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Full-Text Articles in Mechanical Engineering
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 …
Within-Socket Myoelectric Prediction Of Continuous Ankle Kinematics For Control Of A Powered Transtibial Prosthesis, Samuel Farmer, M. Barbara Silver-Thorn, Philip A. Voglewede, Scott A. Beardsley
Within-Socket Myoelectric Prediction Of Continuous Ankle Kinematics For Control Of A Powered Transtibial Prosthesis, Samuel Farmer, M. Barbara Silver-Thorn, Philip A. Voglewede, Scott A. Beardsley
Biomedical Engineering Faculty Research and Publications
Objective. Powered robotic prostheses create a need for natural-feeling user interfaces and robust control schemes. Here, we examined the ability of a nonlinear autoregressive model to continuously map the kinematics of a transtibial prosthesis and electromyographic (EMG) activity recorded within socket to the future estimates of the prosthetic ankle angle in three transtibial amputees. Approach. Model performance was examined across subjects during level treadmill ambulation as a function of the size of the EMG sampling window and the temporal 'prediction' interval between the EMG/kinematic input and the model's estimate of future ankle angle to characterize the trade-off between model error, …
Enhancing The Engineering Curriculum: Defining Discovery Learning At Marquette University, Jay R. Goldberg, Mark L. Nagurka
Enhancing The Engineering Curriculum: Defining Discovery Learning At Marquette University, Jay R. Goldberg, Mark L. Nagurka
Biomedical Engineering Faculty Research and Publications
This paper summarizes the results of our investigation into the feasibility of increasing the level of discovery learning in the College of Engineering (COE) at Marquette University. We review the education literature, document examples of discovery learning currently practiced in the COE and other schools, and propose a Marquette COE-specific definition of discovery learn-ing. Based on our assessment of the benefits, costs, and tradeoffs associated with increasing the level of discovery learning, we pre-sent several recommendations and identify resources required for implementation. These recommendations may be helpful in enhancing engineering education at other schools.