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Articles 1 - 7 of 7
Full-Text Articles in Controls and Control Theory
A Generalized Method For Predictive Simulation-Based Lower Limb Prosthesis Design, Mark Price
A Generalized Method For Predictive Simulation-Based Lower Limb Prosthesis Design, Mark Price
Doctoral Dissertations
Lower limb prostheses are designed to replace the functions and form of the missing biological anatomy. These functions are hypothesized to improve user outcome measures which are negatively affected by receiving an amputation – such as metabolic cost of transport, preferred walking speed, and perceived discomfort during walking. However, the effect of these design functions on the targeted outcome measures is highly variable, suggesting that these relationships are not fully understood. Biomechanics simulation and modeling tools are increasingly capable of analyzing the effects of a design on the resulting user gait. In this work, prothesis-aided gait is optimized in simulation …
A Magnetic Resonance Compatible Knee Extension Ergometer, Youssef Jaber
A Magnetic Resonance Compatible Knee Extension Ergometer, Youssef Jaber
Masters Theses
The product of this thesis aims to enable the study of the biochemical and physical dynamics of the lower limbs at high levels of muscle tension and fast contraction speeds. This is accomplished in part by a magnetic resonance (MR) compatible ergometer designed to apply a load as a torque of up to 420 Nm acting against knee extension at speeds as high as 4.7 rad/s. The system can also be adapted to apply the load as a force of up to 1200 N acting against full leg extension. The ergometer is designed to enable the use of magnetic resonance …
A Haptic Surface Robot Interface For Large-Format Touchscreen Displays, Mark Price
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 …
A Continous Rotary Actuation Mechanism For A Powered Hip Exoskeleton, Matthew C. Ryder
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 can …
Umass Amherst Building Measurement, Verification, Coordination And Template Plan, Nariman Mostafavi, Ted Mendoza, Jeffrey G. Quackenbush, Sandy J. Beauregard, Jason J. Burbank, Mohamad Farzinmoghadam, Ludmilla Pavlova-Gillham, Kylie A. Landrey, Patricia O'Flaherty
Umass Amherst Building Measurement, Verification, Coordination And Template Plan, Nariman Mostafavi, Ted Mendoza, Jeffrey G. Quackenbush, Sandy J. Beauregard, Jason J. Burbank, Mohamad Farzinmoghadam, Ludmilla Pavlova-Gillham, Kylie A. Landrey, Patricia O'Flaherty
Campus Planning Reports and Plans
Facilities & Campus Services, Sustainable UMass and Campus Planning support sustainability and energy conservation initiatives by providing in-house resources to campus staff as well as designers and contractors working with the University. The UMass Amherst Building Measurement, Verification, Coordination and Template Plan was begun in 2013 and finalized in 2015 as a resource to project teams that undertake the measurement and verification of building systems during the first year of occupancy of a new building and renovation project, particularly projects undergoing LEED certification.
Ubot-7: The Design Of A Compliant Dexterous Mobile Manipulator, Jonathan Cummings
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 and …
Umass Amherst Green Building Guidelines 2013, Ludmilla Pavlova-Gillham, Ted Mendoza, Ezra Small, Patricia O'Flaherty, Nariman Mostafavi, Mohamed Farzinmoghadam, Somayeh Tabatabaee Pozveh
Umass Amherst Green Building Guidelines 2013, Ludmilla Pavlova-Gillham, Ted Mendoza, Ezra Small, Patricia O'Flaherty, Nariman Mostafavi, Mohamed Farzinmoghadam, Somayeh Tabatabaee Pozveh
Campus Planning Reports and Plans
Facilities & Campus Services, Sustainable UMass and Campus Planning support sustainability and energy conservation initiatives by providing in-house resources to campus staff as well as designers and contractors working with the University. The UMass Amherst Green Building Guidelines provide a framework for approaching new construction and major renovation projects at UMass Amherst that are undergoing LEED certification by focusing the conversation on green building aspects that are most important to the campus. They are intended to be the beginning of a dynamic conversation between designers, environmental consultants and constructors, university stakeholders, and users of new high performance buildings.