Digital Commons Network^™

Human-Robot Interaction For Assistive Robotics, Jiawei Li

Dissertations

This dissertation presents an in-depth study of human-robot interaction (HRI) withapplication to assistive robotics. In various studies, dexterous in-hand manipulation is included, assistive robots for Sit-To-stand (STS) assistance along with the human intention estimation. In Chapter 1, the background and issues of HRI are explicitly discussed. In Chapter 2, the literature review introduces the recent state-of-the-art research on HRI, such as physical Human-Robot Interaction (HRI), robot STS assistance, dexterous in hand manipulation and human intention estimation. In Chapter 3, various models and control algorithms are described in detail. Chapter 4 introduces the research equipment. Chapter 5 presents innovative theories and …

Experiments And Modeling Of The Chemo-Mechanically Coupled Behavior Of Polymeric Gels, Nikola Bosnjak

Dissertations

Polymeric materials consist of mutually entangled or chemically crosslinked long njitmolecular chains which form a polymer network. Due to their molecular structure, the njitpolymeric materials are known to undergo large deformation in response to various njitenvironmental stimuli, such as temperature, chemical potential and light.

When a polymer network is exposed to a suitable chemical solvent, the solvent molecules are able to diffuse inside the network, causing it to undergo a large volumetric deformation, known as swelling. In addition to volumetric deformation, this process involves the chemical mixing of the polymer network and solvent molecules, and is typically environmentally responsive. A …

Blast Shock-Wave Characterization In Experimental Shock Tubes, Sudeepto Kahali

Dissertations

Blast-induced traumatic brain injuries have affected U.S. soldiers deployed for extended periods in the gulf and Afghanistan wars. To identify the biomechanical and biochemical mechanisms of injury, critical in the identification of diagnostic and therapeutic tools, compressed gas-driven shock tubes are used by investigators to study shockwave-animal specimen interactions and its biological consequences. However, shock tubes are designed and operated in a variety of geometry with a range of process parameters, and the quality of shock wave characteristics relevant to field conditions and therefore the study of blast-induced traumatic brain injuries suffered by soldiers is affected by those conditions. Lab-to-lab …

Cycloidal-Drive Joint Design For Wearable Exoskeletons, Abhi J. Rawal

Theses

This thesis's scope was to construct a highly back drivable and compact joint design that can be used for wearable exoskeletons specifically designed to assist with rehabilitation. A compact cycloidal gear transmission was designed to satisfy the compactness requirement while ensuring the minimum torque is required for backdriving the mechanism. The joint was designed based on the compact cycloidal drive specifications, and the backdrivability test was performed to measure the minimum torque required (1.20 Nm) to backdrive. The joint design incorporates various important features such as rotation lock feature to prevent hyperextension, a housing design that offers the benefit of …

Resonant Triad Interactions In One And Two-Layer Systems, Malik Chabane

Dissertations

This dissertation is a study of the weakly nonlinear resonant interactions of a triad of gravity-capillary waves in systems of one and two fluid layers of arbitrary depth, in one and two-dimentions. For one-layer systems, resonant triad interactions of gravity-capillary waves are considered and a region where resonant triads can be always found is identified, in the two-dimensional wavevector angles-space. Then a description of the variations of resonant wavenumbers and wave frequencies over the resonance region is given. The amplitude equations correct to second order in wave slope are used to investigate special resonant triads that, providing their initial amplitude …

Compound Flooding In Coastal Areas Emanating From Inland And Offshore Events, Hamed Behzad Koochaksaraii

Dissertations

The vulnerability of urban populations to natural hazards and climate change is a major theme in many reports on coastal cities with flooding ranking highly among the climate change concerns. Flooding could occur as a result of runoff for inland rainfall that accumulates at the mouth of the estuary to the sea or it could occur due to a storm surge emanating from the ocean. The techniques for modeling the flooding from these events are very different, as they were developed in different scientific fields: hydrology and hydraulic engineering for inland rainfall versus coastal oceanography and coastal engineering for offshore …

Mechanical Characterization Of Animal Derived Starting Materials For Tissue Engineering, Bin Zhang

Dissertations

Animal derived starting materials are well established in the production of Tissue Engineered Medical Devices. Porcine specifically can be found in products ranging in application from hernia repair to breast reconstruction. Although this material has been largely accepted in the Tissue Engineering industry, little is known of its material properties and mechanical characteristics. A review of the scientific literature describes limited mechanical measures only on uncontrolled research grade material. The objective of this work is to mechanically characterize porcine starting material used in the medical device industry. Porcine skin is provided by Midwest Research Swine, LLC (MRS) an established supplier …