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Full-Text Articles in Controls and Control Theory
A Generalized Method For Predictive Simulation-Based Lower Limb Prosthesis Design, Mark Price
A Generalized Method For Predictive Simulation-Based Lower Limb Prosthesis Design, Mark Price
Doctoral Dissertations
Lower limb prostheses are designed to replace the functions and form of the missing biological anatomy. These functions are hypothesized to improve user outcome measures which are negatively affected by receiving an amputation – such as metabolic cost of transport, preferred walking speed, and perceived discomfort during walking. However, the effect of these design functions on the targeted outcome measures is highly variable, suggesting that these relationships are not fully understood. Biomechanics simulation and modeling tools are increasingly capable of analyzing the effects of a design on the resulting user gait. In this work, prothesis-aided gait is optimized in simulation …
Modeling, Analysis, And Control Of A Mobile Robot For In Vivo Fluoroscopy Of Human Joints During Natural Movements, Matthew A. Young
Modeling, Analysis, And Control Of A Mobile Robot For In Vivo Fluoroscopy Of Human Joints During Natural Movements, Matthew A. Young
Doctoral Dissertations
In this dissertation, the modeling, analysis and control of a multi-degree of freedom (mdof) robotic fluoroscope was investigated. A prototype robotic fluoroscope exists, and consists of a 3 dof mobile platform with two 2 dof Cartesian manipulators mounted symmetrically on opposite sides of the platform. One Cartesian manipulator positions the x-ray generator and the other Cartesian manipulator positions the x-ray imaging device. The robotic fluoroscope is used to x-ray skeletal joints of interest of human subjects performing natural movement activities. In order to collect the data, the Cartesian manipulators must keep the x-ray generation and imaging devices accurately aligned while …