Open Access. Powered by Scholars. Published by Universities.®

Mechanical Engineering Commons

Open Access. Powered by Scholars. Published by Universities.®

Cleveland State University

Series

Discipline
Keyword
Publication Year
Publication

Articles 1 - 30 of 203

Full-Text Articles in Mechanical Engineering

Introduction To Data-Driven Systems For Plastics And Composites Manufacturing, Saeed Farahani, Srikanth Pilla, Yun Zhang, Fausto Tucci May 2023

Introduction To Data-Driven Systems For Plastics And Composites Manufacturing, Saeed Farahani, Srikanth Pilla, Yun Zhang, Fausto Tucci

Mechanical Engineering Faculty Publications

Applications of high-performance plastics and composites have widely been expanded to various industries due to their superior properties, such as high strength-to-weight ratio, chemical resistance, and thermal/electrical insulation. However, the numerous possible combinations of polymers and reinforcements/fillers, the variability of these materials, and their complex manufacturing processes pose challenges in terms of efficiently developing new plastics and composites, accurately modeling their properties, and effectively monitoring and controlling their manufacturing processes. Integrating data-driven techniques, such as machine learning, artificial intelligence, and big data analytics, is a promising pathway to overcome these challenges as it is demonstrated by the state-of-the-art research works …


Hybrid Fes-Exoskeleton Control: Using Mpc To Distribute Actuation For Elbow And Wrist Movements, Nathan Dunkelberger, Jeffrey Berning, Eric M. Schearer, Marcia K. O'Malley Apr 2023

Hybrid Fes-Exoskeleton Control: Using Mpc To Distribute Actuation For Elbow And Wrist Movements, Nathan Dunkelberger, Jeffrey Berning, Eric M. Schearer, Marcia K. O'Malley

Mechanical Engineering Faculty Publications

Introduction: Individuals who have suffered a cervical spinal cord injury prioritize the recovery of upper limb function for completing activities of daily living. Hybrid FES-exoskeleton systems have the potential to assist this population by providing a portable, powered, and wearable device; however, realization of this combination of technologies has been challenging. In particular, it has been difficult to show generalizability across motions, and to define optimal distribution of actuation, given the complex nature of the combined dynamic system. Methods: In this paper, we present a hybrid controller using a model predictive control (MPC) formulation that combines the actuation of both …


Coaxial Jets With Disparate Viscosity: Mixing And Laminarization Characteristics, Mustafa Usta, M. R. C. Ahmad, G. Pathikonda, I. Khan, P. Gillis, D. Ranjan, C. K. Aidun Jan 2023

Coaxial Jets With Disparate Viscosity: Mixing And Laminarization Characteristics, Mustafa Usta, M. R. C. Ahmad, G. Pathikonda, I. Khan, P. Gillis, D. Ranjan, C. K. Aidun

Mechanical Engineering Faculty Publications

Mixing of fluids in a coaxial jet is studied under four distinct viscosity ratios, m = 1, 10, 20 and 40, using highly resolved large-eddy simulations (LES), particle image velocimetry and planar laser-induced fluorescence. The accuracy of predictions is tested against data obtained by the simultaneous experimental measurements of velocity and concentration fields. For the highest and lowest viscosity ratios, standard RANS models with unclosed terms pertaining to viscosity variations are employed. We show that the standard Reynolds-averaged Navier-Stokes (RANS) approach with no explicit modelling for variable-viscosity terms is not applicable whereas dynamic LES models provide high-quality agreement with the …


Data-Driven Dynamic Motion Planning For Practical Fes-Controlled Reaching Motions In Spinal Cord Injury, Derek N.N. Wolf, Antonie J. Van Den Bogert, Eric M. Schearer Jan 2023

Data-Driven Dynamic Motion Planning For Practical Fes-Controlled Reaching Motions In Spinal Cord Injury, Derek N.N. Wolf, Antonie J. Van Den Bogert, Eric M. Schearer

Mechanical Engineering Faculty Publications

Functional electrical stimulation (FES) is a promising technology for restoring reaching motions to individuals with upper-limb paralysis caused by a spinal cord injury (SCI). However, the limited muscle capabilities of an individual with SCI have made achieving FES-driven reaching difficult. We developed a novel trajectory optimization method that used experimentally measured muscle capability data to find feasible reaching trajectories. In a simulation based on a real-life individual with SCI, we compared our method to attempting to follow naive direct-to-target paths. We tested our trajectory planner with three control structures that are commonly used in applied FES: feedback, feedforward-feedback, and model …


3d-Printed Piezoelectric Porous Bioactive Scaffolds And Clinical Ultrasonic Stimulation Can Help In Enhanced Bone Regeneration, Prabaha Sikder, Phaniteja Nagaraju, Harsha P.S. Naganaboyina Nov 2022

3d-Printed Piezoelectric Porous Bioactive Scaffolds And Clinical Ultrasonic Stimulation Can Help In Enhanced Bone Regeneration, Prabaha Sikder, Phaniteja Nagaraju, Harsha P.S. Naganaboyina

Mechanical Engineering Faculty Publications

This paper presents a comprehensive effort to develop and analyze first-of-its-kind design-specific and bioactive piezoelectric scaffolds for treating orthopedic defects. The study has three major highlights. First, this is one of the first studies that utilize extrusion-based 3D printing to develop design-specific macroporous piezoelectric scaffolds for treating bone defects. The scaffolds with controlled pore size and architecture were synthesized based on unique composite formulations containing polycaprolactone (PCL) and micron-sized barium titanate (BaTiO3) particles. Second, the bioactive PCL-BaTiO3 piezoelectric composite formulations were explicitly developed in the form of uniform diameter filaments, which served as feedstock material for the fused filament fabrication …


Estimation Of Joint Moments During Turning Maneuvers In Alpine Skiing Using A Three Dimensional Musculoskeletal Skier Model And A Forward Dynamics Optimization Framework, Dieter Heinrich, Antonie J. Van Den Bogert, Werner Nachbauer Jun 2022

Estimation Of Joint Moments During Turning Maneuvers In Alpine Skiing Using A Three Dimensional Musculoskeletal Skier Model And A Forward Dynamics Optimization Framework, Dieter Heinrich, Antonie J. Van Den Bogert, Werner Nachbauer

Mechanical Engineering Faculty Publications

In alpine skiing, estimation of the joint moments acting onto the skier is essential to quantify the loading of the skier during turning maneuvers. In the present study, a novel forward dynamics optimization framework is presented to estimate the joint moments acting onto the skier incorporating a three dimensional musculoskeletal model (53 kinematic degrees of freedom, 94 muscles). Kinematic data of a professional skier performing a turning maneuver were captured and used as input data to the optimization framework. In the optimization framework, the musculoskeletal model of the skier was applied to track the experimental data of a skier and …


Antagonistic Co-Contraction Can Minimize Muscular Effort In Systems With Uncertainty, Anne D. Koelewijn, Antonie J. Van Den Bogert Jan 2022

Antagonistic Co-Contraction Can Minimize Muscular Effort In Systems With Uncertainty, Anne D. Koelewijn, Antonie J. Van Den Bogert

Mechanical Engineering Faculty Publications

Muscular co-contraction of antagonistic muscle pairs is often observed in human movement, but it is considered inefficient and it can currently not be predicted in
simulations where muscular effort or metabolic energy are minimized. Here, we investigated the relationship between minimizing effort and muscular co-contraction
in systems with random uncertainty to see if muscular co-contraction can minimize effort in such system. We also investigated the effect of time delay in the muscle, by varying the time delay in the neural control as well as the activation time constant.We solved optimal control problems for a one-degree-of-freedom pendulum actuated by two identical …


A Model-Based Approach To Predict Neuromuscular Control Patterns That Minimize Acl Forces During Jump Landing, Dieter Heinrich, Antonie J. Van Den Bogert, Robert Csapo, Werner Nachbauer May 2021

A Model-Based Approach To Predict Neuromuscular Control Patterns That Minimize Acl Forces During Jump Landing, Dieter Heinrich, Antonie J. Van Den Bogert, Robert Csapo, Werner Nachbauer

Mechanical Engineering Faculty Publications

Jump landing is a common situation leading to knee injuries involving the anterior cruciate ligament (ACL) in sports. Although neuromuscular control is considered as a key injury risk factor, there is a lack of knowledge regarding optimum control strategies that reduce ACL forces during jump landing. In the present study, a musculoskeletal model-based computational approach
is presented that allows identifying neuromuscular control patterns that minimize ACL forces during jump landing. The approach is demonstrated for a jump landing maneuver in downhill skiing, which is one out of three main injury mechanisms in competitive skiing.


Efficient Trajectory Optimization For Curved Running Using A 3d Musculoskeletal Model With Implicit Dynamics, Marlies Nitschke, Eva Dorschky, Dieter Heinrich, Heiko Schlarb, Bjoern M. Eskofier, Anne D. Koelewijn, Antonie J. Van Den Bogert Oct 2020

Efficient Trajectory Optimization For Curved Running Using A 3d Musculoskeletal Model With Implicit Dynamics, Marlies Nitschke, Eva Dorschky, Dieter Heinrich, Heiko Schlarb, Bjoern M. Eskofier, Anne D. Koelewijn, Antonie J. Van Den Bogert

Mechanical Engineering Faculty Publications

Trajectory optimization with musculoskeletal models can be used to reconstruct measured movements and to predict changes in movements in response to environmental changes. It enables an exhaustive analysis of joint angles, joint moments, ground reaction forces, and muscle forces, among others. However, its application is still limited to simplified problems in two dimensional space or straight motions. The simulation of movements with directional changes, e.g. curved running, requires detailed three dimensional models which lead to a high-dimensional solution space. We
extended a full-body three dimensional musculoskeletal model to be specialized for running with directional changes. Model dynamics were implemented implicitly …


Cnn-Based Estimation Of Sagittal Plane Walking And Running Biomechanics From Measured And Simulated Inertial Sensor Data, Eva Dorschky, Marlies Nitschke, Christine F. Martindale, Antonie J. Van Den Bogert, Anne D. Koelewijn, Bjoern M. Eskofier Jan 2020

Cnn-Based Estimation Of Sagittal Plane Walking And Running Biomechanics From Measured And Simulated Inertial Sensor Data, Eva Dorschky, Marlies Nitschke, Christine F. Martindale, Antonie J. Van Den Bogert, Anne D. Koelewijn, Bjoern M. Eskofier

Mechanical Engineering Faculty Publications

Machine learning is a promising approach to evaluate human movement based on wearable sensor data. A representative dataset for training data-driven models is crucial to ensure that the model generalizes well to unseen data. However, the acquisition of sufficient data is time-consuming and often infeasible. We present a method to create realistic inertial sensor data with corresponding biomechanical variables by 2D walking and running simulations. We augmented a measured inertial sensor dataset with simulated data for the training of convolutional neural networks to estimate sagittal plane joint angles, joint moments, and ground reaction forces (GRFs) of walking and running. When …


An Extensive Set Of Kinematic And Kinetic Data For Individuals With Intact Limbs And Transfemoral Prosthesis Users, Seyed Abolfazl Fakoorian, Arash Roshanineshat, Poya Khalaf, Vahid Azimi, Daniel J. Simon, Elizabeth Hardin Jan 2020

An Extensive Set Of Kinematic And Kinetic Data For Individuals With Intact Limbs And Transfemoral Prosthesis Users, Seyed Abolfazl Fakoorian, Arash Roshanineshat, Poya Khalaf, Vahid Azimi, Daniel J. Simon, Elizabeth Hardin

Electrical and Computer Engineering Faculty Publications

This paper introduces an extensive human motion data set for typical activities of daily living. These data are crucial for the design and control of prosthetic devices for transfemoral prosthesis users. This data set was collected from seven individuals, including five individuals with intact limbs and two transfemoral prosthesis users. These data include the following types of movements: (1) walking at three different speeds; (2) walking up and down a 5-degree ramp; (3) stepping up and down; (4) sitting down and standing up. We provide full-body marker trajectories and ground reaction forces (GRFs) as well as joint angles, joint velocities, …


Estimation Of Gait Kinematics And Kinetics From Inertial Sensor Data Using Optimal Control Of Musculoskeletal Models, Eva Dorschky, Marlies Nitschke, Ann-Kristin Seifer, Antonie J. Van Den Bogert, Bjoern M. Eskofier Oct 2019

Estimation Of Gait Kinematics And Kinetics From Inertial Sensor Data Using Optimal Control Of Musculoskeletal Models, Eva Dorschky, Marlies Nitschke, Ann-Kristin Seifer, Antonie J. Van Den Bogert, Bjoern M. Eskofier

Mechanical Engineering Faculty Publications

Inertial sensing enables field studies of human movement and ambulant assessment of patients. However, the challenge is to obtain a comprehensive analysis from low-quality data and sparse measurements. In this paper, we present a method to estimate gait kinematics and kinetics directly from raw inertial sensor data performing a single dynamic optimization. We formulated an optimal control problem to track accelerometer and gyroscope data with a planar musculoskeletal model. In addition, we minimized muscular effort to ensure a unique solution and to prevent the model from tracking noisy measurements too closely. For evaluation, we recorded data of ten subjects walking …


Design And Analysis Of Novel Actuation Mechanism With Controllable Stiffness, Erivelton Gualter Dos Santos, Hanz Richter Feb 2019

Design And Analysis Of Novel Actuation Mechanism With Controllable Stiffness, Erivelton Gualter Dos Santos, Hanz Richter

Mechanical Engineering Faculty Publications

Actuators intended for human–machine interaction systems are usually designed to be mechanically compliant. Conventional actuators are not suitable for this purpose due to typically high stiffness. Advanced powered prosthetic and orthotic devices can vary their stiffness during a motion cycle and are power-efficient. This paper proposes a novel actuator design that modulates stiffness by means of a flexible beam. A motorized drive system varies the active length of the cantilever beam, thus achieving stiffness modulation. New large deflection formulation for cantilever beams with rolling contact constraints is used to determine the moment produced by the actuator. To validate the proposed …


Metabolic Cost Calculations Of Gait Using Musculoskeletal Energy Models, A Comparison Study, Anne D. Koelewijn, Dieter Heinrich, Antonie J. Van Den Bogert Jan 2019

Metabolic Cost Calculations Of Gait Using Musculoskeletal Energy Models, A Comparison Study, Anne D. Koelewijn, Dieter Heinrich, Antonie J. Van Den Bogert

Mechanical Engineering Faculty Publications

This paper compares predictions of metabolic energy expenditure in gait using seven metabolic energy expenditure models to assess their correlation with experimental data. Ground reaction forces, marker data, and pulmonary gas exchange data were recorded for six walking trials at combinations of two speeds, 0.8 m/s and 1.3 m/s, and three inclines, -8% (downhill), level, and 8% (uphill). The metabolic cost, calculated with the metabolic energy models was compared to the metabolic cost from the pulmonary gas exchange rates. A repeated measures correlation showed that all models correlated well with experimental data, with correlations of at least 0.9. The model …


State Estimation For An Agonistic‐Antagonistic Muscle System, Thang Tien Nguyen, Holly Warner, Hung La, Hanieh Mohammadi, Daniel J. Simon, Hanz Richter Jan 2019

State Estimation For An Agonistic‐Antagonistic Muscle System, Thang Tien Nguyen, Holly Warner, Hung La, Hanieh Mohammadi, Daniel J. Simon, Hanz Richter

Electrical and Computer Engineering Faculty Publications

Research on assistive technology, rehabilitation, and prosthetics requires the understanding of human machine interaction, in which human muscular properties play a pivotal role. This paper studies a nonlinear agonistic‐antagonistic muscle system based on the Hill muscle model. To investigate the characteristics of the muscle model, the problem of estimating the state variables and activation signals of the dual muscle system is considered. In this work, parameter uncertainty and unknown inputs are taken into account for the estimation problem. Three observers are presented: a high gain observer, a sliding mode observer, and an adaptive sliding mode observer. Theoretical analysis shows the …


Opensim Versus Human Body Model: A Comparison Study For The Lower Limbs During Gait, Antoine Falisse, Sam Van Rossom, Johannes Gijsbers, Frans Steenbrink, Ben J. Van Basten, Ilse Jonkers, Antonie J. Van Den Bogert, Friedl De Groote Dec 2018

Opensim Versus Human Body Model: A Comparison Study For The Lower Limbs During Gait, Antoine Falisse, Sam Van Rossom, Johannes Gijsbers, Frans Steenbrink, Ben J. Van Basten, Ilse Jonkers, Antonie J. Van Den Bogert, Friedl De Groote

Mechanical Engineering Faculty Publications

Musculoskeletal modeling and simulations have become popular tools for analyzing human movements. However, end users are often not aware of underlying modeling and computational assumptions. This study investigates how these assumptions affect biomechanical gait analysis outcomes performed with Human Body Model and the OpenSim gait2392 model. The authors compared joint kinematics, kinetics, and muscle forces resulting from processing data from 7 healthy adults with both models. Although outcome variables had similar patterns, there were statistically significant differences in joint kinematics (maximal difference: 9.8 degrees {[}1.5 degrees] in sagittal plane hip rotation), kinetics (maximal difference: 0.36 {[}0.10] N.m/kg in sagittal plane …


Capturing The Competing Influence Of Thermal And Mechanical Loads On The Strain Of Turbine Blade Coatings Via High Energy X-Rays, Albert Manero, Kevin Knipe, Janine Wischek, Carla Meid, John Okasinski, Jonathan Almer, Anette M. Karlsson, Marion Bartsch, Seetha Raghavan Sep 2018

Capturing The Competing Influence Of Thermal And Mechanical Loads On The Strain Of Turbine Blade Coatings Via High Energy X-Rays, Albert Manero, Kevin Knipe, Janine Wischek, Carla Meid, John Okasinski, Jonathan Almer, Anette M. Karlsson, Marion Bartsch, Seetha Raghavan

Mechanical Engineering Faculty Publications

This paper presents findings of synchrotron diffraction measurements on tubular specimens with a thermal barrier coating (TBC) system applied by electron beam physical vapor deposition (EB-PVD), having a thermally grown oxide (TGO) layer due to aging in hot air. The diffraction measurements were in situ while applying a thermal cycle with high temperature holds at 1000 °C and varying internal air cooling mass flow and mechanical load. It was observed that, during high temperature holds at 1000 °C, the TGO strain approached zero if no mechanical load or internal cooling was applied. When applying a mechanical load, the TGO in-plane …


Compensation For Inertial And Gravity Effects In A Moving Force Platform, Sandra K. Hnat, Ben J.H. Van Basten, Antonie J. Van Den Bogert Jun 2018

Compensation For Inertial And Gravity Effects In A Moving Force Platform, Sandra K. Hnat, Ben J.H. Van Basten, Antonie J. Van Den Bogert

Mechanical Engineering Faculty Publications

Force plates for human movement analysis provide accurate measurements when mounted rigidly on an inertial reference frame. Large measurement errors occur, however, when the force plate is accelerated, or tilted relative to gravity. This prohibits the use of force plates in human perturbation studies with controlled surface movements, or in conditions where the foundation is moving or not sufficiently rigid. Here we present a linear model to predict the inertial and gravitational artifacts using accelerometer signals. The model is first calibrated with data collected from random movements of the unloaded system and then used to compensate for the errors in …


Optimal Mixed Tracking/Impedance Control With Application To Transfemoral Prostheses With Energy Regeneration, Gholamreza Khademi, Hanieh Mohammadi, Hanz Richter, Daniel J. Simon Apr 2018

Optimal Mixed Tracking/Impedance Control With Application To Transfemoral Prostheses With Energy Regeneration, Gholamreza Khademi, Hanieh Mohammadi, Hanz Richter, Daniel J. Simon

Mechanical Engineering Faculty Publications

We design an optimal passivitybased tracking/impedance control system for a robotic manipulator with energy regenerative electronics, where the manipulator has both actively and semi-actively controlled joints. The semi-active joints are driven by a regenerative actuator that includes an energy-storing element. Method: External forces can have a large influence on energy regeneration characteristics. Impedance control is used to impose a desired relationship between external forces and deviation from reference trajectories. Multi-objective optimization (MOO) is used to obtain optimal impedance parameters and control gains to compromise between the two conflicting objectives of trajectory tracking and energy regeneration. We solve the MOO problem …


Opty: Software For Trajectory Optimization And Parameter Identification Using Direct Collocation, Jason K. Moore, Antonie J. Van Den Bogert Jan 2018

Opty: Software For Trajectory Optimization And Parameter Identification Using Direct Collocation, Jason K. Moore, Antonie J. Van Den Bogert

Mechanical Engineering Faculty Publications

opty is a tool for describing and solving trajectory optimization and parameter identification problems based on symbolic descriptions of ordinary differential equations and differential algebraic equations that describe a dynamical system. The motivation for its development resides in the need to solve optimal control problems of biomechanical systems. The target audience is engineers and scientists interested in solving nonlinear optimal control and parameter identification problems with minimal computational overhead.


Bidirectionally Stretched Flow Of Jeffrey Liquid With Nanoparticles, Rosseland Radiation And Variable Thermal Conductivity, M. Archana, B. J. Gireesha, M. M. Rashidi, B. C. Prasannakumara, Rama S.R. Gorla Jan 2018

Bidirectionally Stretched Flow Of Jeffrey Liquid With Nanoparticles, Rosseland Radiation And Variable Thermal Conductivity, M. Archana, B. J. Gireesha, M. M. Rashidi, B. C. Prasannakumara, Rama S.R. Gorla

Mechanical Engineering Faculty Publications

Heat and mass transfer stretched flow of an incompressible, electrically conducting Jeffrey fluid has been studied numerically. Nanoparticles are suspended in the base fluid and it has many applications such as cooling of engines, thermal absorption systems, lubricants fuel cell, nanodrug delivery system and so on. Temperature dependent variable thermal conductivity with Rosseland approximation is taken into account and suction effect is employed in the boundary conditions. The governing partial differential equations are first transformed into set of ordinary differential equations using selected similarity transformations, which are then solved numerically using Runge-Kutta-Felhberg fourth-fifth order method along with shooting technique. The …


Optimal Design And Control Of An Electromechanical Transfemoral Prosthesis With Energy Regeneration, Farbod Rohani, Hanz Richter, Antonie J. Van Den Bogert Nov 2017

Optimal Design And Control Of An Electromechanical Transfemoral Prosthesis With Energy Regeneration, Farbod Rohani, Hanz Richter, Antonie J. Van Den Bogert

Mechanical Engineering Faculty Publications

In this paper, we present the design of an electromechanical above-knee active prosthesis with energy storage and regeneration. The system consists of geared knee and ankle motors, parallel springs for each motor, an ultracapacitor, and controllable four-quadrant power converters. The goal is to maximize the performance of the system by finding optimal controls and design parameters. A model of the system dynamics was developed, and used to solve a combined trajectory and design optimization problem. The objectives of the optimization were to minimize tracking error relative to human joint motions, as well as energy use. The optimization problem was solved …


Human-Like Rewards To Train A Reinforcement Learning Controller For Planar Arm Movement, Kathleen M. Jagodnik, Philip S. Thomas, Antonie J. Van Den Bogert, Michael S. Branicky, Robert F. Kirsch Oct 2016

Human-Like Rewards To Train A Reinforcement Learning Controller For Planar Arm Movement, Kathleen M. Jagodnik, Philip S. Thomas, Antonie J. Van Den Bogert, Michael S. Branicky, Robert F. Kirsch

Mechanical Engineering Faculty Publications

High-level spinal cord injury (SCI) in humans causes paralysis below the neck. Functional electrical stimulation (FES) technology applies electrical current to nerves and muscles to restore movement, and controllers for upper extremity FES neuroprostheses calculate stimulation patterns to produce desired arm movement. However, currently available FES controllers have yet to restore natural movements. Reinforcement learning (RL) is a reward-driven control technique; it can employ user-generated rewards, and human preferences can be used in training. To test this concept with FES, we conducted simulation experiments using computer-generated ``pseudohuman{''} rewards. Rewards with varying properties were used with an actor-critic RL controller for …


An Elaborate Data Set On Human Gait And The Effect Of Mechanical Perturbations, Jason K. Moore, Sandra K. Hnat, Antonie J. Van Den Bogert Apr 2015

An Elaborate Data Set On Human Gait And The Effect Of Mechanical Perturbations, Jason K. Moore, Sandra K. Hnat, Antonie J. Van Den Bogert

Mechanical Engineering Faculty Publications

Here we share a rich gait data set collected from fifteen subjects walking at three speeds on an instrumented treadmill. Each trial consists of 120 s of normal walking and 480 s of walking while being longitudinally perturbed during each stance phase with pseudo-random fluctuations in the speed of the treadmill belt. A total of approximately 1.5 h of normal walking (>5000 gait cycles) and 6 h of perturbed walking (>20,000 gait cycles) is included in the data set. We provide full body marker trajectories and ground reaction loads in addition to a presentation of processed data that …


Real-Time Simulation Of Three-Dimensional Shoulder Girdle And Arm Dynamics, Edward K. Chadwick, Dimitra Blana, Robert F. Kirsch, Antonie J. Van Den Bogert Jul 2014

Real-Time Simulation Of Three-Dimensional Shoulder Girdle And Arm Dynamics, Edward K. Chadwick, Dimitra Blana, Robert F. Kirsch, Antonie J. Van Den Bogert

Mechanical Engineering Faculty Publications

Electrical stimulation is a promising technology for the restoration of arm function in paralyzed individuals. Control of the paralyzed arm under electrical stimulation, however, is a challenging problem that requires advanced controllers and command interfaces for the user. A real-time model describing the complex dynamics of the arm would allow user-in-the-loop type experiments where the command interface and controller could be assessed. Real-time models of the arm previously described have not included the ability tomodel the independently controlled scapula and clavicle, limiting their utility for clinical applications of this nature. The goal of this study therefore was to evaluate the …


Numerical Evaluation Of Paris-Regime Crack Growth Rate Based On Plastically Dissipated Energy, Parag G. Nittur, Anette M. Karlsson, Leif A. Carlsson Jul 2014

Numerical Evaluation Of Paris-Regime Crack Growth Rate Based On Plastically Dissipated Energy, Parag G. Nittur, Anette M. Karlsson, Leif A. Carlsson

Mechanical Engineering Faculty Publications

The crack growth rate during cyclic loading is investigated via numerical simulations. The crack advancement is governed by a propagation criterion that relates the increment in plastically dissipated energy ahead of the crack tip to a critical value. Once this critical value is satisfied, crack propagation is modeled via a node release scheme. Thus, the crack growth rate is an output from the numerical simulation. The crack growth rate predicted by the proposed scheme is compared with published experimental crack growth data in the Paris-regime for selected metals. A good match is found between the experimentally observed crack growth rates …


Relationship Between Jump Landing Kinematics And Peak Acl Force During A Jump In Downhill Skiing: A Simulation Study, D. Heinrich, Antonie J. Van Den Bogert, W. Nachbauer Jun 2014

Relationship Between Jump Landing Kinematics And Peak Acl Force During A Jump In Downhill Skiing: A Simulation Study, D. Heinrich, Antonie J. Van Den Bogert, W. Nachbauer

Mechanical Engineering Faculty Publications

Recent data highlight that competitive skiers face a high risk of injuries especially during off-balance jump landing maneuvers in downhill skiing. The purpose of the present study was to develop a musculo-skeletal modeling and simulation approach to investigate the cause-and-effect relationship between a perturbed landing position, i.e., joint angles and trunk orientation, and the peak force in the anterior cruciate ligament (ACL) during jump landing. A two-dimensional musculo-skeletal model was developed and a baseline simulation was obtained reproducing measurement data of a reference landing movement. Based on the baseline simulation, a series of perturbed landing simulations (n=1000) was generated. Multiple …


Multi-Muscle Fes Force Control Of The Human Arm For Arbitrary Goals, Eric M. Schearer, Yu-Wei Liao, Eric J. Perreault, Matthew C. Tresch, William D. Memberg, Robert F. Kirsch, Kevin M. Lynch May 2014

Multi-Muscle Fes Force Control Of The Human Arm For Arbitrary Goals, Eric M. Schearer, Yu-Wei Liao, Eric J. Perreault, Matthew C. Tresch, William D. Memberg, Robert F. Kirsch, Kevin M. Lynch

Mechanical Engineering Faculty Publications

We present a method for controlling a neuroprosthesis for a paralyzed human arm using functional electrical stimulation (FES) and characterize the errors of the controller. The subject has surgically implanted electrodes for stimulating muscles in her shoulder and arm. Using input/output data, a model mapping muscle stimulations to isometric endpoint forces measured at the subject’s hand was identified. We inverted the model of this redundant and coupled multiple-input multiple-output system by minimizing muscle activations and used this inverse for feedforward control. The magnitude of the total root mean square error over a grid in the volume of achievable isometric endpoint …


Expressing The Joint Moments Of Drop Jumps And Sidestep Cutting In Different Reference Frames – Does It Matter?, Eirik Kristianslunda, Tron Krosshauga, Kam-Ming Mok, Scott Mclean, Antonie J. Van Den Bogert Jan 2014

Expressing The Joint Moments Of Drop Jumps And Sidestep Cutting In Different Reference Frames – Does It Matter?, Eirik Kristianslunda, Tron Krosshauga, Kam-Ming Mok, Scott Mclean, Antonie J. Van Den Bogert

Mechanical Engineering Faculty Publications

Joint moments help us understand joint loading and muscle function during movement. However, the interpretation depends on the choice of reference frame, but the different reference frames have not been compared in dynamic, high-impact sporting movements. We have compared the magnitude and the resulting ranking of hip and knee joint moments expressed in the laboratory coordinate system, the local system of the distal segment and projected or decomposed to the Joint Coordinate System (JCS) axes. Hip and knee joint moments of drop jumps and sidestep cutting in 70 elite female handball players were calculated based on recordings from an eight-camera …


Semiactive Virtual Control Method For Robots With Regenerative Energy-Storing Joints, Hanz Richter, Daniel J. Simon, Antonie J. Van Den Bogert Jan 2014

Semiactive Virtual Control Method For Robots With Regenerative Energy-Storing Joints, Hanz Richter, Daniel J. Simon, Antonie J. Van Den Bogert

Mechanical Engineering Faculty Publications

A framework for modeling and control is introduced for robotic manipulators with a number of energetically self-contained semiactive joints. The control approach consists of three steps. First, a virtual control design is conducted by any suitable means, assuming a fully-actuated system. Then, virtual control inputs are matched by a parameter modulation law. Finally, the storage dynamics are shaped using design parameters. Storage dynamics coincide with the system's internal dynamics under exact virtual control matching. An internal energy balance equation and associated self-powered operation condition are given for the semiactive joints. This condition is a structural characteristic of the system and …