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Biomedical Engineering and Bioengineering Commons™
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Full-Text Articles in Biomedical Engineering and Bioengineering
Design And Testing Of An Agonist-Antagonist Position-Impedance Controlled Myoelectric Prosthesis, Christopher Aymonin
Design And Testing Of An Agonist-Antagonist Position-Impedance Controlled Myoelectric Prosthesis, Christopher Aymonin
Theses and Dissertations
Intuitive prosthetic control is limited by the inability to easily convey intention and perceive physical requirements of the task. Rather than providing haptic feedback and allowing users to consciously control every component of manipulation, relegating some aspects of control to the device may simplify operation. This study focuses on the development and testing of a control scheme able to identify object stiffness and regulate impedance. The system includes an algorithm to detect the apparent stiffness of an object, a proportional nonlinear EMG control algorithm for interpreting a user’s desired grasp aperture, and an antagonistically acting impedance controller. Performance of a …
The Design And Validation Of A Computational Rigid Body Model For Study Of The Radial Head, Cassandra Woodcock
The Design And Validation Of A Computational Rigid Body Model For Study Of The Radial Head, Cassandra Woodcock
Theses and Dissertations
Rigid body modeling has historically been used to study various features of the elbow joint including both physical and computational models. Computational modeling provides an inexpensive, easily customizable, and effective method by which to predict and investigate the response of a physiological system to in vivo stresses and applied perturbations. Utilizing computer topography scans of a cadaveric elbow, a virtual representation of the joint was created using the commercially available MIMICS(TM) and SolidWorks(TM) software packages. Accurate 3D articular surfaces, ligamentous constraints, and joint contact parameters dictated motion. The model was validated against two cadaveric studies performed by Chanlalit et al. …