Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Mechanical Engineering
Autonomous Mobility And Manipulation Of A 9-Dof Wmra, William Garrett Pence
Autonomous Mobility And Manipulation Of A 9-Dof Wmra, William Garrett Pence
USF Tampa Graduate Theses and Dissertations
The wheelchair-mounted robotic arm (WMRA) is a 9-degree of freedom (DoF) assistive system that consists of a 2-DoF modified commercial power wheelchair and a custom 7-DoF robotic arm. Kinematics and control methodology for the 9-DoF system that combine mobility and manipulation have been previously developed and implemented. This combined control allows the wheelchair and robotic arm to follow a single trajectory based on weighted optimizations. However, for the execution of activities of daily living (ADL) in the real-world environment, modified control techniques have been implemented.
In order to execute macro ADL tasks, such as a "go to and pick up" …
Utilizing A Computational Model For The Design Of A Passive Dynamic Walker, Craig Alan Honeycutt
Utilizing A Computational Model For The Design Of A Passive Dynamic Walker, Craig Alan Honeycutt
USF Tampa Graduate Theses and Dissertations
Recent interest in using passive dynamic walkers (PDWs) for gait rehabilitation studies has presented a need for a robust, easily built mechanism. Unfortunately, these passive robots are hypersensitive to many variables outside of the usual design considerations that are studied when constructing them. By accentuating previous failures instead of suppressing them, this thesis presents a number of problematic situations commonly experienced when testing and tuning a PDW.
Further, through a complete design of a 4-legged PDW with knees, simple design axioms brought about by myself and others are put into a practical context and applied directly to design. This thesis …