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Articles 1 - 7 of 7
Full-Text Articles in Biomedical Engineering and Bioengineering
Improving 3d Printed Prosthetics With Sensors And Motors, Rachel Zarin
Improving 3d Printed Prosthetics With Sensors And Motors, Rachel Zarin
Honors Projects
A 3D printed hand and arm prosthetic was created from the idea of adding bionic elements while keeping the cost low. It was designed based on existing models, desired functions, and materials available. A tilt sensor keeps the hand level, two motors move the wrist in two different directions, a limit switch signals the fingers to open and close, and another motor helps open and close the fingers. All sensors and motors were built on a circuit board, programmed using an Arduino, and powered by a battery. Other supporting materials include metal brackets, screws, guitar strings, elastic bands, small clamps, …
Control Design And Implementation Of An Active Transtibial Prosthesis, Joseph Klein
Control Design And Implementation Of An Active Transtibial Prosthesis, Joseph Klein
Master's Theses (2009 -)
Prior work at Marquette University developed the Marquette Prosthesis, an active transtibial prosthesis that utilized a torsional spring and a four-bar mechanism. The controls for the Marquette Prosthesis implemented a finite state control algorithm to determine the state of gait of the amputee along with two lower level controllers, a PI moment controller to control the moment during stance and a PID position controller to control the position during stance. The Marquette Prosthesis was successful in mimicking the gait profile presented by Winter. However, after completing human subject testing, the Marquette Prosthesis was insufficient in trying to match the gait …
Reducing Uncertainty In Head And Neck Radiotherapy With Plastic Robotics, Mark R. Ostyn
Reducing Uncertainty In Head And Neck Radiotherapy With Plastic Robotics, Mark R. Ostyn
Theses and Dissertations
One of the greatest challenges in achieving accurate positioning in head and neck radiotherapy is that the anatomy at and above the cervical spine does not act as a single, mechanically rigid body. Current immobilization techniques contain residual uncertainties that are especially present in the lower neck that cannot be reduced by setting up to any single landmark. The work presented describes the development of a radiotherapy friendly mostly-plastic 6D robotic platform for positioning independent landmarks, (i.e., allowing remote, independent positioning of the skull relative to landmarks in the thorax), including analysis of kinematics, stress, radiographic compatibility, trajectory planning, physical …
Modeling, Analysis, Force Sensing And Control Of Continuum Robots For Minimally Invasive Surgery, Caroline Bryson Black
Modeling, Analysis, Force Sensing And Control Of Continuum Robots For Minimally Invasive Surgery, Caroline Bryson Black
Doctoral Dissertations
This dissertation describes design, modeling and application of continuum robotics for surgical applications, specifically parallel continuum robots (PCRs) and concentric tube manipulators (CTMs). The introduction of robotics into surgical applications has allowed for a greater degree of precision, less invasive access to more remote surgical sites, and user-intuitive interfaces with enhanced vision systems. The most recent developments have been in the space of continuum robots, whose exible structure create an inherent safety factor when in contact with fragile tissues. The design challenges that exist involve balancing size and strength of the manipulators, controlling the manipulators over long transmission pathways, and …
A Continous Rotary Actuation Mechanism For A Powered Hip Exoskeleton, Matthew C. Ryder
A Continous Rotary Actuation Mechanism For A Powered Hip Exoskeleton, Matthew C. Ryder
Masters Theses
This thesis presents a new mechanical design for an exoskeleton actuator to power the sagittal plane motion in the human hip. The device uses a DC motor to drive a Scotch yoke mechanism and series elasticity to take advantage of the cyclic nature of human gait and to reduce the maximum power and control requirements of the exoskeleton. The Scotch yoke actuator creates a position-dependent transmission that varies between 4:1 and infinity, with the peak transmission ratio aligned to the peak torque periods of the human gait cycle. Simulation results show that both the peak and average motor torque can …
Designing A Biomimetic Testing Platform For Actuators In A Series-Elastic Co-Contraction System, Ryan Tyler Schroeder
Designing A Biomimetic Testing Platform For Actuators In A Series-Elastic Co-Contraction System, Ryan Tyler Schroeder
UNLV Theses, Dissertations, Professional Papers, and Capstones
Actuators determine the performance of robotic systems at the most intimate of levels. As a result, much work has been done to assess the performance of different actuator systems. However, biomimetics has not previously been utilized as a pretext for tuning a series elastic actuator system with the purpose of designing an empirical testing platform. Thus, an artificial muscle tendon system has been developed in order to assess the performance of two distinct actuator types: (1) direct current electromagnetic motors and (2) ultrasonic rotary piezoelectric motors. Because the design of the system takes advantage of biomimetic operating principles such as …
Design, Analysis And Testing Of Haptic Feedback System For Laparoscopic Graspers In In Vivo Surgical Robots, Nikhil Salvi
Design, Analysis And Testing Of Haptic Feedback System For Laparoscopic Graspers In In Vivo Surgical Robots, Nikhil Salvi
Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research
Laparo-Endoscopic Single Site (LESS) Robotics Surgery is an advanced technology in the field of Minimally Invasive Surgery (MIS). The LESS surgical robots significantly improve the surgeon’s accuracy, dexterity and visualization, and reduce the invasiveness of surgical procedure results in faster recovery time and improved cosmetic results. In a standard robotic endosurgery, the palpation of tissues is performed by laparoscopic graspers located at the end effectors. The master-slave configuration in robotic surgery leads in remote access to the operation site. Therefore, surgeon’s ability to perceive valuable sensory information is severely diminished. Sensory information such as haptics, which is essential for safe …