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Full-Text Articles in Systems and Integrative Engineering
Real-Time Measurements From Wearable Sensors To Enhance Stability On Uneven Terrain, Sophie Copelin
Real-Time Measurements From Wearable Sensors To Enhance Stability On Uneven Terrain, Sophie Copelin
Biomedical Engineering Undergraduate Honors Theses
The presented thesis is a study of sensation associated with inversion/eversion movement about the anterior/posterior axis. The long-term goal is to create a system that provides feedback to a prosthesis user, so their chances of falling is decreased. This feedback system would use wearable sensors to detect certain angles, so that sensory feedback could be provided. The study aimed to determine if Xsens Movella DOT sensors could be used in a system like this, so the accuracy of the Xsens Movella DOT sensors was assessed and the difference in angles that could be determined by them when compared to that …
Design And Testing Of An Agonist-Antagonist Position-Impedance Controlled Myoelectric Prosthesis, Christopher Aymonin
Design And Testing Of An Agonist-Antagonist Position-Impedance Controlled Myoelectric Prosthesis, Christopher Aymonin
Theses and Dissertations
Intuitive prosthetic control is limited by the inability to easily convey intention and perceive physical requirements of the task. Rather than providing haptic feedback and allowing users to consciously control every component of manipulation, relegating some aspects of control to the device may simplify operation. This study focuses on the development and testing of a control scheme able to identify object stiffness and regulate impedance. The system includes an algorithm to detect the apparent stiffness of an object, a proportional nonlinear EMG control algorithm for interpreting a user’s desired grasp aperture, and an antagonistically acting impedance controller. Performance of a …