Engineering Commons^™

A Novel Approach To User Controlled Ambulation Of Lower Extremity Exoskeletons Using Admittance Control Paradigm, Kiran Kartika Karunakaran

Dissertations

The robotic lower extremity exoskeletons address the ambulatory problems confronting individuals with paraplegia. Paraplegia due to spinal cord injury (SCI) can cause motor deficit to the lower extremities leading to inability to walk. Though wheelchairs provide mobility to the user, they do not provide support to all activities of everyday living to individuals with paraplegia.

Current research is addressing the issue of ambulation through the use of wearable exoskeletons that are pre-programmed. There are currently four exoskeletons in the U.S. market: Ekso, Rewalk, REX and Indego. All of the currently available exoskeletons have 2 active Degrees of Freedom (DOF) except …

Finger Walking Control Of A Two-Dimensional Walking Model Through Inverse Kinematics, Jordan Ratcliff

Theses

Those people who have spinal cord injuries (SCI) must remain in wheelchairs due to disruption of the neural signaling to their muscles. Functional electrical stimulation (FES) has proved itself to be an option for restoring some motion and some walking for the patient. Electrodes can either be placed on the skin or muscle to provide an electrical impulse that stimulates the muscles into contraction. Current systems provide buttons that use set functions for left and right steps with constant direction and size. It is desired however that the user be allowed a more natural and variable control method of controlling …

In Vitro Evaluation Of Human Mesenchymal Stem Cell Neural Differentiation On Tyrsine-Derived Polyarylates And Polycarbonates, Yee-Shuan Lee

Theses

Present spinal cord injury treatments cannot restore motor and sensory functions caused by the injury. These functions can return in the hopes of repairing the neural cells with a tissue engineered designed scaffold complex. The scaffold complex will include cells to repair and replace the damaged cells.

Mesenchymal stem cells (MSC) are multipotent adult stem ells that are capable of differentiating along several lineage pathways. Neural stem cell and MSC differentiating along the neural lineage bave been investigated both in vivo and in vitro depicting its feasibility. MSC for neural differentiation can be achieved by microenvironmental signaling. Substrate surface characteristics …

An Investigation Of Position And Force During Gait-Mimicking Finger Motions, Matthew Stephen Noesner

Theses

Spinal cord injuries are extremely debilitating, often leaving the injured person without the ability to use their legs (paraplegia) and sometimes, without the ability to use their arms and legs (tetraplegia or quadriplegia). Currently, primitive forms of feed-forward functional electrical stimulation (FES) and special orthotics are available for persons with paraplegia. However, these forms of FES do not allow the individual to actually control their movements on a real-time basis, nor do they offer the ability for the injured person to sense the ground on which they stand.

It is the goal of the researchers at the Neuromuscular Engineering Laboratory, …