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Vision-Based Robot Control In The Context Of Human-Machine Interactions, Andrzej Nycz
Vision-Based Robot Control In The Context Of Human-Machine Interactions, Andrzej Nycz
Doctoral Dissertations
This research has explored motion control based on visual servoing – in the context of complex human-machine interactions and operations in realistic environments. Two classes of intelligent robotic systems were studied in this context: operator assistance with a high dexterity telerobotic manipulator performing remote tooling-centric tasks, and a bio-robot for X-ray imaging of lower extremity human skeletal joints during natural walking. The combination of human-machine interactions and practical application scenarios has led to the following fundamental contributions: 1) exploration and evaluation of a new concept of acquiring fluoroscope images of musculoskeletal features of interest during natural human motion, 2) creation …
Investigation Of In-Vivo Hindfoot And Orthotic Interactions Using Bi-Planar X-Ray Fluoroscopy, Kristen M. Bushey
Investigation Of In-Vivo Hindfoot And Orthotic Interactions Using Bi-Planar X-Ray Fluoroscopy, Kristen M. Bushey
Electronic Thesis and Dissertation Repository
A markerless RSA method was used to determine the effect of orthotics on the normal, pes planus and pes cavus populations. Computed tomography (CT) was used to create bone models that were imported into the virtual environment. Joint coordinate systems were developed to measure kinematic changes in the hindfoot during weight-bearing gait and quiet standing. The objectives of this thesis were to (1) implement a fluoroscopy-based markerless RSA system on the foot, (2) determine the effect of various orthotics at midstance of fully weight-bearing dynamic gait, and (3) determine the effect of orthotics as measured using three different techniques. Every …
In-Vivo Investigation Of The Medial Longitudinal Arch Of The Foot And Orthotic Interactions Using Bi-Planar Fluoroscopy, Megan E.R. Balsdon
In-Vivo Investigation Of The Medial Longitudinal Arch Of The Foot And Orthotic Interactions Using Bi-Planar Fluoroscopy, Megan E.R. Balsdon
Electronic Thesis and Dissertation Repository
Orthotic devices are a conservative treatment for common disorders of the foot and ankle such as pes planus and pes cavus. It is thought that orthotics change the kinematics of the foot by applying forces and constraint on the plantar surface, which can act to change body biomechanics and correct for malalignment in the legs and trunk. This thesis compares the angle of the medial longitudinal arch (MLA) between three foot types: pes planus (low arch), pes cavus (high arch) and normal arch, during barefoot and shoed walking, and walking with orthotics. In-vivo bi-planar fluoroscopy was used with markerless radiostereometric …