Engineering Commons^™

Theoretical Framework For Predicting Joint Reaction And Ground Reaction Forces In A Dynamic Pendulum Tree Model Of Human Motion, Peyman Rajai

Theses

Lagrangian dynamics and the method of superfluous coordinates are applied to find ground and joint reaction forces on the human body modeled as a general branched 2-D pendulum tree system with arbitrary segments and arbitrarily distributed point masses. A theoretical framework is established for predicting these constraint forces during human motion and consequently their effects on dynamics, dynamic stability, energy efficiency and the potential of these forces to produce joint injury and/or pain. Applications to human walking are initiated. During idealized phases where there is only single point contact of the stance leg with the ground such as just after …

Automatic Registration And Segmentation Of Abdominal Images And Detection Of Pancreatic Cancer, Girish Kumar Maniprasad

Theses

Localized and detailed analyses of 3D abdominal images obtained through different imaging modalities help greatly in determining the progression of a disease or for postoperative treatment / evaluation. However, such analyses become difficult and sometimes unfeasible due to the effects of patient motion and breathing. This is particularly evident during analysis of the pancreas for cancer, due to its proximity to other intra-abdominal organs. Within subject registration thus becomes imperative for pathological analysis of pancreatic cancer. An intensity-based, global image registration algorithm was developed in the present work, for registration of pancreatic abdominal images. The registration algorithm was automatic and …

In Vitro Feasibility Testing Of Floating Light-Activated Minroelectrical Stimulators, Ammar Riad Abdo

Theses

One of the major challenges of neural stimulation is the mechanical stress and resulting trauma induced on the implanted electrodes by the constant movement of the interconnects. A potential way of eliminating interconnects is to use floating micro-stimulators that can be activated through optical means. As a method of energy transfer to the micro-stimulator, we propose to use a laser beam at near infrared (NIR) wavelengths.

There are two main objectives in this project to test the feasibility of the main approach; investigate the charge injection capacity of titanium nitride (TiN) and iridium oxide (IrOx) as potential contact materials, and …

Adaptable Videogame Platform For Interactive Upper Extremity Rehabilitation, Sally M. Jensen

Theses

The primary objective of this work is to design a recreational rehabilitation videogame platform for customizing motivating games that interactively encourage purposeful upper extremity gross motor movements. Virtual reality (VR) technology is a popular application for rehabilitation therapies but there is a constant need for more accessible and affordable systems. We have developed a recreational VR game platform can be used as an independent therapy supplement without laboratory equipment and is inexpensive, motivating, and adaptable. The behaviors and interactive features can be easily modified and customized based on players' limitations or progress.

A real-time method of capturing hand movements using …

Vibrotactile Sensory Substitution For Post-Stroke Rehabilitation, Carlos X. Rosado

Theses

The aftermath of a stroke leaves people with side effects such as speech and hearing problems, and loss of sensation in one side of their body. Sensory feedback in the hand is used to assess if the individual is using appropriate grip force to hold and use objects; lack of sensory feedback can lead to dropped or damaged objects, and possible hand injury. Existing force biofeedback devices are overly complex and difficult to use in the home. The goal of this project is to provide increased environmental awareness of hand grip force for individuals with reduced hand sensation. Although hand …

A Kinematic Analysis Of Sign Language, Chemuttaai C. Koech

Theses

Signed languages develop among deaf populations and employ manual communication instead of voiced communication. Stokoe attributes classify individual signs in American Sign Language (ASL) and include handshape, hand location, movement, orientation, and facial expression. Signed and oral languages are not mutually understood, and many deaf individuals live in linguistic isolation. This research addresses computer translation between signing and speech, investigating sign duration in sentence context versus in isolation and identifying kinematic sign markers. To date, there has been little study of continuous signing kinematics; it was previously unknown if kinematic markers existed.

Kinematic data were collected from a proficient signer …

A Dynamic Supine Stander For Subjects With Disabilities Leading To Prolonged Immobility, Luis Alberto Espina

Theses

Bone tissue needs to be exposed to loading in order to stimulate the osteogenic response of the body. Disabilities that lead to prolonged immobility will result in a decrease of the osteogenic processes and an increase in resorption of bone by osteoclast cells. This disuse modeling can lead to osteopenia, osteoporosis, and subsequent non-traumatic fractures. These disabilities are varied in nature and duration, and can include load bearing bone fracture, excessive obesity, spinal cord injury, and cerebral palsy.

The following describes the concept and design of a novel dynamic supine stander that will provide loads simulating ambulation to the lower …

Multi-Degree Of Freedom Telemanipulation In An Unstructured Environment, Diego Ramirez

Theses

Two approaches to 6-degrees-of-freedom telemanipulation that will accommodate different needs and skills of potential users with congenital amputation, arthrogryposis, muscular dystrophy and cerebral palsy were developed. One method uses scalable movements (i.e. position and orientation), and the second employs isometric forces and torques without movement. The scalable position approach employs a 6-degress-of-freedom electromechanical stylus whose joint orientations are used by the controlling computer to determine the position and orientation of the robot's end effector via inverse kinematics or by one-to-one matching of the stylus joint angles with those of the manipulator. The isometric method uses the measured forces and torques …

Implementation Of Stereo Correspondence Algorithms For Multi-Baseline Vision System, Navaneetha Shivram

Theses

The purpose of this study is to determine the impact of varying camera baselines on correspondence and depth estimation. As the baseline increases the resolution of depth increases but finding correspondences is very tedious. On the other hand when cameras are placed close to each other and thereby reducing the baseline distance points in the images are easily matched however depth resolution deteriorates. This problem is solved by using a multi-camera system is used in which the cameras are spaced close to each other along a straight line. Calculating the correspondence along successive camera pairs is relatively easy. These respondences …

Inverse Dynamic Modeling For Characterization Of Spasticity, Katharine Markel Swift

Theses

Spasticity affects subjects with cerebral palsy, stroke, multiple sclerosis, and traumatic brain injury. The need to develop a deeper understanding of spasticity is driven by the existing limited understanding and the lack of satisfactory interventions for this disabling phenomenon.

An inverse model is implemented to describe the motion in the pendulum knee drop test. Inverse kinematic modeling is implemented to investigate the pathophysiology of spasticity.

Using the equilibrium point hypothesis as a conceptual framework to explain disabled and non-disabled neuromuscular control, it has been demonstrated that the equilibrium point of the passive knee is dynamic and exhibits a pseudo-exponential trajectory …