan (Committee Chair).
Subjects/Keywords: motion control; telemanipulation; estimation of contact; continuum robots; force control; collision detection
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Bajo, A. (2013). Control, Sensing, and Telemanipulation of Surgical Continuum Robots. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12065
Chicago Manual of Style (16th Edition):
Bajo, Andrea. “Control, Sensing, and Telemanipulation of Surgical Continuum Robots.” 2013. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/12065.
MLA Handbook (7th Edition):
Bajo, Andrea. “Control, Sensing, and Telemanipulation of Surgical Continuum Robots.” 2013. Web. 17 Jan 2021.
Vancouver:
Bajo A. Control, Sensing, and Telemanipulation of Surgical Continuum Robots. [Internet] [Doctoral dissertation]. Vanderbilt University; 2013. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/12065.
Council of Science Editors:
Bajo A. Control, Sensing, and Telemanipulation of Surgical Continuum Robots. [Doctoral Dissertation]. Vanderbilt University; 2013. Available from: http://hdl.handle.net/1803/12065
Vanderbilt University
21.
Quintero, Hugo Alberto.
A powered lower limb exoskeleton supplemented with FES for gait assistance in paraplegic patients.
Degree: PhD, Mechanical Engineering, 2012, Vanderbilt University
URL: http://hdl.handle.net/1803/10631
► This thesis presents the design, implementation and testing of a lower limb exoskeleton that allows paraplegic patients to stand and walk. The device is supplemented…
(more)
▼ This thesis presents the design, implementation and testing of a lower limb exoskeleton that allows paraplegic patients to stand and walk. The device is supplemented with functional electrical stimulation (FES) at the quadriceps muscles to obtain the physiological benefits provided by FES and increase the extensive torque available at the knee joints. The wearable robot is a five link mechanism consisting of a hip piece that is attached around the lower torso, two thigh pieces and two shank pieces respectively strapped to the thighs and shanks of the user. The device has powered hip and knee joints with all the actuation and transmission contained in the thigh pieces. The thigh pieces also contain the distributed embedded system while the battery is carried in the back of the hip piece. The device is designed to be used with ankle foot orthoses to stabilize the ankle joints and forearm crutches that allow the user to maintain the balance. All the sensors and instrumentation are contained in the device that is controlled by the user by postural commands that affect the center of pressure of the user-robot system. The general control is structured in two levels: the lower level is an angular position PD controller around the joints while the higher level is a state machine that coordinates the four joints to perform the different maneuvers. The device was tested by a T10 ASIA A (complete) paraplegic patient who by using the exoskeleton was able to perform sit to stand, stand to sit and walking maneuvers. When compared with long leg braces the efficacy of the device was significantly high and the walking difficulty perceived by the user was significantly less. The energy provided by the motors in sit to stand and stair climbing maneuvers was significantly reduced when FES was used.
Advisors/Committee Members: Robert J. Webster III (committee member), Eric J. Barth (committee member), Peter Konrad (committee member), Nilanjan Sarkar (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: human machine interface; posture based control; exoskeleton; paraplegia; orthosis
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Quintero, H. A. (2012). A powered lower limb exoskeleton supplemented with FES for gait assistance in paraplegic patients. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10631
Chicago Manual of Style (16th Edition):
Quintero, Hugo Alberto. “A powered lower limb exoskeleton supplemented with FES for gait assistance in paraplegic patients.” 2012. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/10631.
MLA Handbook (7th Edition):
Quintero, Hugo Alberto. “A powered lower limb exoskeleton supplemented with FES for gait assistance in paraplegic patients.” 2012. Web. 17 Jan 2021.
Vancouver:
Quintero HA. A powered lower limb exoskeleton supplemented with FES for gait assistance in paraplegic patients. [Internet] [Doctoral dissertation]. Vanderbilt University; 2012. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/10631.
Council of Science Editors:
Quintero HA. A powered lower limb exoskeleton supplemented with FES for gait assistance in paraplegic patients. [Doctoral Dissertation]. Vanderbilt University; 2012. Available from: http://hdl.handle.net/1803/10631
Vanderbilt University
22.
Sarli, Nima.
Design, Modeling and Control of Continuum Robots and Dexterous Wrists with Applications to Transurethral Bladder Cancer Resection.
Degree: PhD, Mechanical Engineering, 2018, Vanderbilt University
URL: http://hdl.handle.net/1803/14087
► Bladder cancer is the 4th leading cancer type in 2018 in the US male population. Staging and treatment of non-muscle-invasive bladder tumors using TURBT (Transurethral…
(more)
▼ Bladder cancer is the 4th leading cancer type in 2018 in the US male population. Staging and
treatment of non-muscle-invasive bladder tumors using TURBT (Transurethral Resection of Bladder
Tumors) is challenging due to limitations in tool dexterity, visualization and risk of bladder wall perforation. Currently, transurethral resection is achieved via a rigid resectoscope lacking distal dexterity
necessary for a precise resection. To address these needs, an endoscopic robotic system called TURBot was developed.
The first part of this dissertation addresses lack of baseline characterization of TURBT. A
kinematic modeling framework is created and compared against experimental data to delineate
correlations between kinematic dexterity measures and resection performance. A key outcome of this study is the identification of important dexterity measures that correlate with resection accuracy. This study presents the first quantitative benchmark for assessment of TURBT.
In the second part of this dissertation, design considerations, modeling and control challenges of TURBot are addressed to enable the first robot-assisted in vivo TURBT. Successful transurethral deployment, access to the entire bladder and successful robotic ablation is verified in in vivo porcine studies. In addition, TURBot resection is compared against manual resection in a user study using a
human bladder phantom. As part of this investigation, a redundancy resolution framework is proposed to mitigate the visual occlusion problem that often arises in robotic minimally invasive surgery in confined spaces.
At the end, the analysis of a wrist architecture with open-ended wire routing is presented. The open-ended actuation scheme offers accuracy and robustness to wire creep thereby potentially increasing the lifespan of surgical wrists. A particular wrist with this architecture is adopted as a case study and the effects of wire forces on its characteristics are investigated.
The contributions of this dissertation present fundamental steps that pave the way towards
successful clinical robot-assisted TURBT. Lessons learned through the animal and the user studies as well the manual resection performance characterization inform designers of future systems for robot-assisted TURBT.
Advisors/Committee Members: Michael Goldfarb (committee member), Stanley Duke Herrell (committee member), Jason Mitchell (committee member), Karl Zelik (committee member), Nabil Simaan (Committee Chair).
Subjects/Keywords: continuum robot; snake robot; bladder cancer; redundancy resolution; wire-actuated wrist; wire-driven wrist; teleoperation
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Sarli, N. (2018). Design, Modeling and Control of Continuum Robots and Dexterous Wrists with Applications to Transurethral Bladder Cancer Resection. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14087
Chicago Manual of Style (16th Edition):
Sarli, Nima. “Design, Modeling and Control of Continuum Robots and Dexterous Wrists with Applications to Transurethral Bladder Cancer Resection.” 2018. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/14087.
MLA Handbook (7th Edition):
Sarli, Nima. “Design, Modeling and Control of Continuum Robots and Dexterous Wrists with Applications to Transurethral Bladder Cancer Resection.” 2018. Web. 17 Jan 2021.
Vancouver:
Sarli N. Design, Modeling and Control of Continuum Robots and Dexterous Wrists with Applications to Transurethral Bladder Cancer Resection. [Internet] [Doctoral dissertation]. Vanderbilt University; 2018. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/14087.
Council of Science Editors:
Sarli N. Design, Modeling and Control of Continuum Robots and Dexterous Wrists with Applications to Transurethral Bladder Cancer Resection. [Doctoral Dissertation]. Vanderbilt University; 2018. Available from: http://hdl.handle.net/1803/14087
Vanderbilt University
23.
Martinez Guerra, Andres.
Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.
Degree: PhD, Mechanical Engineering, 2019, Vanderbilt University
URL: http://hdl.handle.net/1803/13051
► Wearable, powered lower-limb orthoses have begun to emerge as viable assistive devices for individuals with mobility impairments. Control approaches for powered lower-limb orthoses have focused…
(more)
▼ Wearable, powered lower-limb orthoses have begun to emerge as viable assistive devices for individuals with mobility impairments. Control approaches for powered lower-limb orthoses have focused on leg kinematics rather than examining both the kinematics and interactions between the user and the device. This dissertation describes the development and validation of control strategies for powered lower-limb orthoses that improve leg kinematics while providing smoother interactions between the user and orthosis. This work details the first adaptation of a passive, position-based spring-damper controller for overground walking. Afterwards, the development of an active velocity-based controller for overground walking aimed at reducing the disturbance torques to the user is explained. The last chapter of this work details the adaptation of the velocity-based controller to a single degree of freedom knee-ankle-foot orthosis with a powered knee.
Advisors/Committee Members: Kevin Galloway (committee member), Eric Barth (committee member), Ryan Farris (committee member), Karl Zelik (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: Rehabilitation Robotics; Controls; Lower-Limb Exoskeleton
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Martinez Guerra, A. (2019). Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13051
Chicago Manual of Style (16th Edition):
Martinez Guerra, Andres. “Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.” 2019. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/13051.
MLA Handbook (7th Edition):
Martinez Guerra, Andres. “Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.” 2019. Web. 17 Jan 2021.
Vancouver:
Martinez Guerra A. Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. [Internet] [Doctoral dissertation]. Vanderbilt University; 2019. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/13051.
Council of Science Editors:
Martinez Guerra A. Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. [Doctoral Dissertation]. Vanderbilt University; 2019. Available from: http://hdl.handle.net/1803/13051
Vanderbilt University
24.
Martinez Guerra, Andres.
Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.
Degree: PhD, Mechanical Engineering, 2019, Vanderbilt University
URL: http://hdl.handle.net/1803/12867
► Wearable, powered lower-limb orthoses have begun to emerge as viable assistive devices for individuals with mobility impairments. Control approaches for powered lower-limb orthoses have focused…
(more)
▼ Wearable, powered lower-limb orthoses have begun to emerge as viable assistive devices for individuals with mobility impairments. Control approaches for powered lower-limb orthoses have focused on leg kinematics rather than examining both the kinematics and interactions between the user and the device. This dissertation describes the development and validation of control strategies for powered lower-limb orthoses that improve leg kinematics while providing smoother interactions between the user and orthosis. This work details the first adaptation of a passive, position-based spring-damper controller for overground walking. Afterwards, the development of an active velocity-based controller for overground walking aimed at reducing the disturbance torques to the user is explained. The last chapter of this work details the adaptation of the velocity-based controller to a single degree of freedom knee-ankle-foot orthosis with a powered knee.
Advisors/Committee Members: Eric Barth (committee member), Ryan Farris (committee member), Kevin Galloway (committee member), Karl Zelik (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: lower-limb exoskeletons; controls; rehabilitation robotics
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Martinez Guerra, A. (2019). Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12867
Chicago Manual of Style (16th Edition):
Martinez Guerra, Andres. “Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.” 2019. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/12867.
MLA Handbook (7th Edition):
Martinez Guerra, Andres. “Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.” 2019. Web. 17 Jan 2021.
Vancouver:
Martinez Guerra A. Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. [Internet] [Doctoral dissertation]. Vanderbilt University; 2019. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/12867.
Council of Science Editors:
Martinez Guerra A. Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. [Doctoral Dissertation]. Vanderbilt University; 2019. Available from: http://hdl.handle.net/1803/12867
Vanderbilt University
25.
Bennett, Daniel Alvin.
Design and Assessment of an Upper Extremity Prosthetic System.
Degree: PhD, Mechanical Engineering, 2015, Vanderbilt University
URL: http://hdl.handle.net/1803/15287
► This dissertation presents the design, development, characterization, and assessment of a transhumeral prosthesis which includes a 9 degree of freedom (DOF) multigrasp hand, a single…
(more)
▼ This dissertation presents the design, development, characterization, and assessment of a transhumeral prosthesis which includes a 9 degree of freedom (DOF) multigrasp hand, a single DOF wrist rotator, and a single DOF elbow joint. Through characterization of the achievable joint torques and speeds, the prosthesis was proven capable of performing the majority of activities of daily living (ADLs) that a typical amputee would find necessary. The purpose of the prosthesis was to serve as a testbed for novel control methodologies, and so for the practical assessments and simulated ADLs it was used to test several different controllers. The controllers implemented on the prosthesis were the Multigrasp Myoelectric Controller (MMC) for the control of the multigrasp hand, and an inertial measurement unit (IMU) based coordinated controller for the control of a wrist. The MMC was developed prior to the work presented in this dissertation, and allowed full access to multigrasp hand functionality with a standard 2-site myoelectric interface. The development of the IMU based coordinated controller was a major piece of this dissertation, and used an IMU to take advantage of motion synergies between wrist pronation/supination and shoulder abduction. In this controller, shoulder abduction directly controlled the rotational velocity of the wrist, which can be coupled with a myoelectric hand control interface to enable simultaneous control and coordination of multiple sound and prosthetic joints. In a study where 5 able-bodied subjects using the hand and wrist prostheses with an adapter to perform simulated ADLs, the coordinated controller was shown to complete the tasks approximately 35% faster without any significant increase in compensatory motion when compared with a traditional sequential myoelectric controller.
Advisors/Committee Members: Robert Webster, III (committee member), Eric Barth (committee member), Nilanjan Sarkar (committee member), Gerasimos Bastas (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: Robotics; Prosthetics; Prosthesis Control; Transhumeral
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Bennett, D. A. (2015). Design and Assessment of an Upper Extremity Prosthetic System. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/15287
Chicago Manual of Style (16th Edition):
Bennett, Daniel Alvin. “Design and Assessment of an Upper Extremity Prosthetic System.” 2015. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/15287.
MLA Handbook (7th Edition):
Bennett, Daniel Alvin. “Design and Assessment of an Upper Extremity Prosthetic System.” 2015. Web. 17 Jan 2021.
Vancouver:
Bennett DA. Design and Assessment of an Upper Extremity Prosthetic System. [Internet] [Doctoral dissertation]. Vanderbilt University; 2015. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/15287.
Council of Science Editors:
Bennett DA. Design and Assessment of an Upper Extremity Prosthetic System. [Doctoral Dissertation]. Vanderbilt University; 2015. Available from: http://hdl.handle.net/1803/15287
Vanderbilt University
26.
Gasser, Benjamin William.
Design of an Upper-Limb Exoskeleton for Functional Assistance of Bimanual Activities of Daily Living.
Degree: PhD, Mechanical Engineering, 2019, Vanderbilt University
URL: http://hdl.handle.net/1803/14479
► Hemiparetic loss of upper-limb function is a common occurrence following a stroke. A portion of individuals will regain substantial function through therapy and learning of…
(more)
▼ Hemiparetic loss of upper-limb function is a common occurrence following a stroke. A portion of individuals will regain substantial function through therapy and learning of adaptive behaviors, but a substantial population is left with one arm having chronic motor function loss to a degree that hinders performance of bimanual activities of daily living (ADLs). This dissertation presents a summary of the mechanical and electrical design and preliminary assessment work performed for a semi-powered hand and arm exoskeleton intended for daily assistance of tasks requiring, or benefitting from, the use of both hands. Specifically, the device is a hand exoskeleton coupled with a wrist and elbow exoskeleton to supplement position and stability while conducting bimanual ADLs. The hand portion has one control degree-of-freedom and augments the user’s grasp strength and ability to extend the affected hand into the open position. The wrist and elbow exoskeleton is comprised of a curved prismatic joint and a revolute joint that exist in a normally locked state to provide passive orientation and support to the arm. Both joints may be rapidly unlocked and the arm position reconfigured. A two-button control system was implemented to allow the user to trigger the exoskeleton state transitions used in the performance of bimanual ADLs. A preliminary assessment of the exoskeleton was performed with several subjects with varying degrees of upper-limb motor deficit resulting from stroke. For subjects with limited hand and arm functionality, the exoskeleton was found to increase grasp strength and improve the ability to perform representative bimanual tasks.
Advisors/Committee Members: Nilanjan Sarkar (committee member), Karl E. Zelik (committee member), Kevin C. Galloway (committee member), Gerasimos Bastas (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: Upper limb exoskeleton; prosthetics and exoskeletons; rehabilitation robotics
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Gasser, B. W. (2019). Design of an Upper-Limb Exoskeleton for Functional Assistance of Bimanual Activities of Daily Living. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14479
Chicago Manual of Style (16th Edition):
Gasser, Benjamin William. “Design of an Upper-Limb Exoskeleton for Functional Assistance of Bimanual Activities of Daily Living.” 2019. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/14479.
MLA Handbook (7th Edition):
Gasser, Benjamin William. “Design of an Upper-Limb Exoskeleton for Functional Assistance of Bimanual Activities of Daily Living.” 2019. Web. 17 Jan 2021.
Vancouver:
Gasser BW. Design of an Upper-Limb Exoskeleton for Functional Assistance of Bimanual Activities of Daily Living. [Internet] [Doctoral dissertation]. Vanderbilt University; 2019. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/14479.
Council of Science Editors:
Gasser BW. Design of an Upper-Limb Exoskeleton for Functional Assistance of Bimanual Activities of Daily Living. [Doctoral Dissertation]. Vanderbilt University; 2019. Available from: http://hdl.handle.net/1803/14479
Vanderbilt University
27.
Guo, Liyun.
Development and testing of a biofeedback system for wheelchair propulsion analysis.
Degree: PhD, Mechanical Engineering, 2012, Vanderbilt University
URL: http://hdl.handle.net/1803/11779
► This project designed, implemented, validated and tested a biofeedback system for wheelchair propulsion analysis which was named OptiPush Biofeedback System. The system includes an instrumented…
(more)
▼ This project designed, implemented, validated and tested a biofeedback system for wheelchair propulsion analysis which was named OptiPush Biofeedback System. The system includes an instrumented wheelchair wheel and biofeedback software. The instrumented wheel was designed to measure wheel angle and the 3-dimensional forces and torques applied to wheelchair handrim during pushing. The software provides real-time single & multi-variable biofeedback. Static and dynamic system validation was tested and the results revealed low error in all measurements. The viability of single variable biofeedback was tested with 31 wheelchair users Results showed that subjects were able to make significant and controlled changes of their propulsion technique. Multivariable biofeedback was tested with 32 wheelchair users. Results showed that users were able to reduce both their peak handrim force and their push cadence concurrently. All testing results revealed that propulsion technique could be improved by using the OptiPush Biofeedback System.
Advisors/Committee Members: Michael Goldfarb (committee member), Robert J. Webster, III (committee member), Paul H. King (committee member), Nilanjan Sarkar (Committee Chair), Mark Richter (Committee Chair).
Subjects/Keywords: OptiPush Biofeedback Wheelchair Propulsion
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Guo, L. (2012). Development and testing of a biofeedback system for wheelchair propulsion analysis. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/11779
Chicago Manual of Style (16th Edition):
Guo, Liyun. “Development and testing of a biofeedback system for wheelchair propulsion analysis.” 2012. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/11779.
MLA Handbook (7th Edition):
Guo, Liyun. “Development and testing of a biofeedback system for wheelchair propulsion analysis.” 2012. Web. 17 Jan 2021.
Vancouver:
Guo L. Development and testing of a biofeedback system for wheelchair propulsion analysis. [Internet] [Doctoral dissertation]. Vanderbilt University; 2012. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/11779.
Council of Science Editors:
Guo L. Development and testing of a biofeedback system for wheelchair propulsion analysis. [Doctoral Dissertation]. Vanderbilt University; 2012. Available from: http://hdl.handle.net/1803/11779
Vanderbilt University
28.
Farris, Ryan James.
Design of a Powered Lower-Limb Exoskeleton and Control for Gait Assistance in Paraplegics.
Degree: PhD, Mechanical Engineering, 2012, Vanderbilt University
URL: http://hdl.handle.net/1803/10607
► This work describes the design and implementation of a powered lower limb exoskeleton for providing legged mobility to the spinal cord injury (SCI) population. The…
(more)
▼ This work describes the design and implementation of a powered lower limb exoskeleton for providing legged mobility to the spinal cord injury (SCI) population. The exoskeleton has a mass of 12.5 kg and provides sagital plane joint torques of up to 65 Nm at the hips and knees to enable walking, sit-to-stand transitions, stand-to-sit transitions, stair ascent, and stair descent. A custom distributed embedded system controls the exoskeleton with power being provided by a lithium polymer battery. The control structure provides an intuitive interface between the user and the exoskeleton for ease of use with a minimal learning curve. In order to demonstrate the ability of the exoskeleton to assist walking and stair ascent/descent, the exoskeleton was experimentally implemented on a paraplegic subject with a T10 complete injury. Data collected during walking indicates a high degree of step-to-step repeatability of hip and knee trajectories (as enforced by the exoskeleton). Experimental data is presented characterizing the joint torque and power required to provide stair ascent and descent functionality to a person with paraplegia. Also described is a functional assessment protocol for assessing the mobility and exertion associated with systems that provide legged mobility assistance for persons with SCI.
Advisors/Committee Members: Robert J. Webster III (committee member), Eric Barth (committee member), Nilanjan Sarkar (committee member), Peter Konrad (committee member), Chris Byrne (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: rehabilitation robotics; paraplegia; powered orthosis; SCI; Lower limb exoskeleton; assitive technology
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Farris, R. J. (2012). Design of a Powered Lower-Limb Exoskeleton and Control for Gait Assistance in Paraplegics. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10607
Chicago Manual of Style (16th Edition):
Farris, Ryan James. “Design of a Powered Lower-Limb Exoskeleton and Control for Gait Assistance in Paraplegics.” 2012. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/10607.
MLA Handbook (7th Edition):
Farris, Ryan James. “Design of a Powered Lower-Limb Exoskeleton and Control for Gait Assistance in Paraplegics.” 2012. Web. 17 Jan 2021.
Vancouver:
Farris RJ. Design of a Powered Lower-Limb Exoskeleton and Control for Gait Assistance in Paraplegics. [Internet] [Doctoral dissertation]. Vanderbilt University; 2012. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/10607.
Council of Science Editors:
Farris RJ. Design of a Powered Lower-Limb Exoskeleton and Control for Gait Assistance in Paraplegics. [Doctoral Dissertation]. Vanderbilt University; 2012. Available from: http://hdl.handle.net/1803/10607
Vanderbilt University
29.
Dalley, Skyler Ashton.
Development and Control of a Multigrasp Myoelectric Hand Prosthesis.
Degree: PhD, Mechanical Engineering, 2013, Vanderbilt University
URL: http://hdl.handle.net/1803/13857
► Externally powered transradial prostheses have traditionally been limited to devices that are broad abstractions of the natural hand, possessing a single degree of freedom and…
(more)
▼ Externally powered transradial prostheses have traditionally been limited to devices that are broad abstractions of the natural hand, possessing a single degree of freedom and having limited grasping capability. Enabled by recent technological advances, multigrasp prosthetic hands with greater anthropomorphic fidelity have now begun to emerge, although the ability to communicate with and control such devices is limited. In light of these facts, the goal of the work described herein was to develop a control interface to provide full access to the capability of a multigrasp hand, and thereby enhance the ability of an amputee to perform the activities of daily living. To achieve this, a multigrasp hand prosthesis was constructed along with a state-based multigrasp myoelectric controller (MMC). Initial tests were performed by non-amputee participants in a virtual environment so that the performance of a virtual prosthesis, as controlled by the multigrasp myoelectric controller, could be compared to the performance of the native hand. Functional assessments were then performed in a laboratory setting by an amputee participant to investigate the effectiveness of the physical system, in addition to a wide variety of commercial devices, in performing the activities of daily living. This dissertation presents the results of the above work, and demonstrates that the prosthetic system provides functional utility comparable to its commercial counterparts, while allowing rapid access the full range of grasps and postures provided by a multigrasp myoelectric hand.
Advisors/Committee Members: Pietro Valdastri (committee member), Nilanjan Sarkar (committee member), Peter Konrad (committee member), Eric Barth (committee member), Robert Webster (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: Assessment; Multigrasp; Myoelectric; Prosthesis; Hand; Control
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Dalley, S. A. (2013). Development and Control of a Multigrasp Myoelectric Hand Prosthesis. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13857
Chicago Manual of Style (16th Edition):
Dalley, Skyler Ashton. “Development and Control of a Multigrasp Myoelectric Hand Prosthesis.” 2013. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/13857.
MLA Handbook (7th Edition):
Dalley, Skyler Ashton. “Development and Control of a Multigrasp Myoelectric Hand Prosthesis.” 2013. Web. 17 Jan 2021.
Vancouver:
Dalley SA. Development and Control of a Multigrasp Myoelectric Hand Prosthesis. [Internet] [Doctoral dissertation]. Vanderbilt University; 2013. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/13857.
Council of Science Editors:
Dalley SA. Development and Control of a Multigrasp Myoelectric Hand Prosthesis. [Doctoral Dissertation]. Vanderbilt University; 2013. Available from: http://hdl.handle.net/1803/13857
Vanderbilt University
30.
Murray, Spencer Ambrose.
Development and assessment of a control approach for a lower-limb exoskeleton for use in gait rehabilitation post stroke.
Degree: PhD, Electrical Engineering, 2016, Vanderbilt University
URL: http://hdl.handle.net/1803/12170
► Lower-limb weakness or paralysis is a common impairment following stroke. In recent years numerous robotic-assisted systems have been developed to aid in post-stroke gait rehabilitation.…
(more)
▼ Lower-limb weakness or paralysis is a common impairment following stroke. In recent years numerous robotic-assisted systems have been developed to aid in post-stroke gait rehabilitation. The controllers developed for these systems have nearly all consisted of traditional or modified trajectory-based control systems which guide a patient’s limbs through a kinematically improved gait cycle. Controllers which do not operate on a trajectory basis may offer numerous advantages, especially when implemented on an overground (as opposed to treadmill-based) robotic system. This thesis describes the development and evaluation of a non-trajectory-based controller for use in post-stroke gait training. The controller has been implemented on a lower-limb robotic exoskeleton and tested with several subjects recovering from stroke. Subjects were able to improve gait speed and stride length after practicing overground gait in the exoskeleton.
Advisors/Committee Members: Richard Alan Peters II (committee member), Robert J. Webster III (committee member), Eric J. Barth (committee member), Nilanjan Sarkar (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: gait rehabilitation; exoskeleton; stroke
Record Details
Similar Records
Cite
Share »
Record Details
Similar Records
Cite
« Share
❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Murray, S. A. (2016). Development and assessment of a control approach for a lower-limb exoskeleton for use in gait rehabilitation post stroke. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12170
Chicago Manual of Style (16th Edition):
Murray, Spencer Ambrose. “Development and assessment of a control approach for a lower-limb exoskeleton for use in gait rehabilitation post stroke.” 2016. Doctoral Dissertation, Vanderbilt University. Accessed January 17, 2021.
http://hdl.handle.net/1803/12170.
MLA Handbook (7th Edition):
Murray, Spencer Ambrose. “Development and assessment of a control approach for a lower-limb exoskeleton for use in gait rehabilitation post stroke.” 2016. Web. 17 Jan 2021.
Vancouver:
Murray SA. Development and assessment of a control approach for a lower-limb exoskeleton for use in gait rehabilitation post stroke. [Internet] [Doctoral dissertation]. Vanderbilt University; 2016. [cited 2021 Jan 17].
Available from: http://hdl.handle.net/1803/12170.
Council of Science Editors:
Murray SA. Development and assessment of a control approach for a lower-limb exoskeleton for use in gait rehabilitation post stroke. [Doctoral Dissertation]. Vanderbilt University; 2016. Available from: http://hdl.handle.net/1803/12170
◁ [1] [2] ▶
. 
Open Access Theses and Dissertations