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Vanderbilt University
1.
Lin, Shan.
Monitoring of Thermal Processes for Medical Applications Using Infrared Thermography.
Degree: MS, Electrical Engineering, 2017, Vanderbilt University
URL: http://hdl.handle.net/1803/11263 
► Surgical interventions frequently involve the use of instruments that apply heat to tissue, e.g. to seal blood vessels. Controlling the temperature elevation created by these…
(more)
▼ Surgical interventions frequently involve the use of instruments that apply heat to tissue, e.g. to seal blood vessels. Controlling the temperature elevation created by these instruments is particularly important when operating in proximity to delicate anatomy, where the buildup of temperature can cause accidental injury and lead to permanent impairment or death. This thesis explores the use of infrared (IR) camera technology to provide thermal monitoring for two specific medical applications, i.e. bone drilling and blood vessel sealing. The technical contributions of this work include: (1) the creation of a miniature thermal stereo camera system intended to provide thermal monitoring during minimally-invasive surgical procedures; (2) the development of software to acquire and visualize the video stream produced by IR thermal cameras, based on the GigE Vision interface standard.
Advisors/Committee Members: Greg Walker (committee member), Robert J. Webster III (Committee Chair).
Subjects/Keywords: Temperature; Infrared Thermography; Minimally-Invasive Surgery; Thermal Damage
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APA (6th Edition):
Lin, S. (2017). Monitoring of Thermal Processes for Medical Applications Using Infrared Thermography. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/11263
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):
Lin, Shan. “Monitoring of Thermal Processes for Medical Applications Using Infrared Thermography.” 2017. Thesis, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/11263.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Lin, Shan. “Monitoring of Thermal Processes for Medical Applications Using Infrared Thermography.” 2017. Web. 22 Jan 2021.
Vancouver:
Lin S. Monitoring of Thermal Processes for Medical Applications Using Infrared Thermography. [Internet] [Thesis]. Vanderbilt University; 2017. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/11263.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Lin S. Monitoring of Thermal Processes for Medical Applications Using Infrared Thermography. [Thesis]. Vanderbilt University; 2017. Available from: http://hdl.handle.net/1803/11263
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
2.
Cardona, Diana Catalina.
A MRI compatible concentric tube continuum robot with pneumatic actuation.
Degree: MS, Mechanical Engineering, 2012, Vanderbilt University
URL: http://hdl.handle.net/1803/12013
► The aim of this study is to develop a magnetic resonance imaging (MRI) compatible robot to enable image guided interventions to enhance accuracy and reduce…
(more)
▼ The aim of this study is to develop a magnetic resonance imaging (MRI) compatible robot to enable image guided interventions to enhance accuracy and reduce invasiveness. MRI provides exquisite soft tissue images, and fluid power is an enabler of its use in surgery. Its advantages are not completely explored yet because traditional electromagnetic actuators fail or cause artifacts in intense magnetic fields and the space inside the bore is limited. In order to overcome these constraints, we are designing and developing a compact and MRI-compatible system with an active cannula, operated by pneumatic actuation. The active cannula uses precurved concentric tubes, and the ensemble changes shape as tubes extend and spin axially. The robot employs MRI-compatible pneumatic cylinders with the goal of eliminating the artifacts that can be created by other actuation technologies. The robot is designed to perform a MRI-guided ablation of the hippocampus for patients with severe epilepsy using a proved MRI-compatible ablator. This thesis describes the development of the robot including design and workflow considerations, mechanical design, MRI-compatibility evaluation, control evaluation and both benchtop and in-scanner accuracy.
Advisors/Committee Members: Eric J. Barth (committee member), Thomas J. Withrow (committee member), Robert J. Webster III (committee member).
Subjects/Keywords: robot; mri compatible; active cannula; image guided interventions; medical devices; pneumatic actuation
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APA (6th Edition):
Cardona, D. C. (2012). A MRI compatible concentric tube continuum robot with pneumatic actuation. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12013
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):
Cardona, Diana Catalina. “A MRI compatible concentric tube continuum robot with pneumatic actuation.” 2012. Thesis, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/12013.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Cardona, Diana Catalina. “A MRI compatible concentric tube continuum robot with pneumatic actuation.” 2012. Web. 22 Jan 2021.
Vancouver:
Cardona DC. A MRI compatible concentric tube continuum robot with pneumatic actuation. [Internet] [Thesis]. Vanderbilt University; 2012. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/12013.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Cardona DC. A MRI compatible concentric tube continuum robot with pneumatic actuation. [Thesis]. Vanderbilt University; 2012. Available from: http://hdl.handle.net/1803/12013
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
3.
Marince, Christopher Evan.
Design of a 7 Degree-of-Freedom Haptic Robot.
Degree: MS, Mechanical Engineering, 2015, Vanderbilt University
URL: http://hdl.handle.net/1803/13387
► In efforts to improve the abilities of surgeons through robotic technology, surgical systems need to be equipped with haptic feedback to better provide a sense…
(more)
▼ In efforts to improve the abilities of surgeons through robotic technology, surgical systems need to be equipped with haptic feedback to better provide a sense of realism for the doctor performing an operation. The benefits of such systems include greater dexterity for the doctor, motion scaling to allow a more natural workspace, less invasive procedures, and kinesthetic feedback. Additionally, these robots serve as an educational tool for training surgeons in virtual environments as opposed to on living tissue.
The robot presented in this thesis was designed for use in robot-assisted surgery and surgical training. The system is a high-performance haptic robot that uses a three link gimbal mounted onto a five bar linkage to provide seven degrees-of-freedom without compromising the magnitude of the force-feedback. The resulting system is gravitationally compensated and lightweight for easy manipulation. The robot exceeds the standards set by other commercially available systems for force-feedback, torque-feedback, translational workspace, and angular workspace. The result is a viable haptic robot for surgical research.
Advisors/Committee Members: Alvin Strauss (committee member), Thomas Withrow (committee member), Robert J. Webster III (Committee Chair).
Subjects/Keywords: training; surgical; robotics; medical; haptic; gravity compensation; virtual environment
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APA (6th Edition):
Marince, C. E. (2015). Design of a 7 Degree-of-Freedom Haptic Robot. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13387
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):
Marince, Christopher Evan. “Design of a 7 Degree-of-Freedom Haptic Robot.” 2015. Thesis, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/13387.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Marince, Christopher Evan. “Design of a 7 Degree-of-Freedom Haptic Robot.” 2015. Web. 22 Jan 2021.
Vancouver:
Marince CE. Design of a 7 Degree-of-Freedom Haptic Robot. [Internet] [Thesis]. Vanderbilt University; 2015. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/13387.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Marince CE. Design of a 7 Degree-of-Freedom Haptic Robot. [Thesis]. Vanderbilt University; 2015. Available from: http://hdl.handle.net/1803/13387
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
4.
Tucker, John Michael.
Design and Experimental Evaluation of a High Energy Density Elastomeric Strain Energy Accumulator.
Degree: MS, Mechanical Engineering, 2012, Vanderbilt University
URL: http://hdl.handle.net/1803/12014
► DESIGN AND EXPERIMENTAL EVALUATION OF A HIGH ENERGY DENSITY ELASTOMERIC STRAIN ENERGY ACCUMULATOR By John Michael Tucker Thesis under the direction of Professor Eric J.…
(more)
▼ DESIGN AND EXPERIMENTAL EVALUATION
OF A HIGH ENERGY DENSITY ELASTOMERIC
STRAIN ENERGY ACCUMULATOR
By
John Michael Tucker
Thesis under the direction of Professor Eric
J. Barth
This project entails the design and demonstration of a hydraulic accumulator which utilizes the deformation of an elastomeric material in order to capture and store energy in the form of strain energy. The primary application presented in this thesis is regenerative braking in hybrid vehicles. Motivations are presented for the choice of strain as the energy storage domain, and several candidate elastomers are evaluated for their strain energy density and efficiency. The potential for compactness in a strain energy accumulator is examined and demonstrated experimentally, and several accumulator designs as well as design metrics are proposed and discussed. Prototypes for two of these designs are presented and evaluated based on the proposed design metrics. Finally, this thesis includes direction and considerations for future work on strain energy accumulator design and development.
Approved:Eric
J. Barth Date:4/5/2012
Advisors/Committee Members: Thomas J. Withrow (committee member), Robert J. Webster III (committee member), Eric J. Barth (Committee Chair).
Subjects/Keywords: hydraulic; regenerative braking; strain energy; fluid power; hybrid; energy density; power density
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APA (6th Edition):
Tucker, J. M. (2012). Design and Experimental Evaluation of a High Energy Density Elastomeric Strain Energy Accumulator. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12014
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):
Tucker, John Michael. “Design and Experimental Evaluation of a High Energy Density Elastomeric Strain Energy Accumulator.” 2012. Thesis, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/12014.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Tucker, John Michael. “Design and Experimental Evaluation of a High Energy Density Elastomeric Strain Energy Accumulator.” 2012. Web. 22 Jan 2021.
Vancouver:
Tucker JM. Design and Experimental Evaluation of a High Energy Density Elastomeric Strain Energy Accumulator. [Internet] [Thesis]. Vanderbilt University; 2012. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/12014.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Tucker JM. Design and Experimental Evaluation of a High Energy Density Elastomeric Strain Energy Accumulator. [Thesis]. Vanderbilt University; 2012. Available from: http://hdl.handle.net/1803/12014
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
5.
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
6.
Shultz, Amanda Huff.
Control Methods for Powered Prostheses to Improve Mobility and Stability in Persons with Lower Limb Amputation.
Degree: PhD, Mechanical Engineering, 2017, Vanderbilt University
URL: http://hdl.handle.net/1803/13948
► This dissertation presents the motivation, development, and evaluation of controllers for powered lower limb prostheses. This document contains five chapters, three of which discuss individual…
(more)
▼ This dissertation presents the motivation, development, and evaluation of controllers for powered lower limb prostheses. This document contains five chapters, three of which discuss individual contributions. Chapter I describes the motivation, background, and scope of the work. Chapter II presents an activity level controller for running with a powered knee and ankle prosthesis, a supervisory controller to switch between running and walking for use in emergency situations, and evaluation of the set of controllers with an amputee subject. Chapter
III introduces a suite of controllers for a powered ankle prosthesis for walking at multiple speeds on level ground and supportive ground adaptive standing for use on a large range of inclines, with a supervisory controller to provide natural transitions between the two, all evaluated with an amputee subject. Chapter IV describes research regarding ambulation on even and uneven terrain, with a healthy subject study revealing chiefly a relationship between shank angle and ankle moment during the middle stance phase of walking which exists on both even and uneven terrain; this motivated a walking controller for a powered ankle prosthesis which adapts to terrain with variable local slope, evaluated on an amputee subject. Finally, Chapter V offers some concluding remarks, including suggestions for future work.
Advisors/Committee Members: Karl Zelik (committee member), Robert J. Webster III (committee member), Robert Bodenheimer (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: prosthesis; biomechanics; control; transtibial; transfemoral; uneven terrain; walking; standing; running
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APA (6th Edition):
Shultz, A. H. (2017). Control Methods for Powered Prostheses to Improve Mobility and Stability in Persons with Lower Limb Amputation. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13948
Chicago Manual of Style (16th Edition):
Shultz, Amanda Huff. “Control Methods for Powered Prostheses to Improve Mobility and Stability in Persons with Lower Limb Amputation.” 2017. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/13948.
MLA Handbook (7th Edition):
Shultz, Amanda Huff. “Control Methods for Powered Prostheses to Improve Mobility and Stability in Persons with Lower Limb Amputation.” 2017. Web. 22 Jan 2021.
Vancouver:
Shultz AH. Control Methods for Powered Prostheses to Improve Mobility and Stability in Persons with Lower Limb Amputation. [Internet] [Doctoral dissertation]. Vanderbilt University; 2017. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/13948.
Council of Science Editors:
Shultz AH. Control Methods for Powered Prostheses to Improve Mobility and Stability in Persons with Lower Limb Amputation. [Doctoral Dissertation]. Vanderbilt University; 2017. Available from: http://hdl.handle.net/1803/13948
Vanderbilt University
7.
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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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
8.
Bajo, Andrea.
Control, Sensing, and Telemanipulation of Surgical Continuum Robots.
Degree: PhD, Mechanical Engineering, 2013, Vanderbilt University
URL: http://hdl.handle.net/1803/12065
► New surgical paradigms such as natural orifice surgery and single port access surgery present technological challenges such as indirect routes of access, constrained workspace, sensory…
(more)
▼ New surgical paradigms such as natural orifice surgery and single port access surgery present technological challenges such as indirect routes of access, constrained workspace, sensory presence, higher degrees of freedom manipulators, force feedback and control. This research investigates design and control aspects of continuum robots as enabling technology that overcomes these new technological challenges while offering surgeons safe and intelligent surgical tools.
Although research in the area of continuum robots has grown exponentially in the last ten years, several knowledge gaps remain un-addressed in the area of control and sensing of these devices such as unified methods for enhanced tracking performance, real-time constrained motion planning, direct force control, collision detection, contact estimation, shape and stiffness characterization of unknown environments. This doctoral dissertation investigate algorithms and methods for addressing these technological gaps and evaluates them on state-of-the-art robotic systems for laparoscopy, transurethral bladder tumor resection, and transnasal access to the throat developed at the Advanced Robotics and Mechanisms Application Laboratory at
Vanderbilt University.
Advisors/Committee Members: Michael Goldfarb (committee member), Howie Choset (committee member), James Netterville (committee member), Robert J. Webster III (committee member), Nabil Simaan (Committee Chair).
Subjects/Keywords: motion control; telemanipulation; estimation of contact; continuum robots; force control; collision detection
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APA (6th Edition):
Bajo, A. (2013). Control, Sensing, and Telemanipulation of Surgical Continuum Robots. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12065
Chicago Manual of Style (16th Edition):
Bajo, Andrea. “Control, Sensing, and Telemanipulation of Surgical Continuum Robots.” 2013. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/12065.
MLA Handbook (7th Edition):
Bajo, Andrea. “Control, Sensing, and Telemanipulation of Surgical Continuum Robots.” 2013. Web. 22 Jan 2021.
Vancouver:
Bajo A. Control, Sensing, and Telemanipulation of Surgical Continuum Robots. [Internet] [Doctoral dissertation]. Vanderbilt University; 2013. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/12065.
Council of Science Editors:
Bajo A. Control, Sensing, and Telemanipulation of Surgical Continuum Robots. [Doctoral Dissertation]. Vanderbilt University; 2013. Available from: http://hdl.handle.net/1803/12065
Vanderbilt University
9.
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
10.
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
11.
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
12.
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
13.
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
14.
Reda, Fitsum Aklilu.
Automatic Segmentation of Structures and Registration of CT Images for
Image-Guided Otologic Surgery and Implant Programming.
Degree: PhD, Electrical Engineering, 2014, Vanderbilt University
URL: http://hdl.handle.net/1803/11124
► A cochlear implant (CI) is a neural prosthetic device that restores hearing by directly stimulating the auditory nerve using an electrode array surgically placed in…
(more)
▼ A cochlear implant (CI) is a neural prosthetic device that restores hearing by directly stimulating
the auditory nerve using an electrode array surgically placed in the cochlea. Conventional CI implantation
techniques require major excavation of the skull to achieve access and place an electrode array into the
cochlea. After placement, CIs are typically programmed to attempt to optimize hearing outcome. Recently,
image-guidance has been proposed to minimize the invasiveness of conventional CI surgery techniques as
well as to design new strategies to improve CI programming outcomes. These image-guided techniques
necessitate the automatic segmentation of the structures of the ear in pre- or post-implantation CTs,
or the automatic registration of pre- and intra-implantation CTs. The structures of the ear include
the facial nerve, the chorda tympani, the labyrinth, the ear canal, the tympani membrane, the ossicles,
and the inner ear structures, which include the scala tympani, the scala vestibuli and the spiral ganglion.
In this dissertation, we present a set of innovative image processing techniques we have developed to achieve
the necessary segmentation or registration tasks. The set of techniques includes methods for automatic segmentation
of the structures of the ear in pediatric pre-implantation CT, a new pose-invariant pre- to intra-implantation CT registration
method, new algorithms for automatic segmentation of the inner ear structures in post-unilateral-implantation CT,
and novel shape library-based algorithms for automatic segmentation of the inner ear structures in post-bilateral-implantation CT.
All these techniques have been validated both qualitatively, by experts in ear anatomy, and quantitatively, by comparing the
results they produce to expert generated results.
Advisors/Committee Members: Dr. J. Michael Fitzpatrick (committee member), Dr. Robert F. Labadie (committee member), Dr. Jack H. Noble (committee member), Dr. Robert J. Webster III (committee member), Dr. Benoit M. Dawant (Committee Chair).
Subjects/Keywords: Image Segmentation; Image Registration; Statistical Shape Models; Surface-to-Image Registration; Shape Alignment; Cochlear Imaplnt; Cochlear Implant Surgery; Cochlear Implant Programming; CT; Ear; Minimally-invasive Surgery
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APA (6th Edition):
Reda, F. A. (2014). Automatic Segmentation of Structures and Registration of CT Images for
Image-Guided Otologic Surgery and Implant Programming. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/11124
Chicago Manual of Style (16th Edition):
Reda, Fitsum Aklilu. “Automatic Segmentation of Structures and Registration of CT Images for
Image-Guided Otologic Surgery and Implant Programming.” 2014. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/11124.
MLA Handbook (7th Edition):
Reda, Fitsum Aklilu. “Automatic Segmentation of Structures and Registration of CT Images for
Image-Guided Otologic Surgery and Implant Programming.” 2014. Web. 22 Jan 2021.
Vancouver:
Reda FA. Automatic Segmentation of Structures and Registration of CT Images for
Image-Guided Otologic Surgery and Implant Programming. [Internet] [Doctoral dissertation]. Vanderbilt University; 2014. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/11124.
Council of Science Editors:
Reda FA. Automatic Segmentation of Structures and Registration of CT Images for
Image-Guided Otologic Surgery and Implant Programming. [Doctoral Dissertation]. Vanderbilt University; 2014. Available from: http://hdl.handle.net/1803/11124
Vanderbilt University
15.
Murray, Spencer Ambrose.
Development and assessment of a control approach for a lower-limb exoskeleton for use in gait rehabilitation post stroke.
Degree: PhD, Electrical Engineering, 2016, Vanderbilt University
URL: http://hdl.handle.net/1803/12170
► Lower-limb weakness or paralysis is a common impairment following stroke. In recent years numerous robotic-assisted systems have been developed to aid in post-stroke gait rehabilitation.…
(more)
▼ Lower-limb weakness or paralysis is a common impairment following stroke. In recent years numerous robotic-assisted systems have been developed to aid in post-stroke gait rehabilitation. The controllers developed for these systems have nearly all consisted of traditional or modified trajectory-based control systems which guide a patient’s limbs through a kinematically improved gait cycle. Controllers which do not operate on a trajectory basis may offer numerous advantages, especially when implemented on an overground (as opposed to treadmill-based) robotic system. This thesis describes the development and evaluation of a non-trajectory-based controller for use in post-stroke gait training. The controller has been implemented on a lower-limb robotic exoskeleton and tested with several subjects recovering from stroke. Subjects were able to improve gait speed and stride length after practicing overground gait in the exoskeleton.
Advisors/Committee Members: Richard Alan Peters II (committee member), Robert J. Webster III (committee member), Eric J. Barth (committee member), Nilanjan Sarkar (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: gait rehabilitation; exoskeleton; stroke
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APA (6th Edition):
Murray, S. A. (2016). Development and assessment of a control approach for a lower-limb exoskeleton for use in gait rehabilitation post stroke. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12170
Chicago Manual of Style (16th Edition):
Murray, Spencer Ambrose. “Development and assessment of a control approach for a lower-limb exoskeleton for use in gait rehabilitation post stroke.” 2016. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/12170.
MLA Handbook (7th Edition):
Murray, Spencer Ambrose. “Development and assessment of a control approach for a lower-limb exoskeleton for use in gait rehabilitation post stroke.” 2016. Web. 22 Jan 2021.
Vancouver:
Murray SA. Development and assessment of a control approach for a lower-limb exoskeleton for use in gait rehabilitation post stroke. [Internet] [Doctoral dissertation]. Vanderbilt University; 2016. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/12170.
Council of Science Editors:
Murray SA. Development and assessment of a control approach for a lower-limb exoskeleton for use in gait rehabilitation post stroke. [Doctoral Dissertation]. Vanderbilt University; 2016. Available from: http://hdl.handle.net/1803/12170
Vanderbilt University
16.
Lawson, Brian Edward.
Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees.
Degree: PhD, Mechanical Engineering, 2014, Vanderbilt University
URL: http://hdl.handle.net/1803/12271
► This dissertation describes the development and testing of control systems for powered transfemoral prostheses. The work is divided into seven chapters, with five distinct contributions.…
(more)
▼ This dissertation describes the development and testing of control systems for powered transfemoral prostheses. The work is divided into seven chapters, with five distinct contributions. Chapter I provides introductory material, background, and some of the theoretical motivations behind the work. In Chapter II, a finite state-based locally passive impedance controller is described based on previous work and extended to achieve active stumble recovery mechanisms in level walking. In Chapter
III, new state machines are introduced and implemented in order to perform stair ascent and descent in unilateral transfemoral amputees. In Chapter IV, a hybrid control approach is presented that simplifies the state machine and achieves continuously variable cadences. In Chapter V, a coordinated control scheme is presented for bilateral transfemoral amputees. Chapter VI describes and tests an algorithm that estimates the crank angle of a bicycle using measurements internal to the prosthesis. Chapter VII draws some conclusions about the work and discusses future directions.
Advisors/Committee Members: Nilanjan Sarkar (committee member), Eric J. Barth (committee member), Robert J. Webster III (committee member), George E. Cook (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: Transfemoral; Robotics; Powered Prosthesis; Mechatronics; Amputation; Rehabilitation Robotics
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APA (6th Edition):
Lawson, B. E. (2014). Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12271
Chicago Manual of Style (16th Edition):
Lawson, Brian Edward. “Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees.” 2014. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/12271.
MLA Handbook (7th Edition):
Lawson, Brian Edward. “Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees.” 2014. Web. 22 Jan 2021.
Vancouver:
Lawson BE. Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees. [Internet] [Doctoral dissertation]. Vanderbilt University; 2014. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/12271.
Council of Science Editors:
Lawson BE. Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees. [Doctoral Dissertation]. Vanderbilt University; 2014. Available from: http://hdl.handle.net/1803/12271
Vanderbilt University
17.
Dillon, Neal Patrick.
Analysis, Design, and Modeling of Image-Guided Robotic Systems for Otologic Surgery.
Degree: PhD, Mechanical Engineering, 2017, Vanderbilt University
URL: http://hdl.handle.net/1803/10477
► Otology and neurotology are surgical specialties focusing on the treatment of ear diseases. A key component of many otologic and neurotologic surgical procedures is the…
(more)
▼ Otology and neurotology are surgical specialties focusing on the treatment of ear diseases. A key component of many otologic and neurotologic surgical procedures is the
removal of a portion of the skull behind the ear to gain access to subsurface anatomy.
This process, called a mastoidectomy, is performed manually with a high speed surgical drill. Many vital structures, including nerves and blood vessels, are embedded
within the temporal bone near the region of bone that must be removed, which makes
the procedure difficult, time consuming, and in some cases, overly invasive.
Image-guided and robotic systems have the potential to improve otologic procedures using medical imaging to guide their interventions, enabling patient-specific treatments that reduce invasiveness and save valuable operating room time. However, since damage to the complex vital structures within the surgical field could result in severe consequences to the patient, any image-guided or robotic surgical system must be extremely safe and accurate. These requirements, along with the small surgical workspace and difficulty integrating systems into the current clinical workflow, have limited the adoption of such systems in otologic surgery to date.
This dissertation presents the design, experimentation, and analyses of image-guided, robotic systems under development for otologic surgery in an effort to bring these systems closer to clinical realization. The specific goals of the work are to better understand the technical requirements of various otologic surgical procedures, to improve the safety and efficiency of image-guided and robotic surgery by incorporating system modeling and medical image data into the surgical planning process, and to show feasibility and provide insights into practical issues through experimentation.
Two image-guided otologic procedures are explored in this work: (1) robotic mastoidectomy and (2) minimally invasive cochlear implantation. The technical requirements of robotic mastoidectomy are first explored to determine the necessary robot workspace and the required milling forces. Using these design requirements, a bone-attached robotic system is developed and tested in temporal bone specimens and fresh human cadaver heads. Next, planning algorithms to improve the safety and efficiency of robotic mastoidectomy are described. A method for building patient-specific safety margins around vital anatomy based on probabilistic error models of the robotic system, required safety rates, and simulations of the surgery is provided. A second planning algorithm is presented, which improves robot trajectory generation for milling porous bone in close proximity to vital anatomy by using CT image-based force modeling to optimize tool orientation and velocity.
The focus then shifts to minimally invasive, image-guided cochlear implantation. Two key safety issues are investigated: the positional accuracy of drilling a narrow tunnel towards the cochlea for electrode insertion and the heat rise near vital nerves during drilling. A method…
Advisors/Committee Members: Thomas J. Withrow (committee member), Robert F. Labadie (committee member), Nabil Simaan (committee member), Michael I. Miga (committee member), Robert J. Webster III (Committee Chair).
Subjects/Keywords: Image-guided surgery; medical robotics; cochlear implantation; mastoidectomy; robotic bone milling; robot trajectory planning
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APA (6th Edition):
Dillon, N. P. (2017). Analysis, Design, and Modeling of Image-Guided Robotic Systems for Otologic Surgery. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10477
Chicago Manual of Style (16th Edition):
Dillon, Neal Patrick. “Analysis, Design, and Modeling of Image-Guided Robotic Systems for Otologic Surgery.” 2017. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/10477.
MLA Handbook (7th Edition):
Dillon, Neal Patrick. “Analysis, Design, and Modeling of Image-Guided Robotic Systems for Otologic Surgery.” 2017. Web. 22 Jan 2021.
Vancouver:
Dillon NP. Analysis, Design, and Modeling of Image-Guided Robotic Systems for Otologic Surgery. [Internet] [Doctoral dissertation]. Vanderbilt University; 2017. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/10477.
Council of Science Editors:
Dillon NP. Analysis, Design, and Modeling of Image-Guided Robotic Systems for Otologic Surgery. [Doctoral Dissertation]. Vanderbilt University; 2017. Available from: http://hdl.handle.net/1803/10477
Vanderbilt University
18.
Garbin, Nicolo.
Endoscopic and magnetic actuation for miniature lifesaving devices.
Degree: PhD, Mechanical Engineering, 2019, Vanderbilt University
URL: http://hdl.handle.net/1803/10533
► The need for medical technologies that improve patient access to diagnostic techniques and treat pathological conditions in a minimally invasive approach is capitalized in this…
(more)
▼ The need for medical technologies that improve patient access to diagnostic techniques and treat pathological conditions in a minimally invasive approach is capitalized in this dissertation with the development, characterization, and testing toward clinical use of a series of endoscopically and magnetically actuated devices.
The first half of this dissertation proposed an alternative solution to the use of conventional flexible endoscopy for the diagnosis of the upper gastrointestinal tract. The proposed disposable flexible endoscope is, compared to conventional endoscopy, more cost effective, intuitive, and hygienic. The device’s endoscopic tip is controlled via pneumatic actuation. Modeling was inspired from multi-backbone continuum robots, and two user interfaces were investigated. First, a robotic platform is used to tackle the closed-loop control problem, then a novel user interface allows direct user-to-task mapping via pure mechanical actuation. The effectiveness of the latter approach was further assessed during in-vivo and cadaveric trials, ease of use was instead determined via approved user studies that involved medical providers with different backgrounds. The device is currently undergoing design freeze toward human trials.
The second half of this dissertation exploits robotic control of magnetic actuation to develop therapeutic medical devices with applications in minimally invasive surgery and subcutaneous implants. A laparoscopic retractor able to retract up to 10 times its own weight, and laparoscopic camera with an hemispherical workspace via a compact unique magnetic coupling, decrease by two the number of incisions needed for abdominal surgery. These technologies decrease trauma, pain, and risk of infection for the patients, and offer better visibility, surgical workspace access, and decrease trocar crowding for the surgeons. Then, a subcutaneously implantable pump developed for the treatment of refractory ascites removes a large quantity of fluids without the need of on-board electronics. All of these devices were tested during ex-vivo and in-vivo trials highlighting the advantages and effectiveness of using magnetic coupling for clinically relevant therapeutic tasks.
Advisors/Committee Members: Thomas J. Withrow (committee member), Robert J. Webster III (committee member), Nabil Simaan (committee member), Pietro Valdastri (Committee Chair), Keith L. Obstein (Committee Chair).
Subjects/Keywords: magnetic actuation; disposable; robotic; medical device
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APA (6th Edition):
Garbin, N. (2019). Endoscopic and magnetic actuation for miniature lifesaving devices. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10533
Chicago Manual of Style (16th Edition):
Garbin, Nicolo. “Endoscopic and magnetic actuation for miniature lifesaving devices.” 2019. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/10533.
MLA Handbook (7th Edition):
Garbin, Nicolo. “Endoscopic and magnetic actuation for miniature lifesaving devices.” 2019. Web. 22 Jan 2021.
Vancouver:
Garbin N. Endoscopic and magnetic actuation for miniature lifesaving devices. [Internet] [Doctoral dissertation]. Vanderbilt University; 2019. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/10533.
Council of Science Editors:
Garbin N. Endoscopic and magnetic actuation for miniature lifesaving devices. [Doctoral Dissertation]. Vanderbilt University; 2019. Available from: http://hdl.handle.net/1803/10533
Vanderbilt University
19.
Kratchman, Louis Beryl.
Image-Guided Targeting and Control of Implantable Electrodes.
Degree: PhD, Mechanical Engineering, 2015, Vanderbilt University
URL: http://hdl.handle.net/1803/11785
► Implantable electrodes are used to diagnose and treat a growing list of conditions, including deafness, chronic pain, and neurodegenerative disorders. This dissertation introduces robotic methods…
(more)
▼ Implantable electrodes are used to diagnose and treat a growing list of conditions, including deafness, chronic pain, and neurodegenerative disorders. This dissertation introduces robotic methods to make electrode implantation less invasive, safer, and easier for clinicians to perform. We focus on implantation through a narrow hole under image guidance, and contribute methods to both guide instruments along a straight insertion path and to steer electrodes that are inserted through such a hole.
We present the first bone-attached robot to accurately guide instruments to the cochlea. This system removes the need to fabricate a stereotactic guide in the operating room and reduces dependence on a surgeon's skill. Results from a phantom targeting experiment show this system to be sufficiently accurate for cochlear implantation surgery. Manually adjusted stereotactic frames are used to implant deep brain stimulation (DBS) electrodes, but encumber the patient and are prone to operator errors. Smaller targeting devices are available for DBS surgery, but require offsite manufacturing or expensive image guidance systems. We introduce robotically adjusted, disposable microstereotactic frames that are rapidly adjusted, locked, and then transferred to a patient in a single visit. A phantom validation experiment shows that the targeting error of a robotically adjusted frame was below the clinically accepted threshold.
Sensitive tissues can be damaged by the force of electrode implantation. Robotic insertion devices have the potential to detect and react to excessive insertion forces, but the relationship between forces and trauma is poorly understood. Presently, we rely on surgeons to judge when forces are too large, but the ability of surgeons to sense small forces when implanting electrodes has not been studied. We introduce a method to measure intraocochlear puncture forces and report the first force measurements obtained from fresh cadaveric specimens. To put these forces into a clinical perspective, we present a protocol to measure tactile thresholds in a model of CI surgery, and present the first experimental characterization of surgeons' tactile force thresholds.
An electrode can be actively steered to reduce trauma and avoid obstacles. We present the first method to guide a magnet-tipped electrode along arbitrary three-dimensional trajectories using a compact, robot-manipulated magnet located external to the patient. We model rod deflections by combining Kirchhoff rod theory with permanent magnet models, and compute trajectories using a resolved-rate approach. Experiments demonstrate accurate execution of three-dimensional tip trajectories in an open-loop configuration and obstacle avoidance.
This dissertation provides a complementary set of methods for improving electrode implantation. These methods could benefit both patients and clinicians who perform minimally invasive procedures.
Advisors/Committee Members: J. Michael Fitzpatrick (committee member), Pietro Valdastri (committee member), Nabil Simaan (committee member), Robert F. Labadie (committee member), Robert J. Webster III (Committee Chair).
Subjects/Keywords: deep brain stimulation surgery; magnetic manipulation; magnetic guidance.; image-guided surgery; Stereotactic devices; cochlear implantation surgery
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APA (6th Edition):
Kratchman, L. B. (2015). Image-Guided Targeting and Control of Implantable Electrodes. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/11785
Chicago Manual of Style (16th Edition):
Kratchman, Louis Beryl. “Image-Guided Targeting and Control of Implantable Electrodes.” 2015. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/11785.
MLA Handbook (7th Edition):
Kratchman, Louis Beryl. “Image-Guided Targeting and Control of Implantable Electrodes.” 2015. Web. 22 Jan 2021.
Vancouver:
Kratchman LB. Image-Guided Targeting and Control of Implantable Electrodes. [Internet] [Doctoral dissertation]. Vanderbilt University; 2015. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/11785.
Council of Science Editors:
Kratchman LB. Image-Guided Targeting and Control of Implantable Electrodes. [Doctoral Dissertation]. Vanderbilt University; 2015. Available from: http://hdl.handle.net/1803/11785
Vanderbilt University
20.
Swaney, Philip Joseph.
Design and Modeling of Distal Dexterity Mechanisms for Needle-sized Robots:
Systems for Lung and Endonasal Interventions.
Degree: PhD, Mechanical Engineering, 2016, Vanderbilt University
URL: http://hdl.handle.net/1803/13396
► Toward improving surgery and patient care, this work presents the development of needle-sized surgical tools and robotic systems that incorporate distal articulation mechanisms. In the…
(more)
▼ Toward improving surgery and patient care, this work presents the development of needle-sized surgical tools and robotic systems that incorporate distal articulation mechanisms. In the human body, there are numerous critical locations that are difficult or impossible to reach safely in a minimally-invasive fashion using existing tools and approaches. In this work, a new articulated steerable needle and miniature wrist are developed for needle-sized tools. Geometry and mechanics inform the design of these articulating devices, and models are developed to predict their behavior. Using these articulating tools, robotic systems are created for the treatment of lung and skull base cancers toward providing minimally-invasive access to these difficult to reach locations in the body.
Advisors/Committee Members: Michael Goldfarb (committee member), Pietro Valdastri (committee member), Robert L. Galloway, Jr. (committee member), Kyle D. Weaver (committee member), Robert J. Webster III (Committee Chair).
Subjects/Keywords: concentric tube robots; surgical robotics; steerable needles
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APA (6th Edition):
Swaney, P. J. (2016). Design and Modeling of Distal Dexterity Mechanisms for Needle-sized Robots:
Systems for Lung and Endonasal Interventions. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13396
Chicago Manual of Style (16th Edition):
Swaney, Philip Joseph. “Design and Modeling of Distal Dexterity Mechanisms for Needle-sized Robots:
Systems for Lung and Endonasal Interventions.” 2016. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/13396.
MLA Handbook (7th Edition):
Swaney, Philip Joseph. “Design and Modeling of Distal Dexterity Mechanisms for Needle-sized Robots:
Systems for Lung and Endonasal Interventions.” 2016. Web. 22 Jan 2021.
Vancouver:
Swaney PJ. Design and Modeling of Distal Dexterity Mechanisms for Needle-sized Robots:
Systems for Lung and Endonasal Interventions. [Internet] [Doctoral dissertation]. Vanderbilt University; 2016. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/13396.
Council of Science Editors:
Swaney PJ. Design and Modeling of Distal Dexterity Mechanisms for Needle-sized Robots:
Systems for Lung and Endonasal Interventions. [Doctoral Dissertation]. Vanderbilt University; 2016. Available from: http://hdl.handle.net/1803/13396
Vanderbilt University
21.
Ong, Rowena E.
Intra-operative Registration Methods for Image-Guided Kidney Surgery.
Degree: PhD, Biomedical Engineering, 2012, Vanderbilt University
URL: http://hdl.handle.net/1803/12130
► In this work, I examined, developed, and validated methods for intra-operative registration in minimally invasive kidney surgery. One of these methods uses a conoscopic laser…
(more)
▼ In this work, I examined, developed, and validated methods for intra-operative registration in minimally invasive kidney surgery. One of these methods uses a conoscopic laser that can be inserted through a small trocar port to scan the kidney and obtain a surface point cloud. To enable intra-operative feature tracking, a novel method for texture-mapping the conoscopic surface was developed using laparoscopic video. The feasibility and accuracy of this texture-mapping method was evaluated. In addition, a registration method using features tracked from the textured-mapped conoscopic surfaces was investigated for use in-vivo, under laparoscopic conditions in swine. The feasibility and accuracy of the registration method was investigated and shown to be promising.
Finally, to evaluate the need for non-rigid deformation correction in an image guidance system for the kidney, a preliminary study of non-rigid deformation in the kidney was performed. In this study, ex-vivo porcine kidneys were perfused, the renal vessels clamped, and an incision was made to simulate surgical conditions. The resulting deformation was measured, and the fiducial-tracked displacements were interpolated using a spline. The accuracy of this method was assessed, and the results show this method could be used with tracked features from intra-operative conoscopic scans to correct for non-rigid deformation.
Advisors/Committee Members: Robert J. Webster, III (committee member), Benoit Dawant (committee member), S. Duke Herrell (committee member), Michael I. Miga (committee member), Robert L. Galloway (Committee Chair).
Subjects/Keywords: laser range scanning; minimally invasive surgery; registration; nephrectomy; Surgical navigation
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APA (6th Edition):
Ong, R. E. (2012). Intra-operative Registration Methods for Image-Guided Kidney Surgery. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12130
Chicago Manual of Style (16th Edition):
Ong, Rowena E. “Intra-operative Registration Methods for Image-Guided Kidney Surgery.” 2012. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/12130.
MLA Handbook (7th Edition):
Ong, Rowena E. “Intra-operative Registration Methods for Image-Guided Kidney Surgery.” 2012. Web. 22 Jan 2021.
Vancouver:
Ong RE. Intra-operative Registration Methods for Image-Guided Kidney Surgery. [Internet] [Doctoral dissertation]. Vanderbilt University; 2012. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/12130.
Council of Science Editors:
Ong RE. Intra-operative Registration Methods for Image-Guided Kidney Surgery. [Doctoral Dissertation]. Vanderbilt University; 2012. Available from: http://hdl.handle.net/1803/12130
Vanderbilt University
22.
Das, Jadav.
Robotic control of deformable continua and objects therein.
Degree: PhD, Mechanical Engineering, 2010, Vanderbilt University
URL: http://hdl.handle.net/1803/14482
► This dissertation describes design, modeling, planning and control of robot-assisted manipulation tasks dealing with deformable objects, which have many important applications in surgery, food handling,…
(more)
▼ This dissertation describes design, modeling, planning and control of robot-assisted manipulation tasks dealing with deformable objects, which have many important applications in surgery, food handling, automobile manufacturing, aerospace, leather, and packaging. Most of the tasks involving the handling of deformable objects are done by skillful human operators. However, robot-assisted manipulation of deformable objects is a difficult and challenging task primarily due to the low stiffness of the deformable object. Therefore, this dissertation investigates three robotic manipulation tasks dealing with deformable objects, which have many practical applications: (i) autonomous shape control of a deformable object by multiple manipulators, (ii) robot-assisted internal target point manipulation of a deformable object, and (
iii) robot-assisted flexible bevel-tip needle insertion into a deformable tissue/organ.
Shape control of a deformable object by a robotic system is challenging problem because of the difficulty of imposing shape change by a finite number actuation points to an infinite dimensional object. In this dissertation, a new approach to shape changing task of deformable objects by a system of manipulators is presented. An integrated dynamic equation of motion for a system of multiple manipulators handling a deformable object is developed. We model the deformable object using mass-spring-damper system. The initial and the final shapes of the deformable object are specified by curves that represent the boundary of the object. We discuss two different approaches to find the contact locations on the desired shapes of the object given the initial contact locations to perform the task. First, we design an optimization-based planner that minimizes an energy-like criterion to determine the locations of the contact points on the desired curve representing the final shape of the object. Second, a shape correspondence between the initial contact points of the multiple manipulators on a deformable object and a two dimensional curve that represents the final desired shape is determined. A shape Jacobian that contains the local shape information of the desired shape of the object is formulated and is introduced into the control law. We develop a shape estimator with second-order dynamics that is used to estimate the curve parameters corresponding to the end-effectors position in each time-step as the initial object is deformed to its desired final shape. The motion of each manipulator is controlled independently without any communication between them. Finally we design a robust controller for a shape changing task that can work in the presence of modeling uncertainty. The simulation results demonstrate the efficacy of the proposed method.
Manipulative operation of internal target points of a deformable object by a robotic system is another challenging problem because of the difficulty of imposing the motion of the internal target points by a finite number actuation points located at the boundary of the deformable…
Advisors/Committee Members: Prof. George E. Cook (committee member), Prof. Carol Rubin (committee member), Prof. Mitch Wilkes (committee member), Prof. Robert J. Webster III (Committee Chair), Prof. Nilanjan Sarkar (Committee Chair).
Subjects/Keywords: internal point manipulation; shape control; deformable object; manipulation; needle steering; medical robotics
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APA (6th Edition):
Das, J. (2010). Robotic control of deformable continua and objects therein. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14482
Chicago Manual of Style (16th Edition):
Das, Jadav. “Robotic control of deformable continua and objects therein.” 2010. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/14482.
MLA Handbook (7th Edition):
Das, Jadav. “Robotic control of deformable continua and objects therein.” 2010. Web. 22 Jan 2021.
Vancouver:
Das J. Robotic control of deformable continua and objects therein. [Internet] [Doctoral dissertation]. Vanderbilt University; 2010. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/14482.
Council of Science Editors:
Das J. Robotic control of deformable continua and objects therein. [Doctoral Dissertation]. Vanderbilt University; 2010. Available from: http://hdl.handle.net/1803/14482
Vanderbilt University
23.
Wait, Keith Wesley.
The Use of Pneumatic Actuation to Address Shortcomings Concerning Normalized Output Power in State of the Art Mobile Robotics.
Degree: PhD, Mechanical Engineering, 2010, Vanderbilt University
URL: http://hdl.handle.net/1803/13608
► It is well known in the field of engineering that pneumatic actuation has certain advantages over electromagnetic actuation, although the latter is far more commonly…
(more)
▼ It is well known in the field of engineering that pneumatic actuation has certain advantages over electromagnetic actuation, although the latter is far more commonly fielded in both mobile and stationary devices. The aim of this project is, then, to demonstrate that using pneumatic actuation in a mobile walking robot is not only feasible, but that the benefits of the actuation type chosen are propagated to the system as a whole. In this dissertation, the state-of-the-art in mobile walking robots is thoroughly explored and compared through the use of the normalized power metrics speed (in robot body lengths per second) and payload capacity (as a percentage of the robot's body mass). The design process leading up to a pneumatically actuated quadrupedal walking robot is documented including the mechanical design of the robot's structure, the evaluation and characterization of miniature pneumatic control valves, and the development of sophisticated electronics to control operation of the robot. Additionally, a mode of position control for pneumatic actuators is studied and demonstrated to enable robust and authoritative operation of the robot's joint actuators. Finally, the robot is deployed and shown to traverse a number of different substrates and its maximum normalized power metrics are measured and compared with the state-of-the-art. These measurements show that the use of pneumatic actuation is justified as the robot exceeds almost all previously built walking devices in this measure.
Advisors/Committee Members: Eric J. Barth (committee member), Robert J. Roselli (committee member), Nilanjan Sarkar (committee member), Robert J. Webster III (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: pneumatics; walking robot; mobile robotics
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APA (6th Edition):
Wait, K. W. (2010). The Use of Pneumatic Actuation to Address Shortcomings Concerning Normalized Output Power in State of the Art Mobile Robotics. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13608
Chicago Manual of Style (16th Edition):
Wait, Keith Wesley. “The Use of Pneumatic Actuation to Address Shortcomings Concerning Normalized Output Power in State of the Art Mobile Robotics.” 2010. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/13608.
MLA Handbook (7th Edition):
Wait, Keith Wesley. “The Use of Pneumatic Actuation to Address Shortcomings Concerning Normalized Output Power in State of the Art Mobile Robotics.” 2010. Web. 22 Jan 2021.
Vancouver:
Wait KW. The Use of Pneumatic Actuation to Address Shortcomings Concerning Normalized Output Power in State of the Art Mobile Robotics. [Internet] [Doctoral dissertation]. Vanderbilt University; 2010. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/13608.
Council of Science Editors:
Wait KW. The Use of Pneumatic Actuation to Address Shortcomings Concerning Normalized Output Power in State of the Art Mobile Robotics. [Doctoral Dissertation]. Vanderbilt University; 2010. Available from: http://hdl.handle.net/1803/13608
Vanderbilt University
24.
Sup IV, Frank Charles.
A Powered Self-Contained Knee and Ankle Prosthesis for Near Normal Gait in Transfemoral Amputees.
Degree: PhD, Mechanical Engineering, 2009, Vanderbilt University
URL: http://hdl.handle.net/1803/13427
► The human leg serves as the primary mechanism to provide locomotion and general mobility, both of which require significant power generation at the joints. Today,…
(more)
▼ The human leg serves as the primary mechanism to provide locomotion and general mobility, both of which require significant power generation at the joints. Today, commercial lower limb prostheses are generally passive devices capable of only dissipating or storing energy. Amputees must adapt their gait and mobility patterns to compensate for this lack of power. The hypothesis of this work postulates that restoring power to the knee and ankle joints can positively affect gait and increase the ease of mobility in above knee amputees. Described herein is the development of an electrically powered knee and ankle prosthesis intended to restore normal locomotive function to above knee amputees. Initial work focused on a tethered prototype with off-board power and computation to investigate electrical power requirements of such a device. Findings indicated that a device could be fabricated with an acceptable operating weight and range, though limited. Based on this work, a self-contained electrically powered knee and ankle prosthesis was developed. The design specifications, mechanical and electrical designs, control architecture for the self-contained version are described. Experimental results testing the device on an above knee amputee demonstrate the devices merit in restoring biomechanically normal gait patterns, assistive sit to stand transitions and powered slope ascent.
Advisors/Committee Members: Dr. Nilanjan Sarkar (committee member), Dr. George E. Cook (committee member), Dr. Robert J. Webster III (committee member), Dr. Eric J. Barth (committee member), Dr. Michael Goldfarb (Committee Chair).
Subjects/Keywords: Intent Recognition; Impedance Control; Amputee Gait; Powered Prosthesis
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APA ·
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APA (6th Edition):
Sup IV, F. C. (2009). A Powered Self-Contained Knee and Ankle Prosthesis for Near Normal Gait in Transfemoral Amputees. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13427
Chicago Manual of Style (16th Edition):
Sup IV, Frank Charles. “A Powered Self-Contained Knee and Ankle Prosthesis for Near Normal Gait in Transfemoral Amputees.” 2009. Doctoral Dissertation, Vanderbilt University. Accessed January 22, 2021.
http://hdl.handle.net/1803/13427.
MLA Handbook (7th Edition):
Sup IV, Frank Charles. “A Powered Self-Contained Knee and Ankle Prosthesis for Near Normal Gait in Transfemoral Amputees.” 2009. Web. 22 Jan 2021.
Vancouver:
Sup IV FC. A Powered Self-Contained Knee and Ankle Prosthesis for Near Normal Gait in Transfemoral Amputees. [Internet] [Doctoral dissertation]. Vanderbilt University; 2009. [cited 2021 Jan 22].
Available from: http://hdl.handle.net/1803/13427.
Council of Science Editors:
Sup IV FC. A Powered Self-Contained Knee and Ankle Prosthesis for Near Normal Gait in Transfemoral Amputees. [Doctoral Dissertation]. Vanderbilt University; 2009. Available from: http://hdl.handle.net/1803/13427
. 
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