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Design Of A Canine Inspired Quadruped Robot As A Platform For Synthetic Neural Network Control, Cody Warren Scharzenberger
Design Of A Canine Inspired Quadruped Robot As A Platform For Synthetic Neural Network Control, Cody Warren Scharzenberger
Dissertations and Theses
Legged locomotion is a feat ubiquitous throughout the animal kingdom, but modern robots still fall far short of similar achievements. This paper presents the design of a canine-inspired quadruped robot named DoggyDeux as a platform for synthetic neural network (SNN) research that may be one avenue for robots to attain animal-like agility and adaptability. DoggyDeux features a fully 3D printed frame, 24 braided pneumatic actuators (BPAs) that drive four 3-DOF limbs in antagonistic extensor-flexor pairs, and an electrical system that allows it to respond to commands from a SNN comprised of central pattern generators (CPGs). Compared to the previous version …
Biomechanical Assessment Of Parkinson's Disease, Edward A. Katz
Biomechanical Assessment Of Parkinson's Disease, Edward A. Katz
Dissertations and Theses
Parkinson's disease is a chronic neurological disorder affecting hundreds of thousands of Americans. The current best practice for assessment of this disease is a clinical examination and subjective rating using the Unified Parkinson's Disease Rating Scale. Such ratings are coarse scaled, subject to rater bias, and costly. Instruments which provide objective measurements of disease state can eliminate rater bias, provide repeatable data, and increase the frequency and responsiveness of subject assessments, expediting the validation of new therapies and treatments. This thesis describes the design and implementation of a battery of bio-mechanical devices suitable for clinical and in home use, including …