Dissertations / Theses on the topic 'Exoskeleton design'
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Gün, Volkan Keçeci Emin Faruk. "Wearable Exoskeleton Robot Design/." [s.l.]: [s.n.], 2007. http://library.iyte.edu.tr/tezlerengelli/master/makinamuh/T000616.pdf.
Full textTims, Jacob (Jacob F. ). "Dynamic exoskeleton : mechanical design of a human exoskeleton to enhance maximum dynamic performance." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/105664.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (page 12).
An exoskeleton was designed with the primary goal of enhancing the maximum dynamic capability of a human, thus allowing the user to run faster, jump higher, or traverse challenging terrain. This paper presents the mechanical design of an alpha prototype with a focus on increasing the maximum vertical jump height of a human. High torque motors were constrained to the body with two degrees of freedom using carbon fiber, aluminum, and other lightweight materials. The exoskeleton actuates the hip joint by comfortably providing force to three points on the body. Human testing showed a maximum increase in jump height of 13%.
by Jacob Tims.
S.B.
Farid, Michael S. "Dynamic exoskeleton : design and analysis of a human exoskeleton to enhance maximum dynamic performance." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/103463.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (pages 40-41).
Most existing research in powered human exoskeletons aims to increase load bearing capability or reduce the metabolic cost of walking. Current exoskeletons are typically bulky and heavy and thus impede the motion of the user. Therefore, they are not suitable for highly dynamic motions. This thesis describes the first attempt to develop a powered exoskeleton suit that improves the maximum dynamic capability of a human. This Dynamic Exoskeleton is intended to enable to the user to run faster, jump higher, or traverse challenging terrain. This thesis presents a study on improving human vertical jump height using a powered exoskeleton. A simple human jump model is created, and dynamic simulation is utilized to determine the effectiveness of actuating the human hip joint for improving vertical jump height. A control system is developed and a series of human experiments with three test subjects are conducted. The test subjects improved their vertical jump heights by 13%, 6% and 5% respectively. The general challenges of actuating human joints and interfacing with the human body are presented.
by Michael S. Farid.
S.M.
Martínez, Conde Sergio, and Luque Estela Pérez. "Exoskeleton for hand rehabilitation." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-15820.
Full textLaFay, Eric Bryan. "Mechanical System Design of a Haptic Cobot Exoskeleton." Ohio University / OhioLINK, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1181064920.
Full textHoyos, Rodriguez David. "Realistic Computer aided design : model of an exoskeleton." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-17558.
Full textRefour, Eric Montez. "Design and Integration of a Form-Fitting General Purpose Robotic Hand Exoskeleton." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/89647.
Full textMS
Beauchamp, Sarah Emily. "Design and Evaluation of a Flexible Exoskeleton for Lifting." Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/95965.
Full textMS
Sharma, Manoj Kumar. "Design and Fabrication of Intention Based Upper-Limb Exoskeleton." University of Dayton / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1462290841.
Full textWeaver, Valerie A. "DESIGN AND FABRICATION OF A HYBRIDNEUROPROSTHETIC EXOSKELETON FOR GAITRESTORATION." Case Western Reserve University School of Graduate Studies / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=case1495230976762559.
Full textTabti, Nahla. "Contribution to the design of the scalable exoskeleton SOL3." Electronic Thesis or Diss., université Paris-Saclay, 2021. http://www.theses.fr/2021UPASG007.
Full textDiseases that affect motor and neuronal function are called neuromuscular diseases. They are degenerative in nature, which means they tend to get worse over time. In recent years, thanks to recent breakthroughs in their technology exoskeletons are being used to help patients with neuromuscular diseases with their mobility. Therefore, exoskeletons appear as an ideal solution for those who wish to maintain their mobility while being in an upright position. It was observed that most of the devices were not adaptable to the needs of patients with neuromuscular disesases. A lower limb exoskeleton, SOL3, is presented along with its construction and evaluation. Particular attention is paid to the scalability and adaptability of the actuator and the structure of the exoskeleton. While the primary goal of the design is to ensure scalability, some design guidelines have also been considered. This mainly concerns the resolution of the kinematic compatibility problem and the possible misalignments that may occur when joining kinematic chains two by two
Olivoni, Enea. "Design and optimisation of a reconfigurable exoskeleton for ankle rehabilitation." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020. http://amslaurea.unibo.it/21098/.
Full textLeibowitz, Dalia. "Design and testing of a flexible exoskeleton-to-shoe interface." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/105692.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (page 40).
A lightweight minimalist lower-limb exoskeleton has been designed that reduces the metabolic cost of walking. Currently, this exoskeleton must be permanently attached to a shoe; holes are drilled into each new shoe used, a practice that is neither flexible nor cost-effective. A new attachment system is proposed to temporarily but securely connect the exoskeleton to shoes of various sizes. This exoskeleton-to-shoe interface is lightweight, adjustable for various shoe sizes, and easy to attach and remove. This interface is meant to increase the testing flexibility and commercial potential of the exoskeleton. After the interface was designed and built, the stiffness of the interface was measured and compared to the stiffness of the original rigid attachment. The stiffness was calculated using exoskeleton torque and the corresponding angle of attachment. Torque was calculated based on force applied by the exoskeleton, and the time-varying angle was found using motion capture. The results of these measurements suggest that at the tested frequencies of 0.5, 1, and 2 Hz the stiffness of the exoskeleton-to-shoe interface, which ranged from 8.082 Nm/° to 16.94 Nm/°, is greater than the stiffness of the control, which ranged from 6.143 Nm/° to 6.957 Nm/°. At all tested frequencies, the interface stiffness remained equal to or greater than the natural ankle stiffness during level ground walking. Since the interface stiffness is greater than the natural ankle stiffness, this flexible interface has acceptable stiffness. A flexible, lightweight, and size-variable exoskeleton-to-shoe interface with higher than natural ankle stiffness has the potential to be useful in both future research and eventual commercialization of the exoskeleton.
by Dalia Leibowitz.
S.B.
Kuan, Jiun-Yih. "A leg exoskeleton simulator for design, sensing and control development." Thesis, Massachusetts Institute of Technology, 2018. http://hdl.handle.net/1721.1/115717.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (pages 137-143).
Leg exoskeletons have been developed in an effort to augment human locomotion for over a century. However, only two portable leg exoskeletal devices have shown a significant decrease in walking metabolism [35, 11], not to mention, no device that has shown effective assistance and biomimetic behavior across different walking speeds and terrains. This thesis aims to build a Leg Exoskeleton Simulator to effectively search the space of potential prosthetic and orthotic design, control, and sensing strategies so as to find the best means to improve human locomotion through wearable electromechanical technology and modern bionics, enabling rapid advancement of the human-machine interface. This thesis presents the MIT Exoskeleton Simulator, which is a modular tethered system that includes cable-drive mechanisms along with off-board power, actuation, control hardware, and wearable end-effector modules. In order to effectively transmit force to a wearable end-effector module, high-performance cable-drive modules with the Rolling Cable Transmission for both unidirectional actuation and bidirectional actuation were developed. A new Adaptive Coupling Joint design principle was proposed for designing a simple mechanical interface that can transmit pure torque from an input actuation source to any biological joint without altering the biological joint motions. The Simulator has been controlled with a bio-inspired control based controller that emulates the behavior of human morphology and neural control for the non-amputee participants. In this thesis, I tried to provide a base of knowledge regarding effective design, control, and sensing strategies for effective human augmentation. In the near future, more criteria can be further established for building effective leg exoskeletons that will improve the ambulatory speed, metabolic economy, and stability of walking humans. The Simulator could potentially enhance the ambulation of able-bodied persons or individuals with movement pathology, as well as providing the treatment or relief of gait dysfunction resulting from movement pathology, or restoration of age-related reduced locomotory function.
by Jiun-Yih Kuan.
Ph. D.
Souza, Rafael Sanchez. "Design and prototyping of a development platform for exoskeleton research." Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-26022018-141504/.
Full textInterface homem e máquina tem sido um campo crescente de pesquisa científica nos últimos anos. Robôs convencionais têm sido concebidos como estruturas metálicas rígidas que, quando em contato com o tecido humano, faz necessário romper com o modo de pensar corrente para atingir uma melhor interação. Exoesqueletos, chamados também de robôs vestíveis, compartilham destes desafios e abrangem aplicação na indústria, militar, medicina e entretenimento. Este trabalho introduz uma abordagem sistemática, baseada em Engenharia de Requisitos e Prototipagem, para projeto de uma plataforma de desenvolvimento para pesquisa em exoesqueletos. A dinâmica da junta humana e da junta robótica são modeladas para diferentes acoplamentos entre si. O Controle Adaptativo por Modelo de Referência é proposto como uma solução para controle de exoesqueletos; simulações indicam ser capaz de estimar os parâmetros da junta humana em tempo real. O controlador por Modelo de Referência foi implementado, tendo sucesso na modulação da impedância aparente da junta robótica. De uma perspectiva mais prática, é apresentado o projeto e construção de uma bancada experimental e o uso de um repositório online para desenvolvimento do software de controle. O repositório on-line viabiliza gestão de projetos colaborativos, focado em versionamento de software e contribuição científica. A bancada experimental foi projetada para atender as necessidades de diferentes stakeholders - a universidade, os pacientes e terapeutas - sendo de aplicação modular, de fácil operação e relativo baixo custo, é capaz de conduzir experimentos de controle motor e tarefas de reabilitação.
Koendjbiharie, Marlon Winston. "Control system design for exoskeleton of the right lower limb." reponame:Repositório Institucional da UnB, 2017. http://repositorio.unb.br/handle/10482/31932.
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Nesta pesquisa o modelo de um exoesqueleto do membro inferior direita para melhorar a mobilidade do usuário e seu sistema de controle foram desenvolvidos. O projeto físico do modelo do exoesqueleto consiste em três partes principais: um quadril e a parte superior e inferior da perna conectados um com o outro por juntas revolutas. Cada uma das juntas é atuado por um motor Brushless DC (BLDC) com caixa de redução para aumentar torque. Os motores a serem usados na construção possuem sensores de velocidade e de posição para fornecer os dados necessários para o sistema de controle. Solidworks Computer Aided Design (CAD) software é usado para desenvolver o modelo do exoesqueleto, que é salvo em formato extensible markup language (XML) para depois ser importado em Simmechanics, permitindo a integração de modelos de corpos físicos com componentes de Simulink. A cinemática inversa do exoesqueleto é desenvolvido e projetado em Very high speed integrated circuit Hardware Description Language (VHDL) usando aritmética em ponto flutuante para ser executado a partir de um dispositivo Field Programmable Gate Array (FPGA). Quatro representações diferentes do projeto de hardware do modelo cinematico do exoesqueleto foram desenvolvidos fazendo análise de erro com Mean Square Error (MSE) e Average Relative Error (ARE). Análise de trade-off de desempenho e área em FPGA é feito. A estratégia de controle Proportional-Integrative-Derivative (PID) é escolhido para desenvolver o sistema de controle do exoesqueleto por ser relativamente simples e eficiente para desenvolver e por ser amplamente usado em muitas áreas de aplicação. Duas estratégias de sistemas de controle combinado de posiçaõ e velocidade são desenvolvidos e comparados um com o outro. Cada sistema de controle consiste em dois controladores de velocidade e dois de posição. Os parâmetros PID são calculados usando os métodos de sintonização Ziegler-Nichols e Particle Swarm Optimization (PSO). PSO é um método de sintonização relativamente simples porém eficiente que é aplicado em muitos problemas de otimização. PSO é baseado no comportamento supostamente inteligente de cardumes de peixes e bandos de aves em procura de alimento. O algoritmo, junto com o método Ziegler-Nichols, é usado para achar parâmetros PID apropriados para os blocos de controle nas duas estratégias te controle desenvolvidos. A resposta do sistema de controle é avaliada, analisando a resposta a um step input. Simulação da marcha humana é também feito nos dois modelos de sistema de controle do exoesqueleto fornecendo dados de marcha humana ao modelo e analisando visualmente os movimentos do exoesqueleto em Simulink. Os dados para simulação da marcha humana são extraídos de uma base de dados existente e adaptados para fazer simulações nos modelos de sistema de controle do exoesqueleto.
In this research a model of an exoskeleton of the right lower limb for user mobility enhancement and its control system are designed. The exoskeleton design consists of three major parts: a hip, an upper leg and a lower leg part, connected to one another with revolute joints. The joints will each be actuated by Brushless DC (BLDC) Motors equipped with gearboxes to increase torque. The motors are also equipped with velocity and position sensors which provide the necessary data for the designed control systems. Solidworks Computer Aided Design (CAD) software is used to develop a model of the exoskeleton which is then exported in extensible markup language (XML) format to be imported in Simmechanics, enabling the integration of physical body components with Simulink components. The inverse kinematics of the exoskeleton model is calculated and designed in Very high speed integrated circuit Hardware Description Language (VHDL) using floating-point numbers, to be executed from a Field Programmable Gate Array (FPGA) Device. Four different bit width representations of the hardware design of the kinematics model of the exoskeleton are developed, performing error analysis with the Mean Square Error (MSE) and the Average Relative Error (ARE) approaches. Trade-off analysis is then performed against performance and area on FPGA. The Proportional-Integrative-Derivative (PID) control strategy is chosen to develop the control system for the exoskeleton for its relatively simple design and proven efficient implementation in a very broad range of real life application areas. Two control system strategies are developed and compared to one another. Each control system design is comprised of two velocity- and two position controllers. PID parameters are calculated using the Ziegler-Nichols method and Particle Swarm Optimization (PSO). PSO is a relatively simple yet powerful optimization method that is applied in many optimization problem areas. It is based on the seemingly intelligent behaviour of fish schools and bird flocks in search of food. The algorithm, alongside the Ziegler-Nichols method, is used to find suitable PID parameters for control system blocks in the two designs. The system response of the control systems is evaluated analyzing step response. Human gait simulation is also performed on the developed exoskeleton control systems by observing the exoskeleton model movements in Simulink. The gait simulation data is extracted from a human gait database and adapted to be fed as input to the exoskeleton control system models.
Nandor, Mark J. "DESIGN AND FABRICATION OF AN ADVANCED EXOSKELETON FOR GAIT RESTORATION." Case Western Reserve University School of Graduate Studies / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=case1333751142.
Full textFirouzy, Sina. "Optimal design of actuation systems for an enhancive robotic exoskeleton." Thesis, University of Leeds, 2017. http://etheses.whiterose.ac.uk/20675/.
Full textTizi, Giulia. "Kinematic Synergy extraction for the design of an upper limb exoskeleton." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021.
Find full textBriner, Hazel (Hazel Linn). "Design, prototyping and preliminary testing of an elastic-powered climbing exoskeleton." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/69504.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (p. 24).
Human powered elastic mechanisms can be used to reduce work requirements of muscles, by storing and releasing energy to more evenly distribute work load. An exoskeleton was designed to delay human fatigue during rock climbing. This exoskeleton stores energy in the less intensive motion, extension while reaching upwards, and uses the stored energy in the more intensive motion, flexion during upwards ascent. A cuff 3D which will be printed by Objet Geometries Inc. utilizes Arthur Iberall's lines of non-extension to simultaneously maximize rigidity and comfort. Due to the inability of Objet's printed items to withstand the required high forces, a prototype climbing exoskeleton for the arm was fabricated from heat moldable plastic and latex springs. Pilot tests were conducted with the prototype and preliminary results were promising.
by Hazel Briner.
S.B.
Paar, Maja. "Design of the Trunk and Torso of a Lower-Limb Exoskeleton." Case Western Reserve University School of Graduate Studies / OhioLINK, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=case1624988804573986.
Full textBall, Stephen Joseph. "Novel robotic mechanisms for upper-limb rehabilitation and assessment." Thesis, Kingston, Ont. : [s.n.], 2008. http://hdl.handle.net/1974/1344.
Full textLovrenovic, Zlatko. "Development and Testing of Passive Walking Assistive Exoskeleton with Upward Force Assist." Thesis, Université d'Ottawa / University of Ottawa, 2017. http://hdl.handle.net/10393/36947.
Full textCao, Jennifer M. "Design of a Lower Extremity Exoskeleton to Increase Knee ROM during Valgus Bracing for Osteoarthritic Gait." Thesis, University of North Texas, 2017. https://digital.library.unt.edu/ark:/67531/metadc984268/.
Full textWalsh, Conor James. "Biomimetic design for an under-actuated leg exoskeleton for load-carrying augmentation." Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/35648.
Full textIncludes bibliographical references (leaves 79-81).
Metabolic studies have shown that there is a metabolic cost associated with carrying a load (Griffin et al, 2003). Further studies have shown that by applying forward propulsive forces a person can walk with a reduced metabolic rate (Farley & McMahon, 1992 and Gottschall & Kram, 2003). Previous work on exoskeleton design has not considered the passive dynamics of walking and has focused on fully actuated systems that are inefficient and heavy. In this thesis, an under-actuated exoskeleton is presented that runs parallel to the human leg. The exoskeleton component design is based on the kinematics and kinetics of human walking. The joint components of the exoskeleton in the sagittal plane consist of a force-controllable actuator at the hip, a variable-damper mechanism at the knee and a passive spring at the ankle. A state-machine control strategy is written based on joint angle and ground-exoskeleton force sensing. Positive, non-conservative power is added at the hip during the walking cycle to help propel the mass of the human and payload forward. At the knee, the damper mechanism is turned on at heel strike as the exoskeleton leg is loaded and turned off during terminal stance to allow knee flexion.
(cont.) The spring at the ankle engages in controlled dorsiflexion to store energy that is later released to assist in powered plantarflexion. Kinetic and metabolic data are recorded from human subjects wearing the exoskeleton with a 751b payload. These data are compared to data recorded from subjects walking without the exoskeleton. It is demonstrated that the exoskeleton does transfer loads to the ground with a 90% and higher load transfer depending on the phase of gait. Further, exoskeleton wearers report that the exoskeleton greatly reduces the stress on the shoulders and back. However, although a significant fraction of the payload is transferred through the exoskeleton structure, the exoskeleton is found to increase metabolic economy by 74%. By comparing distinct exoskeleton configurations, the relative effect of each exoskeleton component is determined. Metabolic data show that the variable-damper knee and ankle spring mechanisms increase metabolism by only 32%, whereas a non-actuated exoskeleton (no motor, variable-damper, or spring) increases walking metabolism by 62%. These results highlight the benefit of ankle elastic energy storage and knee variable-damping in exoskeleton design, and further the need for a lighter, more efficient hip actuator.
by Conor James Walsh.
S.M.
Mazzotti, Claudio <1986>. "New Solutions for the Modelling and Design of a Hand Exoskeleton System." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2016. http://amsdottorato.unibo.it/7563/.
Full textLi, Xiao. "Structural Design of a 6-DoF Hip Exoskeleton using Linear Series Elastic Actuators." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/78751.
Full textMaster of Science
Xu, Shang. "Investigations into the Form and Design of an Elbow Exoskeleton Using Additive Manufacturing." Thesis, Virginia Tech, 2021. http://hdl.handle.net/10919/103204.
Full textMaster of Science
Wearing an exoskeleton should be easy and stress-free, but many of the available models are not ergonomic nor user-friendly. To make an exoskeleton that is inviting and comfortable to wear, various nontraditional methods are used. The arm exoskeleton prototype has a lightweight and ergonomic frame, the joints are soft and compact, the cable-driven system is safe and low-profile. This design also brings aesthetics to the exoskeleton which closes the gap between engineering and design.
Shen, Zefang. "Design and Development of a 1-Degree-of-Freedom Leg Exoskeleton for Rehabilitation." Thesis, Curtin University, 2019. http://hdl.handle.net/20.500.11937/78295.
Full textWilson, Bradford Asin. "Mechanical Design of the Legs for OLL-E, a Fully Self-Balancing, Lower-Body Exoskeleton." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/93574.
Full textMaster of Science
Exoskeletons show great promise in aiding people in a wide range of applications. One such application is medical rehabilitation and assistance of those with spinal cord injuries. Exoskeletons have the potential to offer several benefits over wheelchairs, including a reduction in the risk of upper-body injuries associated with extended wheelchair use. To best reduce this risk of injury, exoskeletons will need to be fully self-balancing, able to move and stand without crutches or relying on any other outside structure to stay upright. To accomplish this, the Orthotic Lower-body Locomotion Exoskeleton (OLL-E) will use a set of custom designed motors to apply power and control to 12 joints, six in each leg. Where these motors were placed, and how they connect to the joints they control, were critical to ensuring the exoskeleton was able to self-balance, walk, and climb stairs. To find the correct position, a set of equations was developed to determine how different positions changed each joints’ speed, strength, and range of motion. These equations were then put into a piece of custom software that could quickly evaluate different joint layouts and compare the capabilities against measurements from people and robots walking, climbing stairs, and standing up out of a chair. This process allowed for the best placement of the motors and joints while still keeping the exoskeleton relatively compact. The rest of the exoskeleton was then designed to connect these joints together, while meeting several other design requirements such as weight, adjustability, and range of motion. Adjustability was very important for ensuring the comfortable use of the exoskeleton and to minimize risk of injury by ensuring that the exoskeleton legs closely matched the movements of the person inside. The legs of OLL-E can accommodate users between 1.60 m and 2.03 m in increments of 7 mm. After detailed design was completed, additional analyses were performed to check the strength of the structure and ensure it met other long-term goals of the project.
Tomeček, Michal. "Konstrukční návrh hydraulického systému robotického exoskeletonu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-449718.
Full textGoodson, Caleb Benjamin. "Mechanical Redesign and Fabrication of a 12 DOF Orthotic Lower Limb Exoskeleton and 6 Axis Force-Torque Sensor." Thesis, Virginia Tech, 2020. http://hdl.handle.net/10919/100734.
Full textMaster of Science
Recent developments in the fields of robotics and exoskeleton design have increased their feasibility for use in medical rehabilitation and mobility enhancement for persons with limited mobility. The Orthotic Lower Limb Exoskeleton (OLL-E) is an exoskeleton specifically designed for enhancing mobility by allowing users with lower limb disabilities such as spinal cord injuries or paraplegia to walk. The research detailed in this thesis explains the design and manufacturing processes used to make OLL-E as well as providing design details for a force sensor built into the exoskeleton foot. Before manufacturing could take place some parts needed to be redesigned and this thesis provides insight into the reasons for these changes. After the manufacturing and design process was completed the OLL-E was assembled and the project can now move forward with physical testing.
Linder-Aronson, Philip, and Simon Stenberg. "Exo-Controlled Biomimetic Robotic Hand : A design solution for control of a robotic hand with an exoskeleton." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295846.
Full textRobotarmar och händer finns många former och storlekar, de kan vara för allmänna ändamål eller uppgiftsspecifika. De kan programmeras av en dator eller styras av en mänsklig operatör. Det finns en viss typ av robothänder som försöker efterlikna formen, rörelsen och funktionen hos den mänskliga handen, och brukar kallas biomimetisk robotik. Detta projekt utforskar interaktionen mellan människa och robot genom att skapa en antropomorf robothand med tillhörande exoskelett. Handen, som består av en 3D-printad kropp och fingrar, är ansluten till en underarm där servormotorerna som styr fingrarna sitter. Exoskelettet ansluts till operatörens hand vilket möjliggör spårning av fingrarnas rörelse genom ett antal potentiometrar. Detta tillåter operatören att intuitivt styra en robothand med en viss grad av precision. Vi valde att besvara ett antal forskningsfrågor med avseende på form och funktion av en biomimetisk hand och exoskelettet. Under projektets gång påträffades en mängd problem såsom budgetproblem som resulterade i att bara hälften av fingrarna kan kontrolleras. Trots detta fick vi bra resultat från de fungerande fingrarna och våra forskningsfrågor kunde besvaras.
Wood, Evan A. "Design and Prototype of an Active Knee Exoskeleton to Aid Farmers with Mobility Limitations." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/93531.
Full textMaster of Science
As farmers continue to get older, they will likely face age-related disabilities that impede their ability to work and increase risk of suffering serious injuries. One of the major age-related diseases is arthritis, which currently accounts for about 40% of disability cases in agriculture nationwide. The effect of arthritis on farmers is profound because it reduces their physical strength, joint range of motion and is a source of joint pain, all culminating in the lack of ability to perform routine activities regularly and safely. One way to decrease the rate of injuries is by reducing the strength and joint loading required to perform these activities through the use of wearable robotics. As opposed to existing solutions that focus only on injury prevention, this thesis will present an active, knee-assist exoskeleton intent on providing 30% of the necessary joint rotation force to perform activities such as sit-to-stand actions and the ascent/descent of stairs and hills. The device will be a lightweight, unobtrusive cable-driven exoskeleton actuated by distally-worn electric motors. We hope that use of the exoskeleton will result in increased ranges of motion and overall reduction of stress on the wearer’s body, which will minimize the effects of arthritis and ultimately improve safety and quality of life.
Valiente, Andrew (Andrew J. ). "Design of a quasi-passive parallel leg exoskeleton to augment load carrying for walking." Thesis, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/1721.1/34412.
Full textPage 114 blank.
Includes bibliographical references (p. 97-99).
Biomechanical experiments suggest that it may be possible to build a leg exoskeleton to reduce the metabolic cost of walking while carrying a load. A quasi-passive, leg exoskeleton is presented that is designed to assist the human in carrying a 75 lb payload. The exoskeleton structure runs parallel to the legs, transferring payload forces to the ground. In an attempt to make the exoskeleton more efficient, passive hip and ankle springs are employed to store and release energy throughout the gait cycle. To reduce knee muscular effort, a variable damper is implemented at the knee to support body weight throughout early stance. In this thesis, I hypothesize that a quasi-passive leg exoskeleton of this design will improve metabolic walking economy for carrying a 751b backpack compared with a leg exoskeleton without any elastic energy storage or variable-damping capability. I further anticipate that the quasi-passive leg exoskeleton will improve walking economy for carrying a 751b backpack compared with unassisted loaded walking. To test these hypotheses, the rate of oxygen consumption is measured on one human test participant walking on a level surface at a self-selected speed. Pilot experimental data show that the quasi-passive exoskeleton increases the metabolic cost of carrying a 751b backpack by 39% compared to carrying 75 lbs without an exoskeleton. When the variable-damper knees are replaced by simple pin joints, the metabolic cost relative to unassisted load carrying decreases to 34%, suggesting that the dampening advantages of the damper knees did not compensate for their added mass.
(cont.) When the springs are removed from the aforementioned pin knee exoskeleton, the metabolic cost relative to unassisted load carrying increased to 83%. These results indicate that the implementation of springs is beneficial in exoskeleton design.
by Andrew Valiente.
S.M.
Kasarová, Dominika. "Design pracovního exoskeletonu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417057.
Full textPerry, Joel C. "Design and development of a 7 degree-of-freedom powered exoskeleton for the upper limb /." Thesis, Connect to this title online; UW restricted, 2006. http://hdl.handle.net/1773/7077.
Full textIrshaidat, M. M. "Design and implementation of a novel lightweight soft upper limb exoskeleton using pneumatic actuator muscles." Thesis, University of Salford, 2018. http://usir.salford.ac.uk/48758/.
Full textViennet, Emmanuel, and Loïc Bouchardy. "Preliminary design and testing of a servo-hydraulic actuation system for an autonomous ankle exoskeleton." Technische Universität Dresden, 2020. https://tud.qucosa.de/id/qucosa%3A71229.
Full textMukherjee, Gaurav. "Design and Development of an Assistive Exoskeleton for Independent Sit-Stand Transitions among the Elderly." University of Cincinnati / OhioLINK, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1407407328.
Full textMarecki, Andrew T. (Andrew Thomas). "Design of a high torque, lightweight clutch for use in an exoskeleton to augment human running." Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/59941.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (p. 25).
The metabolic augmentation of human locomotion though the use of wearable exoskeletons is a complex and difficult goal. One exoskeleton architecture adds parallel elasticity to the user during stance phase to unload the user's muscles and joints. Critical to this design is the creation of a lightweight, high torque clutch that can endure the forces associated with ground impact and stance phase in running and also disengage to permit a natural swing phase. The clutch makes use of radial, ratcheting clutch plates, a planetary gearbox, and a novel mechanical decoupling concept to meet the design requirements.
by Andrew T. Marecki.
S.B.
Shaheen, Robert. "Design and Material Characterization of a Hyperelastic Tubular Soft Composite." Thesis, Université d'Ottawa / University of Ottawa, 2017. http://hdl.handle.net/10393/36117.
Full textShah, Shriya. "Design and Implementation of a Scalable Real-Time Motor Controller Architecture for Humanoid Robots and Exoskeletons." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/78734.
Full textMaster of Science
Kendrick, John Thomas. "Design of High-Performance, Dual-Motor Liquid-Cooled, Linear Series Elastic Actuators for a Self-Balancing Exoskeleton." Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/83236.
Full textMaster of Science
Pradhan, Sarthak. "Design and Control of a Robotic Exoskeleton Glove Using a Neural Network Based Controller for Grasping Objects." Thesis, Virginia Tech, 2021. http://hdl.handle.net/10919/104663.
Full textMaster of Science
Humans are one of the few species to have an opposable thumb which allows them to not only perform tasks which require power, but also tasks which require precision. However, unfortunately, thousands of people in the United States suffer from hand disabilities which hinder them in performing basic tasks. The RML glove v3 is a robotic exoskeleton glove which can help these patients in performing day to day activities like grasping semi-autonomously. The glove is lightweight and comfortable to use. The RML glove v3 uses a neural network based controller to predict the grasp force required to successfully grasp objects. After the user provides the required input, the glove estimates the object size and uses other inputs like object orientation and weight to estimate the grasp force in each finger linkage mechanism. The motors then drive the linkages till the required force is achieved on the fingertips and the grasp is completed.
Choi, JungHun. "Design and Development of a Minimally Invasive Endoscope: Highly Flexible Stem with Large Deflection and Stiffenable Exoskeleton Structure." Diss., Virginia Tech, 2006. http://hdl.handle.net/10919/26218.
Full textPh. D.
Subra, Mani Vishnu Aishwaryan. "Design, Development and Characterization of a Wrap Spring Clutch/Brake Mechanism as a Knee Joint for a Hybrid Exoskeleton." Digital WPI, 2020. https://digitalcommons.wpi.edu/etd-theses/1359.
Full textLaubscher, Curt A. "Design and Development of a Powered Pediatric Lower-Limb Orthosis." Cleveland State University / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=csu1590485999836396.
Full textBalasubramaniam, Srinivasa Prashanth. "Influence of Joint Kinematics and Joint Moment on the Design of an Active Exoskeleton to Assist Elderly with Sit-to-Stand Movement." University of Cincinnati / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1458643962.
Full textZhang, Yang. "Design and synthesis of mechanical systems with coupled units." Thesis, Rennes, INSA, 2019. http://www.theses.fr/2019ISAR0004/document.
Full textThis thesis deals with the design principles, which arc based on the coupling of two mechanical structures. The criteria for optimal design and the types of combined units are different. However, all the tasks are considered in coupling of given mechanical units. The critical review given in the first chapter is divided into three sections due to the nature of the examined problems: legged walking robots, gravity compensators used in robots and collaborative robots. Chapter two deals with the development of single actuator walking robots designed by coupling of two mechanisms. Based on the Genetic Algorithm, the synthesis allows one to ensure the reproduction of prescribed points of the given trajectory obtained from the walking gait. By adjusting the geometric parameters of the designed units, it becomes possible not only to operate the robot at variable steps, but also to climb the stairs. The next chapter deals with the design and synthesis of gravity balancers. A robotic exosuit that can help people carrying heavy load is the subject of chapter four. The proposed exosuit presents a symbiosis of two systems: rigid lightweight support and cable system. Static and dynamic studies and optimization are considered. Experiments are also carried out on a mannequin test bench. The last chapter presents a coupled system including a hand-operated balanced manipulator and a collaborative robot. The aim of such a cooperation is to manipulate heavy payloads with less powerful robots. Dynamic analysis of the coupled system is perfonned and methods for reducing the oscillation of the HOBM at the final phase of the prescribed trajectories are proposed