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You searched for subject:(Gait emulator). Showing records 1 – 2 of 2 total matches.

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Cleveland State University

1. Warner, Holly E. Simulation and Control at the Boundaries Between Humans and Assistive Robots.

Degree: PhD, Washkewicz College of Engineering, 2019, Cleveland State University

URL: http://rave.ohiolink.edu/etdc/view?acc_num=csu1577719990967925 

Human-machine interaction has become an important area of research as progress is made in the fields of rehabilitation robotics, powered prostheses, and advanced exercise machines. Adding to the advances in this area, a novel controller for a powered transfemoral prosthesis is introduced that requires limited tuning and explicitly considers energy regeneration. Results from a trial conducted with an individual with an amputation show self-powering operation for the prosthesis while concurrently attaining basic gait fidelity across varied walking speeds.Experience in prosthesis development revealed that, though every effort is made to ensure the safety of the human subject, limited testing of such devices prior to human trials can be completed in the current research environment. Two complementary alternatives are developed to fill that gap. First, the feasibility of implementing impulse-momentum sliding mode control on a robot that can physically replace a human with a transfemoral amputation to emulate weight-bearing for initial prototype walking tests is established. Second, a more general human simulation approach is proposed that can be used in any of the aforementioned human-machine interaction fields.Seeking this general human simulation method, a unique pair of solutions for simulating a Hill muscle-actuated linkage system is formulated. These include using the Lyapunov-based backstepping control method to generate a closed-loop tracking simulation and, motivated by limitations observed in backstepping, an optimal control solver based on differential flatness and sum of squares polynomials in support of receding horizon controlled (e.g. model predictive control) or open-loop simulations. The backstepping framework provides insight into muscle redundancy resolution. The optimal control framework uses this insight to produce a computationally efficient approach to musculoskeletal system modeling. A simulation of a human arm is evaluated in both structures. Strong tracking performance is achieved in the backstepping case. An exercise optimization application using the optimal control solver showcases the computational benefits of the solver and reveals the feasibility of finding trajectories for human-exercise machine interaction that can isolate a muscle of interest for strengthening. Advisors/Committee Members: Richter, Hanz (Advisor).

Subjects/Keywords: Biomechanics; Biomedical Engineering; Engineering; Mechanical Engineering; Robotics; Robots; Prosthesis; Transfemoral; Above-knee; Powered; Energy regeneration; Gait emulator; Human-machine interaction; Musculoskeletal model; Sum of squares polynomial; Differential flatness; Exercise; Control; Impedance; Backstepping; Optimal; Model predictive

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Warner, H. E. (2019). Simulation and Control at the Boundaries Between Humans and Assistive Robots. (Doctoral Dissertation). Cleveland State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=csu1577719990967925

Chicago Manual of Style (16th Edition):

Warner, Holly E. “Simulation and Control at the Boundaries Between Humans and Assistive Robots.” 2019. Doctoral Dissertation, Cleveland State University. Accessed February 25, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=csu1577719990967925.

MLA Handbook (7th Edition):

Warner, Holly E. “Simulation and Control at the Boundaries Between Humans and Assistive Robots.” 2019. Web. 25 Feb 2021.

Vancouver:

Warner HE. Simulation and Control at the Boundaries Between Humans and Assistive Robots. [Internet] [Doctoral dissertation]. Cleveland State University; 2019. [cited 2021 Feb 25]. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=csu1577719990967925.

Council of Science Editors:

Warner HE. Simulation and Control at the Boundaries Between Humans and Assistive Robots. [Doctoral Dissertation]. Cleveland State University; 2019. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=csu1577719990967925


Colorado School of Mines

2. Heer, Kyle B. Design and control of a lower-limb exoskeleton emulator for accelerated development of gait exoskeletons.

Degree: MS(M.S.), Mechanical Engineering, 2017, Colorado School of Mines

URL: http://hdl.handle.net/11124/171178 

Robotic exoskeletons for gait assistance carry the potential to dramatically improve the quality of life for individuals with hemiparesis resulting from a stroke. This thesis presents the design and implementation of a modular lower-limb exoskeleton emulator: a new research platform intended for accelerated research into and development of lower-limb exoskeletons. The device features five lightweight, modular braces for human interface with ten total lower-limb degrees of freedom. Braces are actuated by four off-board motors via Bowden-cable transmission. A closed-loop controller utilizing high-frequency real-time measurements provides accurate and responsive torque application to the wearer. A versatile control software model featuring real-time gait event detection has been developed and verified with preliminary experimentation conducted with the emulator. Future investigations with the device will inform the design of a novel assistive, multi-joint body-powered leg exoskeleton for hemiparetic gait assistance. Advisors/Committee Members: Celik, Ozkan (advisor), Silverman, Anne K. (committee member), Petrella, Anthony J. (committee member).

Subjects/Keywords: exoskeleton; Emulator; Gait

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Heer, K. B. (2017). Design and control of a lower-limb exoskeleton emulator for accelerated development of gait exoskeletons. (Masters Thesis). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/171178

Chicago Manual of Style (16th Edition):

Heer, Kyle B. “Design and control of a lower-limb exoskeleton emulator for accelerated development of gait exoskeletons.” 2017. Masters Thesis, Colorado School of Mines. Accessed February 25, 2021. http://hdl.handle.net/11124/171178.

MLA Handbook (7th Edition):

Heer, Kyle B. “Design and control of a lower-limb exoskeleton emulator for accelerated development of gait exoskeletons.” 2017. Web. 25 Feb 2021.

Vancouver:

Heer KB. Design and control of a lower-limb exoskeleton emulator for accelerated development of gait exoskeletons. [Internet] [Masters thesis]. Colorado School of Mines; 2017. [cited 2021 Feb 25]. Available from: http://hdl.handle.net/11124/171178.

Council of Science Editors:

Heer KB. Design and control of a lower-limb exoskeleton emulator for accelerated development of gait exoskeletons. [Masters Thesis]. Colorado School of Mines; 2017. Available from: http://hdl.handle.net/11124/171178

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