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Full-Text Articles in Engineering
Method For Creating Subject-Specific Models Of The Wrist In Both Degrees Of Freedom Using Measured Muscle Excitations And Joint Torques, Blake Robert Harper
Method For Creating Subject-Specific Models Of The Wrist In Both Degrees Of Freedom Using Measured Muscle Excitations And Joint Torques, Blake Robert Harper
Theses and Dissertations
Two-thirds of repetitive strain injuries affect the wrist joint. Although force is believed to be one of the major factors, the forces involved in wrist movements have not been thoroughly characterized in vivo. Computer simulations with a musculoskeletal model of the wrist have been used to estimate wrist muscle forces, but only at maximum voluntary contraction and only involving a single degree of freedom (DOF). In this study we present a method for creating a subject-specific model that can be used to estimate muscle forces and joint torques in both degrees of freedom of the wrist over a range of …
Sensitivity Of Tremor Propagation To Model Parameters, Charles Paul Curtis Jr.
Sensitivity Of Tremor Propagation To Model Parameters, Charles Paul Curtis Jr.
Theses and Dissertations
Although Essential Tremor (ET) is the most common type of tremor, many patients are left without satisfactory treatment options. One potential alternative treatment to medication or surgery is a wearable tremor-suppressing device. However, optimizing the effectiveness of such a device requires knowledge of which muscles/joints are most responsible for tremor. To answer this question, current efforts simulate tremor propagation using a model of the neuromusculoskeletal dynamics of the upper limb. To guide efforts to identify realistic model parameters and use the model to determine the mechanical origin of tremor, we performed preliminary parameter estimation work and a thorough sensitivity analysis …
A Study In Soft Robotics: Metrics, Models, Control, And Estimation, Levi Thomas Rupert
A Study In Soft Robotics: Metrics, Models, Control, And Estimation, Levi Thomas Rupert
Theses and Dissertations
Traditional robots, while capable of being efficient and effective for the task they were designed, are dangerous when operating in unmodeled environments or around humans. The field of soft robotics attempts to increase the safety of robots thus enabling them to operate in environments where traditional robots should not operate. Because of this, soft robots were developed with different goals in mind than traditional robots and as such the traditional metrics used to evaluate standard robots are not effective for evaluating soft robots. New metrics need to be developed for soft robots so that effective comparison and evaluations can be …