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Full-Text Articles in Engineering
A Robotic Neuro-Musculoskeletal Simulator For Spine Research, Robb W. Colbrunn
A Robotic Neuro-Musculoskeletal Simulator For Spine Research, Robb W. Colbrunn
ETD Archive
An influential conceptual framework advanced by Panjabi represents the living spine as a complex neuromusculoskeletal system whose biomechanical functioning is rather finely dependent upon the interactions among and between three principal subsystems: the passive musculoskeletal subsystem (osteoligamentous spine plus passive mechanical contributions of the muscles), the active musculoskeletal subsystem (muscles and tendons), and the neural and feedback subsystem (neural control centers and feedback elements such as mechanoreceptors located in the soft tissues) [1]. The interplay between subsystems readily encourages "thought experiments" of how pathologic changes in one subsystem might influence another--for example, prompting one to speculate how painful arthritic changes …
Evolutionary Ground Reaction Force Control Of A Prosthetic Leg Testing Robot, Ronald Davis.
Evolutionary Ground Reaction Force Control Of A Prosthetic Leg Testing Robot, Ronald Davis.
ETD Archive
Typical tests of prosthetic legs for transfemoral amputees prove to be cumbersome and tedious. These tests are burdened by acclimation time, lack of repeatability between subjects, and the use of complex gait analysis labs to collect data. To create a new method for prosthesis testing, we design and construct a robot that can simulate the motion of a human hip. We discuss the robot from concept to completion, including methods for modeling and control design. Two single-input-single-output (SISO) sliding mode controllers are developed using analytical and experimental methods. We use human gait data as reference inputs to the controller. When …