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Articles 1 - 6 of 6
Full-Text Articles in Electro-Mechanical Systems
Development Of Low-Cost Triaxial Force Sensor For Measurement Of Human-Exoskeleton Interaction Forces, Hamdan Khan Sarvathullah
Development Of Low-Cost Triaxial Force Sensor For Measurement Of Human-Exoskeleton Interaction Forces, Hamdan Khan Sarvathullah
All Theses
Contemporary research suggests that shear force is a major contributor to discomfort and pressure injury. However, the variation of shear forces during human-exoskeleton interaction dynamics is a highly unexplored field. The high cost of commercial triaxial force sensors may be a major factor in the notable lack of research in this field. Therefore, in this paper, we present a low-cost, 3D-printed triaxial force sensor designed specifically to measure the triaxial interaction forces between an exoskeleton and its user. The triaxial force sensor uses Carbon-Black/Silicone Rubber (CB/SR) strings to measure shear forces, whereas the normal force is measured with a Force …
Locomotion And Balance Control In A Biped Robot With Continuum Legs And A Kangaroo-Inspired Tail, Gavin A. Platt
Locomotion And Balance Control In A Biped Robot With Continuum Legs And A Kangaroo-Inspired Tail, Gavin A. Platt
All Theses
This thesis work presents the design, testing, and validation of a continuum-legged biped robot equipped with a kangaroo inspired tail for enhanced stability and adaptability. Unlike traditional rigid link robots, this one expands on soft-legged robots and utilizes tendon-driven continuum robots to mimic octopus and kangaroo behavior for locomotion. The robot uses a hierarchical hybrid control framework to implement walking, obstacle avoidance, vaulting, and push recovery behaviors. To test the performance of the robot four sets of experiments were conducted to validate these systems and evaluate how they performed. The results demonstrate stable walking with rhythmic tail load transfer, effective …
Deep Reinforcement Learning Of Variable Impedance Control For Object-Picking Tasks, Akshit Lunia
Deep Reinforcement Learning Of Variable Impedance Control For Object-Picking Tasks, Akshit Lunia
All Theses
The increasing deployment of robots in industries with varying tasks has accelerated the development of various control frameworks, enabling robots to replace humans in repetitive, exhaustive, and hazardous jobs. One critical aspect is the robots' interaction with their environment, particularly in unknown object-picking tasks, which involve intricate object weight estimations and calculations when lifting objects. In this study, a unique control framework is proposed to modulate the force exerted by a manipulator for lifting an unknown object, eliminating the need for feedback from a force/torque sensor. The framework utilizes a variable impedance controller to generate the required force, and an …
Laser Stabilization Through Optical Turbulence, Liam Vanderschaaf
Laser Stabilization Through Optical Turbulence, Liam Vanderschaaf
All Theses
Laser jitter presents a significant issue in the fields of laser communication and sensing. There are two main categories of positional noise in regards to the instantaneous centroid of a laser propagating over long distances: jitter resulting from optical turbulence and jitter resulting from mechanical vibrations. Optical turbulence was generated using Clemson University’s Variable Turbulence Generator (VTG). The VTG is capable of creating a desired level of optical turbulence that is comparable to atmospheric conditions with fried parameters greater than 0.3 cm. A gaussian laser was transmitted through the VTG and a system of Fast Steering Mirrors and Position Sensing …
An Application Of Optimized Bistable Laminates As A Low Velocity, Low Impact Mechanical Deterrent, Graham Lancaster
An Application Of Optimized Bistable Laminates As A Low Velocity, Low Impact Mechanical Deterrent, Graham Lancaster
All Theses
This research considers the problem of using bistable laminates as a mechanical deterrent to the impending impact of a particle. The structure will be controlled through an algorithm that will utilize piezoelectric devices to activate them in unison with the bistable laminate to successfully deter. A novel experimental setup will be constructed to ensure that the bistable laminate stays fixed when acting as a mechanical deterrent. Piezoelectricity is the main driving force of the bistable laminate to morph and this study will use a Macro Fiber Composite (MFC) actuator that contains piezoelectric ceramic rods in a patch to transfer electrical …
Soft Robotic Arms For Fall Mitigation: Design, Control And Evaluation, Param Malhotra
Soft Robotic Arms For Fall Mitigation: Design, Control And Evaluation, Param Malhotra
All Theses
Most fall mitigation devices present a heavy system that avoid injuries to the user by preventing the impact of a fall. They are dependent on the user capability or on the probability that the user falls in the assumed manner the system was designed for. Often that is not the case, hence this project initiates a novel concept of using soft robotic arms to prevent falls from happening in the first place itself and save the user from any injuries. This thesis describes the prototype and development of a soft continuum robotic backpack system. The system can validate its use …