Biomedical Engineering and Bioengineering Commons^™

Cycloidal-Drive Joint Design For Wearable Exoskeletons, Abhi J. Rawal

Theses

This thesis's scope was to construct a highly back drivable and compact joint design that can be used for wearable exoskeletons specifically designed to assist with rehabilitation. A compact cycloidal gear transmission was designed to satisfy the compactness requirement while ensuring the minimum torque is required for backdriving the mechanism. The joint was designed based on the compact cycloidal drive specifications, and the backdrivability test was performed to measure the minimum torque required (1.20 Nm) to backdrive. The joint design incorporates various important features such as rotation lock feature to prevent hyperextension, a housing design that offers the benefit of …

Composition-Structure-Property Relationships In Multicomponent Bioactive Glasses, Sharon Murphy

Theses

Silicate glasses function effectively as bone grafts by stimulating bone regeneration through gene activation. However these materials offer little therapeutic potential for the regeneration of healthy bone in those suffering from metabolic bone diseases such as osteoporosis. Examining the composition-structure-property relationships arising from the incorporation of therapeutic ions such as strontium (Sr) and zinc (Zn) into such glasses in order to allow for healthy bone regeneration and antibacterial efficacy, as well as sodium (Na) to allow for controlled ion release was the objective of this work. Eight calcium-strontium-sodium-zinc-silicate glass compositions were produced, based on incremental additions of Sr and Na. …

Orthogonal Cutting Of Bone, Donal Mccrohan

Theses

The cutting of bone has been undertaken for many centuries. Research in this area is contnually progressing to achieve an efficient cutting action while reducing recovery time and rauma to the patient.

Orthogonal cutting is defined where the cutting edge of the tool is set in a position that is perpendicular to the direction of relative work or tool motion. The failure mechanisms involved in the cutting of bone, their direct relationships to cutting tool geometry and cutting direction for orthogonal cutting are not accurately defined or quantified. A study of the orthogonal cutting behaviour of bone initiated in the …