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Full-Text Articles in Mechanical Engineering
Evaluation Of Impedance Control On A Powered Hip Exoskeleton, Punith Condoor
Evaluation Of Impedance Control On A Powered Hip Exoskeleton, Punith Condoor
Masters Theses
This thesis presents an impedance control strategy for a novel powered hip exoskeleton designed to provide partial assistance and leverage the dynamics of human gait. The control strategy is based on impedance control and provides the user assistance as needed which is determined by the user’s interaction with the exoskeleton. A series elastic element is used to drive the exoskeleton and measures the interaction torque between the user and the device. The device operates in two modes. Free mode is a low impedance state that attempts to provide no assistance. Assist mode increases the gains of the controller to provide …
A Magnetic Resonance Compatible Knee Extension Ergometer, Youssef Jaber
A Magnetic Resonance Compatible Knee Extension Ergometer, Youssef Jaber
Masters Theses
The product of this thesis aims to enable the study of the biochemical and physical dynamics of the lower limbs at high levels of muscle tension and fast contraction speeds. This is accomplished in part by a magnetic resonance (MR) compatible ergometer designed to apply a load as a torque of up to 420 Nm acting against knee extension at speeds as high as 4.7 rad/s. The system can also be adapted to apply the load as a force of up to 1200 N acting against full leg extension. The ergometer is designed to enable the use of magnetic resonance …
Belief-Space Planning For Resourceful Manipulation And Mobility, Dirk Ruiken
Belief-Space Planning For Resourceful Manipulation And Mobility, Dirk Ruiken
Doctoral Dissertations
Robots are increasingly expected to work in partially observable and unstructured environments. They need to select actions that exploit perceptual and motor resourcefulness to manage uncertainty based on the demands of the task and environment. The research in this dissertation makes two primary contributions. First, it develops a new concept in resourceful robot platforms called the UMass uBot and introduces the sixth and seventh in the uBot series. uBot-6 introduces multiple postural configurations that enable different modes of mobility and manipulation to meet the needs of a wide variety of tasks and environmental constraints. uBot-7 extends this with the use …