You searched for +publisher:"Vanderbilt University" +contributor:("Nilanjan Sarkar").
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Vanderbilt University
1.
Fu, Qiang.
The Effect of Avatar Model in Stepping Off a Ledge in an Immersive Virtual Environment.
Degree: MS, Computer Science, 2015, Vanderbilt University
URL: http://hdl.handle.net/1803/14791 
► Animated digital self-representations of the user in immersive virtual environments, called self-avatars, have been shown to be an aid in perceptual judgments in virtual environment…
(more)
▼ Animated digital self-representations of the user in immersive virtual environments, called self-avatars, have been shown to be an aid in perceptual judgments in virtual environment and provide critical information for people deciding whether an action can be take or not. In this body of work, the size of the self-avatar is carefully calibrated to match the size of user. However, little attention has been paid to the graphical model used to represent the self-avatar. In this thesis, we further investigate the question of whether the form of the model can affect perceptual judgments in an IVE. We study this question in the context of affordance judgments, that is, properties of the virtual environment that represent possibilities for action. Our specific task concerns the judgment of stepping off a virtual ledge, a task we have studied before. In that work, we showed that the presence of a self-avatar provided important information in making the judgment of whether to step off the virtual ledge or not. In this work, we will again employ that task, but vary the underlying representation of the self-avatar across subjects to see if it affects this judgment. The forms of self-avatars vary between no self-avatar, a simple line-based skeleton avatar, or a full-body, rich polygonal, gender-matched self-avatar. Our results replicate our prior work, and show that presenting a self-avatar significantly affects people’s perceptual judgment in virtual environments. However, the form of the self-avatar seem to make no difference in such tasks.
Advisors/Committee Members: Nilanjan Sarkar (committee member), Robert E. Bodenheimer (Committee Chair).
Subjects/Keywords: affordance; self-avatar; virtual environment; motion capture
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APA (6th Edition):
Fu, Q. (2015). The Effect of Avatar Model in Stepping Off a Ledge in an Immersive Virtual Environment. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14791
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):
Fu, Qiang. “The Effect of Avatar Model in Stepping Off a Ledge in an Immersive Virtual Environment.” 2015. Thesis, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/14791.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Fu, Qiang. “The Effect of Avatar Model in Stepping Off a Ledge in an Immersive Virtual Environment.” 2015. Web. 22 Jan 2021.
Vancouver:
Fu Q. The Effect of Avatar Model in Stepping Off a Ledge in an Immersive Virtual Environment. [Internet] [Thesis]. Vanderbilt University; 2015. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/14791.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Fu Q. The Effect of Avatar Model in Stepping Off a Ledge in an Immersive Virtual Environment. [Thesis]. Vanderbilt University; 2015. Available from: http://hdl.handle.net/1803/14791
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
2.
Bell, Charreau Sieanna.
Image-based Motion Estimation for Teloperated Flexible Endoscopes.
Degree: MS, Mechanical Engineering, 2014, Vanderbilt University
URL: http://hdl.handle.net/1803/14802
► Colorectal cancer is one of the leading causes of cancer-related mortality worldwide, although it is almost always preventable by compliance with recommended early screening guidelines.…
(more)
▼ Colorectal cancer is one of the leading causes of cancer-related mortality worldwide, although it is almost always preventable by compliance with recommended early screening guidelines. Teleoperated flexible endoscopes have the potential to increase compliance and additionally relieve strain from the physician. Vision-based pose detection systems offer strong advantages for robotic control systems, since they require no additional sensors or augmentation of the endoscope. In this work, we present an algorithm which uses sequential endoscopic images to calculate optical flow (OF), and then train artificial neural networks (ANNs) to estimate metric change in 6 degree of freedom pose from the OF. We investigated the role of white light illumination (WLI) versus narrow band illumination (NBI) and OF representation on the estimation capabilities of the ANNs. Additionally, we analyzed the strength of the features, the distinguishability of the OF patterns, and methods for OF pattern dimensionality reduction. We found that NBI combined with partitioning based on the anatomy of the colon was slightly better for motion estimation in a clinical scenario in which an expert gastroenterologist (>2,000 lifetime procedures) performed colonoscopies on a colon simulator model. We also found that the NBI features were twice as strong as the WLI features. We lastly found that the role of representation of the OF has a significant effect on the estimation capabilities of the ANNs, and that dimensionality reduction does not have a large effect on the estimations, although it reduces the computational load of the algorithm.
Advisors/Committee Members: Nilanjan Sarkar (committee member), D. Mitchell Wilkes (committee member), Pietro Valdastri (Committee Chair).
Subjects/Keywords: localization; colonoscopy; robotic endoscopes; artificial neural networks; optical flow
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APA (6th Edition):
Bell, C. S. (2014). Image-based Motion Estimation for Teloperated Flexible Endoscopes. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14802
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):
Bell, Charreau Sieanna. “Image-based Motion Estimation for Teloperated Flexible Endoscopes.” 2014. Thesis, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/14802.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Bell, Charreau Sieanna. “Image-based Motion Estimation for Teloperated Flexible Endoscopes.” 2014. Web. 22 Jan 2021.
Vancouver:
Bell CS. Image-based Motion Estimation for Teloperated Flexible Endoscopes. [Internet] [Thesis]. Vanderbilt University; 2014. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/14802.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Bell CS. Image-based Motion Estimation for Teloperated Flexible Endoscopes. [Thesis]. Vanderbilt University; 2014. Available from: http://hdl.handle.net/1803/14802
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
3.
Bhattacharyya, Sam.
Motion Planning and Constraint Exploration for Robotic Surgery.
Degree: MS, Mechanical Engineering, 2011, Vanderbilt University
URL: http://hdl.handle.net/1803/15147
► Robot-assisted Minimally Invasive Surgery (MIS) presents patients with the benefits of reduced pain and shortened recovery time at a cost of perception deficiency to surgeons.…
(more)
▼ Robot-assisted Minimally Invasive Surgery (MIS) presents patients with the benefits of reduced pain and shortened recovery time at a cost of perception deficiency to surgeons. In contrast to MIS, surgeons manually manipulate organs during open surgery and intuitively discern safe movements for flexibly constrained organs. This constraint perception ability is lost during robotic-assisted surgery and surgeons are expected to guard organs against trauma using other sensory cues such as vision feedback about tissue stretch. The aim of this research is to investigate algorithms that, when combined with future telemanipulation schemes would allow surgical robots to help surgeons with safe manipulation of organs.
To achieve this goal we break new ground in the area of robotic manipulation and constraint exploration in flexible environments. The thesis focuses on three aspects of manipulation in flexible environments: 1) online path planning for safe manipulation of a flexibly constrained organ to a target pose, 2) global motion constraint estimation and characterization, 3) constraint identification and classification. Algorithms to estimate perceived flexible suspension constraint are developed based on estimation of the suspension stiffness tensor. Properties of the stiffness tensor are used to obtain frame-invariant principal constraint axes. The principal stiffness in this frame invariant representation is then used to form a 6-dimensional constraint vector that presents a compact characterization of perceived translational and rotational stiffness magnitudes in the principal axes directions. A method for compact characterization of global stiffness, as well as real-time mapping, classification and identification of constraints are then presented. Finally, Constraints are automatically defined and classified from local stiffness measurements, using a clustering algorithm.
Advisors/Committee Members: Nilanjan Sarkar (committee member), Thomas Withrow (committee member), Nabil Simaan (Committee Chair).
Subjects/Keywords: Exploration; Constraints; Stiffness; Surgical Robotics
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APA (6th Edition):
Bhattacharyya, S. (2011). Motion Planning and Constraint Exploration for Robotic Surgery. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/15147
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):
Bhattacharyya, Sam. “Motion Planning and Constraint Exploration for Robotic Surgery.” 2011. Thesis, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/15147.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Bhattacharyya, Sam. “Motion Planning and Constraint Exploration for Robotic Surgery.” 2011. Web. 22 Jan 2021.
Vancouver:
Bhattacharyya S. Motion Planning and Constraint Exploration for Robotic Surgery. [Internet] [Thesis]. Vanderbilt University; 2011. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/15147.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Bhattacharyya S. Motion Planning and Constraint Exploration for Robotic Surgery. [Thesis]. Vanderbilt University; 2011. Available from: http://hdl.handle.net/1803/15147
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
4.
Wade, Joshua William.
Design and Evaluation of a Virtual Reality Adaptive Driving Intervention Architecture (VADIA): Applications in Autism Spectrum Disorder.
Degree: MS, Computer Science, 2015, Vanderbilt University
URL: http://hdl.handle.net/1803/15116
► Injury, loss of life, and tremendous financial tolls have for years plagued drivers in the United States and in nearly every industrialized nation in the…
(more)
▼ Injury, loss of life, and tremendous financial tolls have for years plagued drivers in the United States and in nearly every industrialized nation in the world. Despite the associated risks, driving remains an essential part of life for over 200 million Americans. In addition to social and behavioral deficits, individuals with Autism Spectrum Disorders (ASD) often struggle to develop the adaptive skills necessary to achieve independence. Driving intervention in individuals with ASD is a growing area of study, but is still widely under-researched. Moreover, existing simulated driver training systems focus on improving driving performance, but do not necessarily address processing deficits of people with ASD. VADIA, a virtual reality adaptive driving intervention architecture, was developed to fill this gap. Through a series of validation tests and pilot studies involving 27 subjects with ASD, VADIA is shown to be functional and robust, as well as a promising tool for driving intervention in individuals with ASD.
Advisors/Committee Members: Xenofon Koutsoukos (committee member), Zachary Warren (committee member), Nilanjan Sarkar (Committee Chair).
Subjects/Keywords: Virtual Reality; Driving Intervention; Autism Spectrum Disorder
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APA (6th Edition):
Wade, J. W. (2015). Design and Evaluation of a Virtual Reality Adaptive Driving Intervention Architecture (VADIA): Applications in Autism Spectrum Disorder. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/15116
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):
Wade, Joshua William. “Design and Evaluation of a Virtual Reality Adaptive Driving Intervention Architecture (VADIA): Applications in Autism Spectrum Disorder.” 2015. Thesis, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/15116.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Wade, Joshua William. “Design and Evaluation of a Virtual Reality Adaptive Driving Intervention Architecture (VADIA): Applications in Autism Spectrum Disorder.” 2015. Web. 22 Jan 2021.
Vancouver:
Wade JW. Design and Evaluation of a Virtual Reality Adaptive Driving Intervention Architecture (VADIA): Applications in Autism Spectrum Disorder. [Internet] [Thesis]. Vanderbilt University; 2015. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/15116.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Wade JW. Design and Evaluation of a Virtual Reality Adaptive Driving Intervention Architecture (VADIA): Applications in Autism Spectrum Disorder. [Thesis]. Vanderbilt University; 2015. Available from: http://hdl.handle.net/1803/15116
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
5.
Caprara, Robert Joseph.
A Novel Device for Gastric Cancer Screening in Low- and Middle-Income Nations.
Degree: MS, Mechanical Engineering, 2015, Vanderbilt University
URL: http://hdl.handle.net/1803/12354
► As the second leading cause of cancer death worldwide, gastric cancer is a global issue. Screening programs have had a significant impact on reducing mortality…
(more)
▼ As the second leading cause of cancer death worldwide, gastric cancer is a global issue. Screening programs have had a significant impact on reducing mortality but are unavailable to most people in in low- and middle-income nations. In this document, we introduce a platform designed to enable inexpensive gastric screening programs to take place in remote areas of low- and middle income nations. The system consists of a swallowable endoscopic capsule connected to an external water distribution system by a multi-channel soft tether. The expulsion of pressurized water from the capsule's fluid exhaust ports allows the user to maneuver the capsule and orient the on-board endoscopic camera within the patient. Upon completion of a cancer screening procedure, the outer shell of the capsule and the soft tether can be disposed, while the endoscopic camera is reclaimed without needing further reprocessing or sterilization. Experimental assessment was accomplished through a set of bench trials, ex vivo analysis, and in vivo feasibility validation. During the ex vivo trials, the platform was able to visualize landmarks that are typically observed during a gastric cancer screening procedure in less than eight minutes. With the system's compact footprint, the minimal cost of the disposable parts, and the possibility of running on relatively available and inexpensive resources, the platform can potentially widen gastric cancer screening programs in low- and middle-income nations.
Advisors/Committee Members: Keith Obstein (committee member), Nilanjan Sarkar (committee member), Pietro Valdastri (committee member).
Subjects/Keywords: Gastric; Cancer; Capsule; Robotics; Robot; Stomach
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APA (6th Edition):
Caprara, R. J. (2015). A Novel Device for Gastric Cancer Screening in Low- and Middle-Income Nations. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12354
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):
Caprara, Robert Joseph. “A Novel Device for Gastric Cancer Screening in Low- and Middle-Income Nations.” 2015. Thesis, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/12354.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Caprara, Robert Joseph. “A Novel Device for Gastric Cancer Screening in Low- and Middle-Income Nations.” 2015. Web. 22 Jan 2021.
Vancouver:
Caprara RJ. A Novel Device for Gastric Cancer Screening in Low- and Middle-Income Nations. [Internet] [Thesis]. Vanderbilt University; 2015. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/12354.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Caprara RJ. A Novel Device for Gastric Cancer Screening in Low- and Middle-Income Nations. [Thesis]. Vanderbilt University; 2015. Available from: http://hdl.handle.net/1803/12354
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
6.
Young, Eric Michael.
Low-Cost, Intention-Detecting Robot to Assist the Movement of an Impaired Upper Limb.
Degree: MS, Mechanical Engineering, 2015, Vanderbilt University
URL: http://hdl.handle.net/1803/13945
► In recent years, robotic rehabilitation has proven to be beneficial for individuals with impaired limbs, particularly due to the potential of robotic therapists to be…
(more)
▼ In recent years, robotic rehabilitation has proven to be beneficial for individuals with impaired limbs, particularly due to the potential of robotic therapists to be more accessible, consistent and cost-effective than their human counterparts. While pursuing better rehabilitation methods is a crucial endeavor, it is also important to acknowledge that many people need an alternative form of assistance for physical impairments, both while undergoing rehabilitation and in the unfortunate but common scenario of rehabilitation providing insufficient improvements. The aim of this thesis is to present a low-cost robotic assistive device which may serve as a complement to rehabilitation procedures. The proposed system determines the intended movement of a user’s upper arm via eye-gaze inputs and force inputs, and physically assists said movement. In this manner, the system may provide immediate relief for someone suffering from physical impairments in their upper limbs, either as a complement to ongoing rehabilitation therapy or as a partial solution in the case of insufficient improvements from rehabilitation.
Advisors/Committee Members: Thomas Withrow (committee member), Zachary Warren (committee member), Nilanjan Sarkar (Committee Chair).
Subjects/Keywords: human-robot interaction; intention detection; robotic assistance
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APA (6th Edition):
Young, E. M. (2015). Low-Cost, Intention-Detecting Robot to Assist the Movement of an Impaired Upper Limb. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13945
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):
Young, Eric Michael. “Low-Cost, Intention-Detecting Robot to Assist the Movement of an Impaired Upper Limb.” 2015. Thesis, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/13945.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Young, Eric Michael. “Low-Cost, Intention-Detecting Robot to Assist the Movement of an Impaired Upper Limb.” 2015. Web. 22 Jan 2021.
Vancouver:
Young EM. Low-Cost, Intention-Detecting Robot to Assist the Movement of an Impaired Upper Limb. [Internet] [Thesis]. Vanderbilt University; 2015. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/13945.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Young EM. Low-Cost, Intention-Detecting Robot to Assist the Movement of an Impaired Upper Limb. [Thesis]. Vanderbilt University; 2015. Available from: http://hdl.handle.net/1803/13945
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
7.
Peterman, Joel Stephen.
Inter- and Intrapersonal Body Perception in Schizophrenia.
Degree: PhD, Psychology, 2016, Vanderbilt University
URL: http://hdl.handle.net/1803/14606
► Individuals with schizophrenia consistently display social functioning deficits with underlying emotion recognition impairments. Simulation of other’s emotional expressions facilitates recognition. Emotional states are comprised of…
(more)
▼ Individuals with schizophrenia consistently display social functioning deficits with underlying emotion recognition impairments. Simulation of other’s emotional expressions facilitates recognition. Emotional states are comprised of phenomenological, physiological, and expressive components working in a coordinated manner; and perception of another’s emotional expression activates the motor, somatic, and cognitive states associated with the expression, aiding the perceiver in recognizing the other’s emotional state. A series of studies was conducted to investigate emotion recognition deficits in patients with schizophrenia and demographically matched controls from an embodied perspective. Inpatients with schizophrenia displayed significant socio-emotional recognition deficits compared to controls, and failed to utilize socially relevant information (e.g. emotional state) when making social trait judgments. Outpatients exhibited poorer recognition accuracy on a dynamic emotional gait perception task despite their intact visual scanning behavior. Although normal scanning behavior in outpatients suggests attentional benefits of dynamic cues inherent in gait stimuli, attending to the salient aspects of an emotional expression did not automatically confer recognition. Outpatients also displayed altered responses to social and non-social emotional scenes compared to controls. Physiological arousal and facial musculature associated with negative emotional states were increased irrespective of the emotional valence of the scene. This suggests significant aberrations in the multi-faceted emotional experiences in schizophrenia. Finally, simulation and embodiment of emotions were indirectly assessed through the measurement of facial musculature activity during viewing of dynamic facial emotional expressions. Counter to expectations, both controls and outpatients displayed similar facial musculature activity irrespective of the emotion expressed by the face stimulus. In one condition, outpatients showed greater facial musculature activity than controls regardless of the expression. Taken together, these studies point to a breakdown in the simulation of emotional states in others, possibly due to a less sensitivity when distinguishing internal emotional states. With more “noise” in this system, individuals with schizophrenia must rely on more frontally-mediated abilities to understand other’s emotional states. Such a conceptualization provides an opportunity for new treatments of this intractable disorder.
Advisors/Committee Members: Andrew Tomarken (committee member), David Zald (committee member), Nilanjan Sarkar (committee member), Sohee Park (Committee Chair).
Subjects/Keywords: Schizophrenia; emotion recognition; embodiment
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APA (6th Edition):
Peterman, J. S. (2016). Inter- and Intrapersonal Body Perception in Schizophrenia. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14606
Chicago Manual of Style (16th Edition):
Peterman, Joel Stephen. “Inter- and Intrapersonal Body Perception in Schizophrenia.” 2016. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/14606.
MLA Handbook (7th Edition):
Peterman, Joel Stephen. “Inter- and Intrapersonal Body Perception in Schizophrenia.” 2016. Web. 22 Jan 2021.
Vancouver:
Peterman JS. Inter- and Intrapersonal Body Perception in Schizophrenia. [Internet] [Doctoral dissertation]. Vanderbilt University; 2016. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/14606.
Council of Science Editors:
Peterman JS. Inter- and Intrapersonal Body Perception in Schizophrenia. [Doctoral Dissertation]. Vanderbilt University; 2016. Available from: http://hdl.handle.net/1803/14606
Vanderbilt University
8.
Johnson, Jazette Monique.
RESD: Steps Towards Improving The Design of Reminder Systems for Older Adults with Dementia using Eye Trackers.
Degree: MS, Interdisciplinary Studies: Human Computer Interaction, 2018, Vanderbilt University
URL: http://hdl.handle.net/1803/13908
► Assistive technology (AT) refers to technology used to aid, increase, or improve the capabilities of people with disabilities. AT for older adults with cognitive impairments,…
(more)
▼ Assistive technology (AT) refers to technology used to aid, increase, or improve the capabilities of people with disabilities. AT for older adults with cognitive impairments, such as Alzheimer’s Disease (AD) and other dementias has advanced tremendously with researchers further developing monitoring systems for wandering, reminder systems, and therapy applications to improve the quality of life for these older adults. AD is a disease of the brain that causes long-term memory loss, confusion, irritability, aggression, and difficulty with speech in those who suffer with the disease. Technology developed for older adults with AD has many limitations to address and improvements to be made. Researchers have tested how successful reminder system are at giving reminders, but many do not test how reminders affect the participant’s daily life. For instance, are older adults with AD 1) able to accomplish more tasks because of these reminder, 2) are the reminders being acknowledged by the older adult, or 3) has the older adult successfully attempted to complete the task the reminder gave? This research is step towards improving the way reminder systems for older adults with early stages of AD are developed by first understanding how older adults acknowledge reminders using eye trackers. A game system was developed to monitor the attention and performance of older adults using an eye tracker and a mouse tracker.
Advisors/Committee Members: Keivan Sta (committee member), Maithilee Kunda (committee member), Nilanjan Sarkar, Ph.D. (Committee Chair).
Subjects/Keywords: assistive technology; human computer interaction; reminders; eye trackers; attention; dementia
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APA (6th Edition):
Johnson, J. M. (2018). RESD: Steps Towards Improving The Design of Reminder Systems for Older Adults with Dementia using Eye Trackers. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13908
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):
Johnson, Jazette Monique. “RESD: Steps Towards Improving The Design of Reminder Systems for Older Adults with Dementia using Eye Trackers.” 2018. Thesis, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/13908.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Johnson, Jazette Monique. “RESD: Steps Towards Improving The Design of Reminder Systems for Older Adults with Dementia using Eye Trackers.” 2018. Web. 22 Jan 2021.
Vancouver:
Johnson JM. RESD: Steps Towards Improving The Design of Reminder Systems for Older Adults with Dementia using Eye Trackers. [Internet] [Thesis]. Vanderbilt University; 2018. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/13908.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Johnson JM. RESD: Steps Towards Improving The Design of Reminder Systems for Older Adults with Dementia using Eye Trackers. [Thesis]. Vanderbilt University; 2018. Available from: http://hdl.handle.net/1803/13908
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
9.
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
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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 22, 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. 22 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 22].
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
10.
Fan, Jing.
Models of Adaptation in Intelligent Human-Machine Interaction and Their Applications to Elder Care and Autism Spectrum Disorder Intervention.
Degree: PhD, Electrical Engineering, 2019, Vanderbilt University
URL: http://hdl.handle.net/1803/12310
► The role of human-machine interaction (HMI) has been increasingly important in our everyday lives. This dissertation focused on creating formal methods, algorithms, and architectures for…
(more)
▼ The role of human-machine interaction (HMI) has been increasingly important in our everyday lives. This dissertation focused on creating formal methods, algorithms, and architectures for adaptive HMI with specific applications to elder care and autism spectrum disorder (ASD) intervention. Human-machine systems have been explored to engage older adults in activity-oriented therapies and provide treatments for individuals with ASD. While these systems are promising, they are limited in their ability to i) understand the implicit mental states of a user; ii) provide many-to-one interaction with multiple users; and iii) generalize design methods for a variety of interaction scenarios and learn the relationship between users’ responses and system behaviors. This research seeks to address these limitations by developing models of people for mental states estimation, developing novel socially assistive robotic (SAR) systems, and designing generalized models of interaction including a model of machine.
First, a data-driven mental state models of individuals with ASD based on their electroencephalogram (EEG) responses was built. Feature engineering and machine learning methods were used to recognize four affective states and mental workload. Results demonstrated the possibility of group-level affect and workload recognition with high accuracy during realistic driving tasks. Second, a novel multi-user engagement-based SAR architecture, ROCARE, for elder care was designed. ROCARE is a user-centric model tied to the core area of engagement and featured multi-user human-robot interaction (HRI) and individualized activity management. Three closed-loop SAR systems, which provided various physical, cognitive, and social stimuli using multimodal interaction, were developed based on ROCARE for one-to-one and triadic interaction with older adults. Laboratory and field studies on these systems indicated positive acceptance and engagement of older adults, the potential for ROCARE-based systems to involve more than one older adult, to facilitate interpersonal communication, and to quantitatively measure older adults’ social interaction and activity engagement. Finally, a new mathematical model for multi-user HRI that formally defined and integrated a model of user, a model of robot, and a model of interaction was proposed. The model performed online planning during a simulated multi-user HRI task.
Advisors/Committee Members: Lorraine Mion (committee member), Gabor Karsai (committee member), Mitchell Wilkes (committee member), Douglas Fisher (committee member), Nilanjan Sarkar (Committee Chair).
Subjects/Keywords: affective computing; machine intelligence; human-machine interaction
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APA (6th Edition):
Fan, J. (2019). Models of Adaptation in Intelligent Human-Machine Interaction and Their Applications to Elder Care and Autism Spectrum Disorder Intervention. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12310
Chicago Manual of Style (16th Edition):
Fan, Jing. “Models of Adaptation in Intelligent Human-Machine Interaction and Their Applications to Elder Care and Autism Spectrum Disorder Intervention.” 2019. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/12310.
MLA Handbook (7th Edition):
Fan, Jing. “Models of Adaptation in Intelligent Human-Machine Interaction and Their Applications to Elder Care and Autism Spectrum Disorder Intervention.” 2019. Web. 22 Jan 2021.
Vancouver:
Fan J. Models of Adaptation in Intelligent Human-Machine Interaction and Their Applications to Elder Care and Autism Spectrum Disorder Intervention. [Internet] [Doctoral dissertation]. Vanderbilt University; 2019. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/12310.
Council of Science Editors:
Fan J. Models of Adaptation in Intelligent Human-Machine Interaction and Their Applications to Elder Care and Autism Spectrum Disorder Intervention. [Doctoral Dissertation]. Vanderbilt University; 2019. Available from: http://hdl.handle.net/1803/12310
Vanderbilt University
11.
Bekele, Esube Tamirat.
Intelligent Systems for Autism Spectrum Disorders and Schizophrenia Intervention – Design, Development and User Studies.
Degree: PhD, Electrical Engineering, 2015, Vanderbilt University
URL: http://hdl.handle.net/1803/14764
► Autism spectrum disorders (ASD) are characterized by difficulties in social communication as well as repetitive and atypical patterns of behaviors. According to the Centers for…
(more)
▼ Autism spectrum disorders (ASD) are characterized by difficulties in social communication as well as repetitive and atypical patterns of behaviors. According to the Centers for Disease Control and prevention (CDC), an estimated 1 in 68 children and an estimated 1 out of 42 boys (with 5 times prevalence than girls) in the United States have ASD. The average lifetime cost of care for individual with autism is estimated to be around 3.2 million, with average medical expenditures for individuals with ASD 4.1–6.2 times greater than for those without ASD. Schizophrenia (SZ) is a debilitating psychotic disorder that affects about 1% of the population, costing more than 100 billion annually in the USA. It causes emotional and cognitive impairments. Currently, there are no effective pharmacological treatments. Given the present limits of intervention science and the powerful nature of early impairments across the lifespan, there is urgent need for the development and application of novel treatment paradigms capable of substantially more efficacious individualized impact on the early core deficits of ASD and SZ. Given rapid progress and developments in technology, it has been argued that innovative computer and robot oriented technologies could be effectively harnessed to provide innovative clinical treatments for individuals with ASD.
This doctoral research explores the design and implementation of intelligent robotic and virtual reality systems for personalized treatment of autism spectrum disorders (ASD) and schizophrenia (SZ) interventions. Recent advances in robotic, virtual reality, and sensor technologies are utilized by designing, implementing and testing novel robot-assisted intervention for children with ASD, virtual reality-based facial emotional expression recognition for teenagers with ASD and adults with schizophrenia, and virtual reality-based social interaction and contextual emotion understanding in a virtual environment. We have designed novel human-robot and human-computer architectures in this dissertation to address the problem that fuse multimodal information and consider both explicit and implicit responses to optimize interaction for learning and intervention. The designed systems are not only sensitive of user performance but also monitor implicit affective cues inferred from peripheral body physiological signals, eye gaze patterns, and EEG signals. The multimodal cues were processed to infer psychological as well as task related performance patterns to help assess differences among subjects as well as generate a dynamic feedback online in assisting the subject learn the specific targeted skills. The design and implementation of the robotic and virtual reality systems were followed by user studies to evaluate the efficacy of the developed systems. A total of 4, one robot-centric and three virtual reality-based novel systems were designed in this dissertation. A robot-mediated joint attention framework for young children with ASD, a VR-based facial expression recognition system for adolescents with…
Advisors/Committee Members: Zachary Warren (committee member), George Cook (committee member), Mitch Wilkes (committee member), Pietro Valdastri (committee member), Nilanjan Sarkar (Committee Chair).
Subjects/Keywords: Machine Learning; Robotics; Virtual Reality; Intelligent Systems; Adaptive Systems; Autism; Schizophrenia; Physiological Signal Procesing; Eye Tracking; EEG
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APA (6th Edition):
Bekele, E. T. (2015). Intelligent Systems for Autism Spectrum Disorders and Schizophrenia Intervention – Design, Development and User Studies. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14764
Chicago Manual of Style (16th Edition):
Bekele, Esube Tamirat. “Intelligent Systems for Autism Spectrum Disorders and Schizophrenia Intervention – Design, Development and User Studies.” 2015. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/14764.
MLA Handbook (7th Edition):
Bekele, Esube Tamirat. “Intelligent Systems for Autism Spectrum Disorders and Schizophrenia Intervention – Design, Development and User Studies.” 2015. Web. 22 Jan 2021.
Vancouver:
Bekele ET. Intelligent Systems for Autism Spectrum Disorders and Schizophrenia Intervention – Design, Development and User Studies. [Internet] [Doctoral dissertation]. Vanderbilt University; 2015. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/14764.
Council of Science Editors:
Bekele ET. Intelligent Systems for Autism Spectrum Disorders and Schizophrenia Intervention – Design, Development and User Studies. [Doctoral Dissertation]. Vanderbilt University; 2015. Available from: http://hdl.handle.net/1803/14764
Vanderbilt University
12.
Tan, Huan.
Integration of Imitation Learning with Cognitive Control for a Humanoid Robot.
Degree: PhD, Electrical Engineering, 2013, Vanderbilt University
URL: http://hdl.handle.net/1803/12682
► The aim of dissertation is to develop a cognitive robotic system by integrating imitation learning with cognitive control and evaluate its performance using object manipulation…
(more)
▼ The aim of dissertation is to develop a cognitive robotic system by integrating imitation learning with cognitive control and evaluate its performance using object manipulation tasks.
The robotic imitation learning framework is divided into five components: Behavior Acquisition, Behavior Segmentation, Behavior Dimension Reduction, Behavior Representation, and Behavior Generation. The cognitive control framework was added for robots to switch strategies (both physically and cognitively) to complete tasks. The integrated cognitive system was implemented based on the existing cognitive architecture. Three experiments were conducted to evaluate the integrated system performance. On experiment was carried out on a humanoid robot, named ISAC, and two experiments were carried out in the simulation environment. The experimental results demonstrated that the integrated system satisfies both the design and performance requirements of imitation learning and cognitive control.
Advisors/Committee Members: Douglas Fisher (committee member), Richard Alan Peters II (committee member), Nilanjan Sarkar (committee member), D. Mitch Wilkes (committee member), Kazuhiko Kawamura (Committee Chair).
Subjects/Keywords: Imitation Learning; Behavior Generalization; Cognitive Control; Cognitive Architecture; Humanoid Robot; Internal Rehearsal
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APA (6th Edition):
Tan, H. (2013). Integration of Imitation Learning with Cognitive Control for a Humanoid Robot. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12682
Chicago Manual of Style (16th Edition):
Tan, Huan. “Integration of Imitation Learning with Cognitive Control for a Humanoid Robot.” 2013. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/12682.
MLA Handbook (7th Edition):
Tan, Huan. “Integration of Imitation Learning with Cognitive Control for a Humanoid Robot.” 2013. Web. 22 Jan 2021.
Vancouver:
Tan H. Integration of Imitation Learning with Cognitive Control for a Humanoid Robot. [Internet] [Doctoral dissertation]. Vanderbilt University; 2013. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/12682.
Council of Science Editors:
Tan H. Integration of Imitation Learning with Cognitive Control for a Humanoid Robot. [Doctoral Dissertation]. Vanderbilt University; 2013. Available from: http://hdl.handle.net/1803/12682
Vanderbilt University
13.
Boyles, Robert William.
Mechanical Design of an Instrumented Cane for Gait Prediction by Physical Therapists.
Degree: MS, Mechanical Engineering, 2015, Vanderbilt University
URL: http://hdl.handle.net/1803/14485
► Many individuals at some point in their lives will utilize an assisted walking device to help them move around. Physical therapists use their experience to…
(more)
▼ Many individuals at some point in their lives will utilize an assisted walking device to help them move around. Physical therapists use their experience to assess a person's likelihood of experiencing a fall, as well as recommend types of these assisted devices that can help decrease this probability. This thesis presents the design of an instrumented offset-style walking cane to provide a quantitative measurement of an individual's walking ability to go along with other observation-based assessments. Through several sensors in the handle and base of the cane, force and inertial data can be captured to determine how an individual is gripping and bearing their weight on the device as they walk around. The goal of this work is to improve upon an earlier design by moving from a standard to an offset-style cane, as well as make the device more appealing for use in the lives of individuals outside of a clinical setting. This is accomplished by designing a subsystem that can help detect and alert users of potential obstacles in their current walking path, thus helping to decrease the likelihood of experiencing a fall.
Advisors/Committee Members: Thomas Withrow (committee member), Pietro Valdastri (committee member), Michael de Riesthal (committee member), Nilanjan Sarkar (Committee Chair).
Subjects/Keywords: gait prediction
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APA (6th Edition):
Boyles, R. W. (2015). Mechanical Design of an Instrumented Cane for Gait Prediction by Physical Therapists. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14485
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):
Boyles, Robert William. “Mechanical Design of an Instrumented Cane for Gait Prediction by Physical Therapists.” 2015. Thesis, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/14485.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Boyles, Robert William. “Mechanical Design of an Instrumented Cane for Gait Prediction by Physical Therapists.” 2015. Web. 22 Jan 2021.
Vancouver:
Boyles RW. Mechanical Design of an Instrumented Cane for Gait Prediction by Physical Therapists. [Internet] [Thesis]. Vanderbilt University; 2015. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/14485.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Boyles RW. Mechanical Design of an Instrumented Cane for Gait Prediction by Physical Therapists. [Thesis]. Vanderbilt University; 2015. Available from: http://hdl.handle.net/1803/14485
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
14.
Beccani, Marco.
A Modular Open Source Architecture for Rapid Prototyping of Medical Capsule Robots.
Degree: PhD, Mechanical Engineering, 2015, Vanderbilt University
URL: http://hdl.handle.net/1803/14851
► Over the last decade, researchers have started exploring the design space of MCR: devices that can operate autonomously within the human body and can diagnose,…
(more)
▼ Over the last decade, researchers have started exploring the design space of MCR: devices that can operate autonomously within the human body and can diagnose, prevent, monitor, and cure diseases. MCR are miniature multifunctional devices whose applications are spanning from abdominal surgery to GI endoscopy. MCR are severely resource constrained devices in size and consequently, in available power and computational capacity. Although the research in the area of MCR is an active topic and has grown exponentially, available devices provide only diagnostic functionalities. In fact, the design process of an MCR is expensive and time consuming. Research groups that are active in this field are usually forced to follow a custom approach to develop MCR from the ground up. The current state of the art lacks a platform to systematize the design of MCR which could open this research field to a wider community and, at the same time, create better designs through advanced tool support.
This dissertation focuses on a modular open source architecture to enable the rapid prototyping of MCR. The advantages of the proposed architecture include module reusability and a reconfigurable software library. Users will be able to build a capsule with functions of their own design by choosing components available from a hardware/software library or by introducing their own. This will prevent the need to design custom modules and face some of the technical challenges typical for MCR development.
This doctoral dissertation describes the modular architecture in details and presents some applications where it was successfully adopted for the design of MCR. Some of these include an MCR to restore wireless tissue palpation in MIS, a drug delivery MCR, a module for magnetic localization, a wireless capsule for the measurement of resistant properties in the GI tract, and an embedded cane for gait patterns recognition.
Advisors/Committee Members: Nilanjan Sarkar (committee member), Akos Ledeczi (committee member), Keith L. Obstein (committee member), Karl Zelig (committee member), pietro valdastri (Committee Chair).
Subjects/Keywords: Medical Robotics; Wireless Capsule Endoscopy; Tissue Palpation; Minimally Invasive Surgery; Design Environment
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APA (6th Edition):
Beccani, M. (2015). A Modular Open Source Architecture for Rapid Prototyping of Medical Capsule Robots. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14851
Chicago Manual of Style (16th Edition):
Beccani, Marco. “A Modular Open Source Architecture for Rapid Prototyping of Medical Capsule Robots.” 2015. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/14851.
MLA Handbook (7th Edition):
Beccani, Marco. “A Modular Open Source Architecture for Rapid Prototyping of Medical Capsule Robots.” 2015. Web. 22 Jan 2021.
Vancouver:
Beccani M. A Modular Open Source Architecture for Rapid Prototyping of Medical Capsule Robots. [Internet] [Doctoral dissertation]. Vanderbilt University; 2015. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/14851.
Council of Science Editors:
Beccani M. A Modular Open Source Architecture for Rapid Prototyping of Medical Capsule Robots. [Doctoral Dissertation]. Vanderbilt University; 2015. Available from: http://hdl.handle.net/1803/14851
Vanderbilt University
15.
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
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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 22, 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. 22 Jan 2021.
Vancouver:
Gorlewicz JL. The Efficacy of Surface Haptics and Force Feedback in Education. [Internet] [Doctoral dissertation]. Vanderbilt University; 2013. [cited 2021 Jan 22].
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
16.
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
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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 22, 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. 22 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 22].
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
17.
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
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APA ·
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Export
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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 22, 2021.
http://hdl.handle.net/1803/13344.
MLA Handbook (7th Edition):
Gilbert, Hunter Bryant. “Concentric Tube Robots: Design, Deployment, and Stability.” 2016. Web. 22 Jan 2021.
Vancouver:
Gilbert HB. Concentric Tube Robots: Design, Deployment, and Stability. [Internet] [Doctoral dissertation]. Vanderbilt University; 2016. [cited 2021 Jan 22].
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
18.
Erdemir, Erdem.
A Developmental Approach for Affordance and Imitation Learning Through Self-Exploration in Cognitive Robots.
Degree: PhD, Electrical Engineering, 2012, Vanderbilt University
URL: http://hdl.handle.net/1803/13236
► Cognitive robotics is one of the branches of robotics that is concerned with the design and implementation of robots that will accomplish cognitive tasks such…
(more)
▼ Cognitive robotics is one of the branches of robotics that is concerned with the design and implementation of robots that will accomplish cognitive tasks such as perceiving the dynamic world around them and making acceptable decisions in real-time by imitating humans.
A flexible and natural way to make robots learn new skills is to implement them with the ability to learn by imitation accompanied by effective affordance learning, which would be a feasible method to automate the tedious manual programming of robotic tasks. Imitation learning offers promising directions for gaining insight into faster affordance learning with which robots would have a good likelihood of learning complex behaviors from a small set of experiences much like human beings, and ultimately develop autonomous perceptual-motor control mechanisms. Thus, the goal of the dissertation is to develop a flexible mechanism for the robot so that it can learn high level motor tasks by experiencing action outcomes via its own sensors and forming an action-perception coupling similar to what happens in human beings.
In order to learn basic behaviors, the robot goes through certain experimental stages involving self-exploration, affordance learning, and imitation learning which are parallel to the developmental pattern found in babies developing new motor skills. In this dissertation, using biologically inspired cognitive mechanisms such as affordance relations and imitation learning on a humanoid robot, we propose a new developmental approach for cognitive robots to learn novel motor behaviors in virtual and real environments.
Advisors/Committee Members: Richard Alan Peters (committee member), Nilanjan Sarkar (committee member), Ali Sekmen (committee member), D. Mitch Wilkes (Committee Chair), Kazuhiko Kawamura (Committee Chair).
Subjects/Keywords: robot; cognitive; robotics; imitation learning; artificial intelligence; imitation learning
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APA (6th Edition):
Erdemir, E. (2012). A Developmental Approach for Affordance and Imitation Learning Through Self-Exploration in Cognitive Robots. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13236
Chicago Manual of Style (16th Edition):
Erdemir, Erdem. “A Developmental Approach for Affordance and Imitation Learning Through Self-Exploration in Cognitive Robots.” 2012. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/13236.
MLA Handbook (7th Edition):
Erdemir, Erdem. “A Developmental Approach for Affordance and Imitation Learning Through Self-Exploration in Cognitive Robots.” 2012. Web. 22 Jan 2021.
Vancouver:
Erdemir E. A Developmental Approach for Affordance and Imitation Learning Through Self-Exploration in Cognitive Robots. [Internet] [Doctoral dissertation]. Vanderbilt University; 2012. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/13236.
Council of Science Editors:
Erdemir E. A Developmental Approach for Affordance and Imitation Learning Through Self-Exploration in Cognitive Robots. [Doctoral Dissertation]. Vanderbilt University; 2012. Available from: http://hdl.handle.net/1803/13236
Vanderbilt University
19.
Yu, Haoran.
OCT Guided Micro-Vascular Robotic Surgery: Design, Calibration and Telemanipulation.
Degree: PhD, Mechanical Engineering, 2016, Vanderbilt University
URL: http://hdl.handle.net/1803/13211
► Retinal surgery requires surgeons to manipulate delicate structures with very high precision while contending with perception and manipulation challenges due to the limited repertoire of…
(more)
▼ Retinal surgery requires surgeons to manipulate delicate structures with very high precision while contending with perception and manipulation challenges due to the limited repertoire of tools available to them. Current commercial robotic systems are unable to support tasks of orbital manipulation and intraocular dexterity. In addition, the emerging use of optical coherence tomography (OCT) as a feedback modality for surgeons presents questions regarding the value of such feedback and the ways such information can be used by the robot and the surgeon to improve safety and accuracy of retinal surgery. Current OCT and robotic systems are unable to support real-time intervention control and to provide
sectional information of the anatomy (B-mode imaging), which is necessary for surgeon feedback during the operation.
This dissertation presents design, modeling, calibration and control of robotic systems for increasing the safety of micro-surgery on constrained organs such as the eye. To address the limitations listed above a dual-arm robotic system is improved and customized to meet the needs of safe orbital manipulation. A new modeling approach for constrained telemanipulation of such robots is also developed and demonstrated experimentally. New approaches for calibration of custom B-mode OCT probes and their integration for control feedback and assistive telemanipulation are investigated. Finally, calibration of dual arm robotic systems for manipulation of partially constrained organs is presented with the aim
of facilitating eventual clinical deployment.
This work provides the theoretical and technological basis for the design and integration of future OCT-guided robotic systems. Results of investigation of the utility of OCT feedback with and without robotic assistance point to the value of a combined solution integrating both technologies. Evaluation of telemanipulation algorithms suggests that the combined use of vision and OCT feedback for assistive telemanipulation control can improve task execution accuracy and safety. The evaluation of the new calibration algorithms
Advisors/Committee Members: Karl Zelik (committee member), Karen M. Joos (committee member), Nilanjan Sarkar (committee member), Pietro Valdastri (committee member), Nabil Simaan (Committee Chair).
Subjects/Keywords: medical robot; optical coherence tomography; ophthalmic surgery; virtual fixture
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APA (6th Edition):
Yu, H. (2016). OCT Guided Micro-Vascular Robotic Surgery: Design, Calibration and Telemanipulation. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13211
Chicago Manual of Style (16th Edition):
Yu, Haoran. “OCT Guided Micro-Vascular Robotic Surgery: Design, Calibration and Telemanipulation.” 2016. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/13211.
MLA Handbook (7th Edition):
Yu, Haoran. “OCT Guided Micro-Vascular Robotic Surgery: Design, Calibration and Telemanipulation.” 2016. Web. 22 Jan 2021.
Vancouver:
Yu H. OCT Guided Micro-Vascular Robotic Surgery: Design, Calibration and Telemanipulation. [Internet] [Doctoral dissertation]. Vanderbilt University; 2016. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/13211.
Council of Science Editors:
Yu H. OCT Guided Micro-Vascular Robotic Surgery: Design, Calibration and Telemanipulation. [Doctoral Dissertation]. Vanderbilt University; 2016. Available from: http://hdl.handle.net/1803/13211
Vanderbilt University
20.
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
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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 22, 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. 22 Jan 2021.
Vancouver:
Yong C. A virtual-cam based control methodology for free-piston engines. [Internet] [Doctoral dissertation]. Vanderbilt University; 2011. [cited 2021 Jan 22].
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
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
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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 22, 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. 22 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 22].
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.
Mohammed Shahdan, Mohd Adeeb.
Temperature Measurement Method of Friction Stir Welding Using Ultrasonic Time of Flight.
Degree: MS, Mechanical Engineering, 2012, Vanderbilt University
URL: http://hdl.handle.net/1803/12206
► Temperature measurements of the weld during friction stir welding (FSW) have previously been carried out using various methods including infra-red imaging/ thermometers, embedded thermocouples in…
(more)
▼ Temperature measurements of the weld during friction stir welding (FSW) have previously been carried out using various methods including infra-red imaging/ thermometers, embedded thermocouples in the parent metal as well as direct contact thermometers. These methods usually only measure the temperature of the surface of the metal or requires the drilling of holes and the addition of foreign material into the weld. Previous studies have shown that the sound speed in most materials is a strong function of temperature. This study investigates the use of the change in the time of flight (TOF) of ultrasonic pulses to measure the average temperature of the weld as the weld is being made. Experiments were done on Aluminum 6061 while a process FSW was being carried out. This study shows that the use of ultrasonic TOF to measure the temperature of welds during the FSW process is a very promising method that could replace the use of more commonly used methods such as thermocouples and infrared pyrometry.
Advisors/Committee Members: Professor George E. Cook (committee member), Professor Nilanjan Sarkar (committee member), Professor Alvin M. Strauss (Committee Chair).
Subjects/Keywords: Ultrasonic; Friction Stir Welding; Temperature
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APA (6th Edition):
Mohammed Shahdan, M. A. (2012). Temperature Measurement Method of Friction Stir Welding Using Ultrasonic Time of Flight. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12206
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):
Mohammed Shahdan, Mohd Adeeb. “Temperature Measurement Method of Friction Stir Welding Using Ultrasonic Time of Flight.” 2012. Thesis, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/12206.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Mohammed Shahdan, Mohd Adeeb. “Temperature Measurement Method of Friction Stir Welding Using Ultrasonic Time of Flight.” 2012. Web. 22 Jan 2021.
Vancouver:
Mohammed Shahdan MA. Temperature Measurement Method of Friction Stir Welding Using Ultrasonic Time of Flight. [Internet] [Thesis]. Vanderbilt University; 2012. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/12206.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Mohammed Shahdan MA. Temperature Measurement Method of Friction Stir Welding Using Ultrasonic Time of Flight. [Thesis]. Vanderbilt University; 2012. Available from: http://hdl.handle.net/1803/12206
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
23.
Sengupta, Saptarshi.
QDDS – A Novel Quantum-inspired Swarm Optimizer: Theoretical Foundations, Convergence Analyses and Application Perspectives.
Degree: PhD, Electrical Engineering, 2019, Vanderbilt University
URL: http://hdl.handle.net/1803/14438
► With sensor fusion and data-driven approaches taking center stage in ubiquitous computing, customized and application-specific optimization methods are increasingly important. The interest follows in part…
(more)
▼ With sensor fusion and data-driven approaches taking center stage in ubiquitous computing, customized and application-specific optimization methods are increasingly important. The interest follows in part from the limitations of specific optimization methods implied by the No Free Lunch Theorem. Applications of computational intelligence are growing exponentially with the widespread availability of increasingly powerful computers. This has made feasible the mimicry of highly interactive multi-agent models of natural systems that solve complicated problems while remaining stable. The emergent behaviors arising in such systems hint at novel methods of optimization that can find solutions to machine learning problems of similar complexity.
This dissertation introduces a social, agent-based (swarm) intelligence algorithm viz. the Quantum Double Delta Swarm (QDDS). It is modeled after the mechanism of convergence, under an attractive potential field, to the center of a single well in a double Dirac delta potential-well problem. The swarming model developed here extends the well-known Quantum-behaved Particle Swarm Optimization (QPSO) algorithm to the more stable, double well configuration for optimal solutions of complex engineering design problems. Theoretical foundations and experimental illustrations lead to applications of the model to find solutions of problems in intrinsically high-dimensional feature spaces. In addition, the effects of chaos on the exploratory capacity of the algorithm are studied by including a Chebyshev map driven exploration (C-QDDS) step and benchmarking the results. Visualization of the process is enabled by tracking the trajectory of the best performing agent in each iteration over all episodes across benchmark contours. Under general assumptions common to random search convergence proofs the dynamical limitations of this model’s convergence are critically analyzed. Finally, results are demonstrated on: a) the multidimensional finite impulse response (FIR) filter design problem and b) Neuro-evolution, specifically using a two-layer neural architecture where the C-QDDS search mutates candidate architectures whose weights and biases are then trained using gradient-free swarming.
Advisors/Committee Members: Douglas Hardin (committee member), Nilanjan Sarkar (committee member), Don Mitchell Wilkes (committee member), Kazuhiko Kawamura (committee member), Alan Peters (Committee Chair).
Subjects/Keywords: quantum-inspired computational intelligence; stochastic optimization; particle swarm optimization; multiagent systems; swarm intelligence; distributed artificial intelligence
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APA (6th Edition):
Sengupta, S. (2019). QDDS – A Novel Quantum-inspired Swarm Optimizer: Theoretical Foundations, Convergence Analyses and Application Perspectives. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14438
Chicago Manual of Style (16th Edition):
Sengupta, Saptarshi. “QDDS – A Novel Quantum-inspired Swarm Optimizer: Theoretical Foundations, Convergence Analyses and Application Perspectives.” 2019. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/14438.
MLA Handbook (7th Edition):
Sengupta, Saptarshi. “QDDS – A Novel Quantum-inspired Swarm Optimizer: Theoretical Foundations, Convergence Analyses and Application Perspectives.” 2019. Web. 22 Jan 2021.
Vancouver:
Sengupta S. QDDS – A Novel Quantum-inspired Swarm Optimizer: Theoretical Foundations, Convergence Analyses and Application Perspectives. [Internet] [Doctoral dissertation]. Vanderbilt University; 2019. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/14438.
Council of Science Editors:
Sengupta S. QDDS – A Novel Quantum-inspired Swarm Optimizer: Theoretical Foundations, Convergence Analyses and Application Perspectives. [Doctoral Dissertation]. Vanderbilt University; 2019. Available from: http://hdl.handle.net/1803/14438
Vanderbilt University
24.
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
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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 22, 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. 22 Jan 2021.
Vancouver:
Bennett DA. Design and Assessment of an Upper Extremity Prosthetic System. [Internet] [Doctoral dissertation]. Vanderbilt University; 2015. [cited 2021 Jan 22].
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
25.
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
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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 22, 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. 22 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 22].
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
26.
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
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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 22, 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. 22 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 22].
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
27.
Zheng, Zhi.
Machine-assisted Technologies for Young Children with Autism Spectrum Disorder: Novel Platforms for Early Detection and Intervention.
Degree: PhD, Electrical Engineering, 2016, Vanderbilt University
URL: http://hdl.handle.net/1803/14133
► Autism Spectrum Disorder (ASD) is a neuro-developmental disorder with a high prevalence rate of 1 in 68 children in the U.S. Human-Machine Interaction (HMI) is…
(more)
▼ Autism Spectrum Disorder (ASD) is a neuro-developmental disorder with a high prevalence rate of 1 in 68 children in the U.S. Human-Machine Interaction (HMI) is being continuously explored as a potential efficacious intervention tool for young children with ASD. While initial studies are encouraging, several challenges exist, including: 1) how to target the core deficits of ASD using technologies; 2) how to make the systems adaptive based on children’s real-time response; 3) how to detect interaction cues non-invasively; and 4) how to validate skill generalization from machine-assisted intervention to human-human interaction. This dissertation addresses these challenges by designing intelligent systems and user studies targeting three core deficit areas of ASD, which are imitation, social orienting, and joint attention impairments.
First, we designed two autonomous robotic systems, named RISIA1 and RISIA2, to teach imitation skills to children with ASD. In RISIA1, we developed a novel non-invasive gesture detection method that allowed the robot to detect even partially completed gestures and give feedback to children in real-time. User studies showed that the children with ASD paid more attention to the robot than a human therapist and performed significantly better. Then, we expanded our gesture detection algorithm to include more complex gestures in RISIA2. Second, an autonomous computer-based system, named ASOTS, was developed to teach social orienting skills to the children with ASD. This system provides adaptive social orienting prompts through a novel attention attracting mechanism and non-invasive real-time gaze detection. User study showed that this system attracted and accurately detected the participants’ attention, and stimulated response to name calling behavior with high success rate. Finally, we designed a fully autonomous robot-mediated joint attention intervention system named Norris. This system is embedded with a novel large range, unobtrusive gaze tracking method and an adaptive prompting hierarchy. Longitudinal user studies indicated improved within-system performance as well as improved social communication skills in human-human interaction after robot-mediated intervention.
Advisors/Committee Members: D. Mitchell Wilkes (committee member), Amy S. Weitlauf (committee member), Robert J. Webster III (committee member), Gabor Karsai (committee member), Zachary E. Warren (committee member), Nilanjan Sarkar (Committee Chair).
Subjects/Keywords: human-robot interaction; children with ASD; human-computer interaction; Autism Spectrum Disorder
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APA (6th Edition):
Zheng, Z. (2016). Machine-assisted Technologies for Young Children with Autism Spectrum Disorder: Novel Platforms for Early Detection and Intervention. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14133
Chicago Manual of Style (16th Edition):
Zheng, Zhi. “Machine-assisted Technologies for Young Children with Autism Spectrum Disorder: Novel Platforms for Early Detection and Intervention.” 2016. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/14133.
MLA Handbook (7th Edition):
Zheng, Zhi. “Machine-assisted Technologies for Young Children with Autism Spectrum Disorder: Novel Platforms for Early Detection and Intervention.” 2016. Web. 22 Jan 2021.
Vancouver:
Zheng Z. Machine-assisted Technologies for Young Children with Autism Spectrum Disorder: Novel Platforms for Early Detection and Intervention. [Internet] [Doctoral dissertation]. Vanderbilt University; 2016. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/14133.
Council of Science Editors:
Zheng Z. Machine-assisted Technologies for Young Children with Autism Spectrum Disorder: Novel Platforms for Early Detection and Intervention. [Doctoral Dissertation]. Vanderbilt University; 2016. Available from: http://hdl.handle.net/1803/14133
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
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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 22, 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. 22 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 22].
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.
Hendrick, Richard Joseph.
System Design and Elastic Stability Modeling of Transendoscopic Continuum Robots.
Degree: PhD, Mechanical Engineering, 2017, Vanderbilt University
URL: http://hdl.handle.net/1803/13346
► The motivation for this dissertation is to provide surgeons with more capable tools during minimally invasive surgery. Specifically, this work is focused on the design…
(more)
▼ The motivation for this dissertation is to provide surgeons with more capable tools during minimally invasive surgery.
Specifically, this work is focused on the design of robotic systems that provide flexible, multi-arm robotic manipulation through rigid endoscopes.
Two custom systems are designed, optimized, and experimentally evaluated: one for laser-based prostate surgery, and one for removal of cysts from the center of the brain.
These designs are heavily motivated by the idea that these robotic systems should be small, compact, hand-held devices to have minimal impact on the surgical workflow and be more easily integrated into the operating room.
A challenge with these flexible manipulators is that they are susceptible to elastic instability, which means they can jump in an uncontrolled way from one location to another.
This dissertation explores this phenomenon in detail from a modeling perspective and derives (1) a technique, based on bifurcation theory, to guarantee instability avoidance throughout the manipulator's workspace, and (2) a relative stability measure which can be used to predict when the manipulator will lose elastic stability.
This analysis also provides insights into how stability affects the design, control, stiffness, and dexterity of these flexible manipulators.
This work also examines control strategies that use 'extra', or redundant, degrees of freedom to accomplish secondary objectives with these flexible manipulators.
In addition to following a desired trajectory, we investigate avoiding instability and maximizing stiffness or compliance.
We show stabilization of trajectories that would have otherwise been unstable, and show that designs that were previously considered off-limits because of stability concerns, may still be very useful when controlled by a stability-aware controller.
Advisors/Committee Members: Robert J. Webster III (committee member), W. David Merryman (committee member), Karl E. Zelik (committee member), Benoit M. Dawant (committee member), S. Duke Herrell (committee member), Nilanjan Sarkar (Committee Chair).
Subjects/Keywords: medical robotics; surgical robotics; elastic stability; continuum robots
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APA (6th Edition):
Hendrick, R. J. (2017). System Design and Elastic Stability Modeling of Transendoscopic Continuum Robots. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13346
Chicago Manual of Style (16th Edition):
Hendrick, Richard Joseph. “System Design and Elastic Stability Modeling of Transendoscopic Continuum Robots.” 2017. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/13346.
MLA Handbook (7th Edition):
Hendrick, Richard Joseph. “System Design and Elastic Stability Modeling of Transendoscopic Continuum Robots.” 2017. Web. 22 Jan 2021.
Vancouver:
Hendrick RJ. System Design and Elastic Stability Modeling of Transendoscopic Continuum Robots. [Internet] [Doctoral dissertation]. Vanderbilt University; 2017. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/13346.
Council of Science Editors:
Hendrick RJ. System Design and Elastic Stability Modeling of Transendoscopic Continuum Robots. [Doctoral Dissertation]. Vanderbilt University; 2017. Available from: http://hdl.handle.net/1803/13346
Vanderbilt University
30.
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
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APA ·
Chicago ·
MLA ·
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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 22, 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. 22 Jan 2021.
Vancouver:
Dalley SA. Development and Control of a Multigrasp Myoelectric Hand Prosthesis. [Internet] [Doctoral dissertation]. Vanderbilt University; 2013. [cited 2021 Jan 22].
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
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