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Articles 1 - 9 of 9

Full-Text Articles in Mechanical Engineering

Light Touch Based Virtual Cane For Balance Assistance During Standing, Sindhu Reddy Alluri Jan 2019

Light Touch Based Virtual Cane For Balance Assistance During Standing, Sindhu Reddy Alluri

Masters Theses

"Can additional information about one's body kinematics provided through hands improve human balance? Light-Touch (LT) through hands helps improve balance in a wide range of populations, both healthy and impaired. The force is too small to provide any meaningful mechanical assistance -- rather, it is suggested that the additional sensory information through hands helps the body improve balance.

To investigate the potential for improving human balance through biofeedback through hands, we developed a Virtual Cane (VC) for balance assistance during standing. The VC mimics the physical cane's function of providing information about one's body in space. Balance experiments ...


Application And Evaluation Of Lighthouse Technology For Precision Motion Capture, Soumitra Sitole Jan 2018

Application And Evaluation Of Lighthouse Technology For Precision Motion Capture, Soumitra Sitole

Masters Theses

This thesis presents the development towards a system that can capture and quantify motion for applications in biomechanical and medical fields demanding precision motion tracking using the lighthouse technology. Commercially known as SteamVR tracking, the lighthouse technology is a motion tracking system developed for virtual reality applications that makes use of patterned infrared light sources to highlight trackers (objects embedded with photodiodes) to obtain their pose or spatial position and orientation. Current motion capture systems such as the camera-based motion capture are expensive and not readily available outside of research labs. This thesis provides a case for low-cost motion capture ...


Numerical Analysis Of Flexural Slip During Viscoelastic Buckle Folding, Davi Rodrigues Damasceno Jan 2016

Numerical Analysis Of Flexural Slip During Viscoelastic Buckle Folding, Davi Rodrigues Damasceno

Masters Theses

"Flexural slip is considered to be an important folding mechanism contributing in the development of different folds such as chevron, and kink-band buckle folds. Various filed studies have provided a general conceptual and qualitative understanding of flexural slip. However, quantitative evidence of the importance of the flexural slip mechanism during fold evolution is sparse, as the actual amount of surface parallel displacement, and timing, is difficult to measure accurately, due to the lack of suitable strain markers.

In this study 2D finite element analysis is used to overcome these disadvantages and to simulate flexural slip during viscoelastic buckle folding. Variations ...


Intent Recognition Of Rotation Versus Translation Movements In Human-Robot Collaborative Manipulation Tasks, Vinh Q. Nguyen Mr. Jan 2016

Intent Recognition Of Rotation Versus Translation Movements In Human-Robot Collaborative Manipulation Tasks, Vinh Q. Nguyen Mr.

Masters Theses

The goal of this thesis is to enable a robot to actively collaborate with a person to move an object in an efficient, smooth and robust manner. For a robot to actively assist a person it is key that the robot recognizes the actions or phases of a collaborative tasks. This requires the robot to have the ability to estimate a person’s movement intent. A hurdle in collaboratively moving an object is determining whether the partner is trying to rotate or translate the object (the rotation versus translation problem). In this thesis, Hidden Markov Models (HMM) are used to ...


A Haptic Surface Robot Interface For Large-Format Touchscreen Displays, Mark Price Jan 2016

A Haptic Surface Robot Interface For Large-Format Touchscreen Displays, Mark Price

Masters Theses

This thesis presents the design for a novel haptic interface for large-format touchscreens. Techniques such as electrovibration, ultrasonic vibration, and external braked devices have been developed by other researchers to deliver haptic feedback to touchscreen users. However, these methods do not address the need for spatial constraints that only restrict user motion in the direction of the constraint. This technology gap contributes to the lack of haptic technology available for touchscreen-based upper-limb rehabilitation, despite the prevalent use of haptics in other forms of robotic rehabilitation. The goal of this thesis is to display kinesthetic haptic constraints to the touchscreen user ...


Pipeline Leak Detection, Marcia Golmohamadi Jan 2015

Pipeline Leak Detection, Marcia Golmohamadi

Masters Theses

"In the present research two techniques are applied for leak detection in pipelines. The first method is a hardware-based technique which uses ultrasonic wave's emission for pipeline inspection. Ultrasonic waves are propagated in the pipe walls and reflected signal from leakage will be used for pipe analysis. Several Pipes with various dimensions and characteristics are modeled by finite element method using ANSYS. Second order longitudinal modes of ultrasonic waves are emitted in their walls. For this purpose, excited frequency is calculated such that it excites the second order longitude mode. In order to investigate the behavior of emitted wave ...


A Continous Rotary Actuation Mechanism For A Powered Hip Exoskeleton, Matthew C. Ryder Jan 2015

A Continous Rotary Actuation Mechanism For A Powered Hip Exoskeleton, Matthew C. Ryder

Masters Theses

This thesis presents a new mechanical design for an exoskeleton actuator to power the sagittal plane motion in the human hip. The device uses a DC motor to drive a Scotch yoke mechanism and series elasticity to take advantage of the cyclic nature of human gait and to reduce the maximum power and control requirements of the exoskeleton. The Scotch yoke actuator creates a position-dependent transmission that varies between 4:1 and infinity, with the peak transmission ratio aligned to the peak torque periods of the human gait cycle. Simulation results show that both the peak and average motor torque ...


Ubot-7: The Design Of A Compliant Dexterous Mobile Manipulator, Jonathan Cummings Jan 2014

Ubot-7: The Design Of A Compliant Dexterous Mobile Manipulator, Jonathan Cummings

Masters Theses

This thesis presents the design of uBot-7, the latest version of a dexterous mobile manipulator. This platform has been iteratively developed to realize a high performance-to-cost dexterous whole body manipulator with respect to mobile manipulation. The semi-anthropomorphic design of the uBot is a demonstrated and functional research platform for developing advanced autonomous perception, manipulation, and mobility tasks. The goal of this work is to improve the uBot’s ability to sense and interact with its environment in order to increase the platforms capability to operate dexterously, through the incorporation of joint torque feedback, and safely, through the implementation of passive ...


Validation Of Weak Form Thermal Analysis Algorithms Supporting Thermal Signature Generation, Elton Lewis Freeman Dec 2012

Validation Of Weak Form Thermal Analysis Algorithms Supporting Thermal Signature Generation, Elton Lewis Freeman

Masters Theses

Extremization of a weak form for the continuum energy conservation principle differential equation naturally implements fluid convection and radiation as flux Robin boundary conditions associated with unsteady heat transfer. Combining a spatial semi-discretization via finite element trial space basis functions with time-accurate integration generates a totally node-based algebraic statement for computing. Closure for gray body radiation is a newly derived node-based radiosity formulation generating piecewise discontinuous solutions, while that for natural-forced-mixed convection heat transfer is extracted from the literature. Algorithm performance, mathematically predicted by asymptotic convergence theory, is subsequently validated with data obtained in 24 hour diurnal field experiments for ...