Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 8 of 8
Full-Text Articles in Engineering
Ring And Peg Simulation For Minimally Invasive Surgical Robot, Evan Brown
Ring And Peg Simulation For Minimally Invasive Surgical Robot, Evan Brown
Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research
Surgical procedures utilizing minimally invasive laparoscopic techniques have shown less complications, better cosmetic results, and less time in the hospital than conventional surgery. These advantages are partially offset by inherent difficulties of the procedures which include an inverted control scheme, instrument clashing, and loss of triangulation. Surgical robots have been designed to overcome the limitations, the Da Vinci being the most widely used. A dexterous in vivo, two-armed robot, designed to enter an insufflated abdomen with a limited insertion profile and expand to perform a variety of operations, has been created as a less expensive, versatile alternative to the Da …
Predictive Musculoskeletal Simulation Using Optimal Control: Effects Of Added Limb Mass On Energy Cost And Kinematics Of Walking And Running, Antonie J. Van Den Bogert, Maarten Hupperets, Heiko Schlarb, Berthold Krabbe
Predictive Musculoskeletal Simulation Using Optimal Control: Effects Of Added Limb Mass On Energy Cost And Kinematics Of Walking And Running, Antonie J. Van Den Bogert, Maarten Hupperets, Heiko Schlarb, Berthold Krabbe
Mechanical Engineering Faculty Publications
When designing sports equipment, it is often desirable to predict how certain design parameters will affect human performance. In many instances, this requires a consideration of human musculoskeletal mechanics and adaptive neuromuscular control. Current computational methods do not represent these mechanisms, and design optimization typically requires several iterations of prototyping and human testing. This paper introduces a computational method based on musculoskeletal modeling and optimal control, which has the capability to predict the effect of mechanical equipment properties on human performance. The underlying assumption is that users will adapt their neuromuscular control according to an optimality principle, which balances task …
Using Thermally Coupled Reactive Distillation Columns In Biodiesel Production, Nghi Nguyen, Yaşar Demirel
Using Thermally Coupled Reactive Distillation Columns In Biodiesel Production, Nghi Nguyen, Yaşar Demirel
Yaşar Demirel Publications
Production of ethyl dodecanoate (biodiesel) using lauric acid and methanol with a solid acid catalyst of sulfated zirconia is studied by using two distillation sequences. In the first sequence, the methanol recovery column follows the reactive distillation column. In the second sequence, the reactive distillation and methanol recovery columns are thermally coupled. Thermally coupled distillation sequences may consume less energy by allowing interconnecting vapor and liquid streams between the two columns to elminate reboiler or condenser or both. Here we study the thermally coupled side-stripper reactive distillation and eliminate the condenser of the reactive distillation column. Both the sequences are …
Optimality Principles For Model-Based Prediction Of Human Gait, Marko Ackermann, Antonie J. Van Den Bogert
Optimality Principles For Model-Based Prediction Of Human Gait, Marko Ackermann, Antonie J. Van Den Bogert
Mechanical Engineering Faculty Publications
Although humans have a large repertoire of potential movements, gait patterns tend to be stereotypical and appear to be selected according to optimality principles such as minimal energy. When applied to dynamic musculoskeletal models such optimality principles might be used to predict how a patient's gait adapts to mechanical interventions such as prosthetic devices or surgery. In this paper we study the effects of different performance criteria on predicted gait patterns using a 2D musculoskeletal model. The associated optimal control problem for a family of different cost functions was solved utilizing the direct collocation method. It was found that fatigue-like …
Design And Validation Of A General Purpose Robotic Testing System For Musculoskeletal Applications, Lawrence D. Noble, Robb W. Colbrunn, Dong-Gil Lee, Antonie J. Van Den Bogert, Brian L. Davis
Design And Validation Of A General Purpose Robotic Testing System For Musculoskeletal Applications, Lawrence D. Noble, Robb W. Colbrunn, Dong-Gil Lee, Antonie J. Van Den Bogert, Brian L. Davis
Mechanical Engineering Faculty Publications
Orthopaedic research on in vitro forces applied to bones, tendons, and ligaments during joint loading has been difficult to perform because of limitations with existing robotic simulators in applying full-physiological loading to the joint under investigation in real time. The objectives of the current work are as follows: (1) describe the design of a musculoskeletal simulator developed to support in vitro testing of cadaveric joint systems, (2) provide component and system-level validation results, and (3) demonstrate the simulator’s usefulness for specific applications of the foot-ankle complex and knee. The musculoskeletal simulator allows researchers to simulate a variety of loading conditions …
A Real-Time, 3-D Musculoskeletal Model For Dynamic Simulation Of Arm Movements, Edward K. Chadwick, Dimitra Blana, Antonie J. Van Den Bogert, Robert F. Kirsch
A Real-Time, 3-D Musculoskeletal Model For Dynamic Simulation Of Arm Movements, Edward K. Chadwick, Dimitra Blana, Antonie J. Van Den Bogert, Robert F. Kirsch
Mechanical Engineering Faculty Publications
Neuroprostheses can be used to restore movement of the upper limb in individuals with high-level spinal cord injury. Development and evaluation of command and control schemes for such devices typically require real-time, ldquopatient-in-the-looprdquo experimentation. A real-time, 3-D, musculoskeletal model of the upper limb has been developed for use in a simulation environment to allow such testing to be carried out noninvasively. The model provides real-time feedback of human arm dynamics that can be displayed to the user in a virtual reality environment. The model has a 3-DOF glenohumeral joint as well as elbow flexion/extension and pronation/supination and contains 22 muscles …
Pre-Impact Lower Extremity Posture And Brake Pedal Force Predict Foot And Ankle Forces During An Automobile Collision, Elizabeth C. Hardin, Anne Su, Antonie J. Van Den Bogert
Pre-Impact Lower Extremity Posture And Brake Pedal Force Predict Foot And Ankle Forces During An Automobile Collision, Elizabeth C. Hardin, Anne Su, Antonie J. Van Den Bogert
Mechanical Engineering Faculty Publications
Background: The purpose of this study was to determine how a driver’s foot and ankle forces during a frontal vehicle collision depend on initial lower extremity posture and brake pedal force. Method of Approach: A 2D musculoskeletal model with seven segments and six right-side muscle groups was used. A simulation of a three-second braking task found 3647 sets of muscle activation levels that resulted in stable braking postures with realistic pedal force. These activation patterns were then used in impact simulations where vehicle deceleration was applied and driver movements and foot and ankle forces were simulated. Peak rearfoot ground reaction …
Foot And Ankle Forces During An Automobile Collision: The Influence Of Muscles, Elizabeth C. Hardin, Anne Su, Antonie J. Van Den Bogert
Foot And Ankle Forces During An Automobile Collision: The Influence Of Muscles, Elizabeth C. Hardin, Anne Su, Antonie J. Van Den Bogert
Mechanical Engineering Faculty Publications
Muscles have a potentially important effect on lower extremity injuries during an automobile collision. Computational modeling can be a powerful tool to predict these effects and develop protective interventions. Our purpose was to determine how muscles influence peak foot and ankle forces during an automobile collision. A 2-D bilateral musculoskeletal model was constructed with seven segments. Six muscle groups were included in the right lower extremity, each represented by a Hill muscle model. Vehicle deceleration data were applied as input and the resulting movements were simulated. Three models were evaluated: no muscles (NM), minimal muscle activation at a brake pedal …