Dissertations / Theses on the topic 'Limbs'
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Stromquist, Kat. "Phantom Limbs." ScholarWorks@UNO, 2013. http://scholarworks.uno.edu/td/1674.
Full textLungariello, Rocco D. "All Four Limbs." Bowling Green State University / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=bgsu1216671022.
Full textCahill, Caroline. "LIMBS IN SURF." VCU Scholars Compass, 2011. http://scholarscompass.vcu.edu/etd/202.
Full textLöfberg, Anne-Marie. "Infrainguinal Percutaneous Transluminal Angioplasty in Limbs with Severe Lower Limb Ischaemia." Doctoral thesis, Uppsala University, Department of Oncology, Radiology and Clinical Immunology, 2001. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-1419.
Full textInfrainguinal bypass grafting is an established method in the treatment of patients with femoropopliteal and crural occlusive disease leading to critical lower limb ischaemia (CLI). However, complications related to surgical procedure are not negligible and percutaneous transluminal angioplasty (PTA) has emerged as an alternative. The present thesis covers some aspects of infrainguinal PTA in patients with chronic severe lower limb ischaemia.
The records of 217 patients undergoing 272 PTA procedures at various infrainguinal arterial segments were analysed. The indication for intervention was subcritical ischaemia in 76 limbs and critical ischaemia in 177 limbs. The role of duplex ultrasound examination in the selection of patients for PTA was retrospectively evaluated following a prospective validation of the method against angiography.
A technically successful PTA was achieved in 89%. The overall 30-day mortality was 2.7%. No patient underwent amputation directly related to failed PTA. The primary success rates at 12 and 60 months following femoropopliteal PTA were 40% and 27% compared, to 51% and 36% in limbs undergoing crural artery PTA. Primary success rate in limbs with SFA occlusion longer than 5 cm was only 12% after 5 years, compared to 32% if the occlusion was equal or less than 5 cm in length (p<0.01). In patients undergoing distal PTA through patent infrainguinal grafts, the primary and primary assisted patency rates at 3 years were 32% and 53%, respectively. The sensitivity of duplex scanning in the selection of lesions for PTA was less satisfactory in the popliteal and crural arteries compared to the superficial femoral arteries.
In conclusion, the results of infrainguinal PTA performed for treatment of subcritical or CLI seemed to be inferior to the results of surgical interventions reported in the literature. However, due to the fact that the PTA procedure does not preclude the performance of bypass grafting, it might be an alternative to surgical intervention in limbs with stenotic or short occlusive lesions.
Löfberg, Anne-Marie. "Infrainguinal percutaneous transluminal angioplasty in limbs with severe lower limb ischaemia /." Uppsala : Acta Universitatis Upsaliensis : Univ.-bibl. [distributör], 2001. http://publications.uu.se/theses/91-554-5079-2/.
Full textCooper, Lee. "Physically based modelling of human limbs." Thesis, University of Sheffield, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.301426.
Full textZimovets, A. "The next generation of bionic limbs." Thesis, Sumy State University, 2015. http://essuir.sumdu.edu.ua/handle/123456789/40595.
Full textPollard, Andrea. "Mechanoadaptation of developing limbs : shaking a leg." Thesis, Royal Veterinary College (University of London), 2016. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.701670.
Full textParietti, Federico. "Design and control of supernumerary robotic limbs." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/107543.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (pages 175-181).
Humans possess the remarkable ability to control their four natural limbs in a voluntary, accurate and independent manner. The simultaneous use of two or more limbs allows humans to learn and robustly perform a wide range of complex tasks. Since the use of multiple limbs enables humans to master advanced motor skills, it would be interesting to study whether having additional limbs would enable users to expand their skill set beyond its natural limits. Inspired by this vision, we propose a new form of human augmentation: a wearable robot that augments its user by providing him with an additional set of robotic limbs. We named this new device Supernumerary Robotic Limbs (SRL). However, humans have never had the possibility to control additional, powered limbs besides their natural arms and legs. The main theme of this thesis, besides realizing a prototype of the robot and proving its usefulness in realworld tasks, is demonstrating that humans can voluntarily control additional limbs as if they were a part of their own body. We realized a lightweight (3.5 kg), comfortable prototype of the SRL that can be easily worn by an unassisted user. Two robotic limbs can assist the user in both manufacturing and locomotion tasks. We created control strategies that take advantage of the independence of the robotic limbs, enabling them to provide optimal assistance in specific tasks such as weight support, body stabilization, using powered tools, sitting/standing and dynamic walking. Finally, we developed an EMG-based control interface that enables users to voluntarily control the motion of the robotic limbs, without interfering with the posture of the rest of the body. The new augmentation technology presented in this thesis opens up new possibilities in the field of wearable robotics. The voluntary control of additional robotic limbs falls within the range of motor skills that humans can learn, and enables the acquisition of a new set of complex skills that would not be achievable using only the natural body..
by Federico Parietti.
Ph. D.
McKenna, Jay (Jay P. ). "Performing overhead tasks with supernumerary robotic limbs." Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/92199.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (pages 46-47).
Overhead tasks such as those frequently found in aircraft manufacturing pose health risks to the workers due to the strain imposed on the shoulders. To reduce the risk of injury, a set of supernumerary robotic limbs (SRL) were designed to perform these overhead tasks. The SRL is designed with limits in the hardware and software to protect the human and prevent collisions between robot and operator. The arms are designed to have a workspace above and in front of the head of the user free from singular configurations so the robot is free to operate where the tasks will be performed. To further protect the human, the mount that attaches the SRL to the shoulders was redesigned to be lighter and to better distribute the load. In this manner, the shoulders will become less fatigued from the static load of carrying the SRL To complete the task of positioning cables and routing them through the ceiling of an airplane, a winch end effector was designed to latch onto the fuselage arches and pull the cable through these arches. In order to control the SRL, the concept of principal components analysis was used to reduce the input space. This concept was specifically used to map the motion of the operator's hands onto the appropriate speed for the winch motor to operate. In this manner, the winch would pull the cable at the same rate that the human fed the cable. The human would then be able to control the speed of the winch simply by executing the task at whatever pace they so desired.
by Jay McKenna.
S.B.
Moore, Charles H. "Grasping Embodiment: Haptic Feedback for Artificial Limbs." University of Cincinnati / OhioLINK, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1617107153868166.
Full textMitchell, Marcus Quintana Abu-Mostafa Yaser S. Hopfield John J. "Dynamical simulation and control of articulated limbs /." Diss., Pasadena, Calif. : California Institute of Technology, 1997. http://resolver.caltech.edu/CaltechETD:etd-02162009-054828.
Full textBérard, Anick. "Epidemiology of venous ulcers of the lower limbs." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp03/NQ64513.pdf.
Full textD'Souza, Deana. "Anatomy and development of tendons in vertebrate limbs." Thesis, University College London (University of London), 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.312967.
Full textKaur, Subhpreet. "Additive manufacturing of upper and lower prosthetic limbs." Thesis, California State University, Long Beach, 2016. http://pqdtopen.proquest.com/#viewpdf?dispub=10038435.
Full textTouch 3D Bionics is a start-up prostheses company that will use additive manufacturing methods to produce prosthetic limbs. The company will provide patients with affordable, sustainable, customized, and durable 3D printed robotic prosthetics. Additive manufacturing usage can offer several benefits, such as personalized and modified medical devices and products, lower cost, improved throughput, and improved teamwork.
Furthermore, there are, approximately, 2 million amputees living in the United States. Therefore, the target market of the company will be state-approved hospitals all around California. The company will contract with hospitals in California and provide hospitals’ patients with more affordable options of prosthetic limbs. Engineers will use plaster impression of limbs, reverse engineer the impression to form a 3D model of the limb and, eventually, print the limb using additive manufacturing methods. Due to very small market competition, the company seeks to make significant profit from the new additive manufacturing techniques.
Murray, Craig David. "Technologising the body : embodiment and phenomenologies of prosthesis use." Thesis, Manchester Metropolitan University, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.249739.
Full textDempsey, George John. "Modelling the musculo-skeletal system using myoelectric signals." Thesis, University of Ulster, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.329565.
Full textMiller, Charlotte Elizabeth. "The anatomy and bioemchanics of elephant limbs and feet." Thesis, Royal Veterinary College (University of London), 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.522689.
Full textPu, Li-Qun. "Evaluation of angiogenic stimulation for revascularization of ischemic limbs." Thesis, McGill University, 1993. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=41308.
Full textWhiteley, Joanna. "Lives and limbs : re-membering Robert Jones : a biography." Thesis, University of St Andrews, 2010. http://hdl.handle.net/10023/1986.
Full textPatritti, Benjamin Lorenzo. "Perception of impact loading severity of the lower limbs." Thesis, Liverpool John Moores University, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.402951.
Full textSteinmeyer, Rebecca Hope. "Imaging of residual limbs using motion processing with IMUs." Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/117455.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (pages 82-83).
Accurate imaging of residual limbs is necessary for the design of well-fitting sockets for prosthesis wearers. Unfortunately, current methods of acquiring residual limb geometry are often expensive and inaccessible. A measurement method is proposed using coordinated IMUs to achieve residual limb imaging through motion processing. The IMUs are fixed to an object which traces the surface of the residual limb. Trajectories are calculated for each IMU, and a correction method is applied using all IMUs fixed to the instrument surface to mitigate measurement drift. The IMU trajectories are then used to generate a triangulated geometry to digitally represent the residual limb. This method was simulated to guide instrument design and provide insight on performance and measurement process. The eventual goal is a glove with IMUs at the fingertips which may be used by an untrained individual, who may simply wear the glove and lightly survey the surface of the residual limb with their hand to produce data which will then be used to generate a digital limb geometry. Using the results of the simulation, a design is proposed for the glove.
by Rebecca Hope Steinmeyer.
S.B.
Andersson, Robin. "MOBILE PLATFORM INTERFACE FOR CONTROLLING AND MONITORING ARTIFICIAL LIMBS." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-34972.
Full textChen, Michelle X. S. B. Massachusetts Institute of Technology. "Characterizing grippers for transmitting prosthetic device for upper limbs." Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/123256.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (page 33).
In this thesis, I designed and tested various fingertip grippers for a wearable force transmitting prosthetic device. This device uses fluid displacement to provide force feedback to the user, allowing the user to feel how much force they are gripping an object with. The device consists of two molded rubber fingertips filled with fluid and actuated by a motor. Various strengths and shapes of the molded rubber fingertips were tested and characterized by how much force was required to displace a certain volume. With this data, the fingertips can be optimized for compactness in a more wearable design.
by Michelle X. Chen.
S.B.
S.B. Massachusetts Institute of Technology, Department of Mechanical Engineering
Li, Yu. "Ontogeny of children's limbs - with particular reference to inertial characteristics." Thesis, University of Liverpool, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.317141.
Full textBright, Lawrence (Lawrence Zack). "Supernumerary robotic limbs for human augmentation in overhead assembly tasks." Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/111770.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (pages 91-95).
Manufacturing tasks are highly demanding of work, and there is an especially high prevalence of injury associated with overhead tasks which are taxing to the shoulder and upper body. To assist workers completing these tasks, and to increase overall productivity, safety and effectiveness, we introduce a novel design of Supernumerary Robotic Limb (SRL). This is a robotic arm worn on the shoulder of the technician/- worker which extends the human capability with implicit force control algorithms that allow for intuitive control and interface of the extra robot arm. Affectionately dubbed Aucto, the robotic arm can lift an object and hold it while the wearer is securing the object using a tool with both hands. The worker does not have to take a laborious posture for a long time, reducing fatigue and injuries. Furthermore, a single worker can execute the task, which would otherwise require two workers. Two technical challenges and novel solutions are presented. One is to make the wearable robot simple and lightweight with use of a new type of granular jamming gripper that can grasp diverse objects from an arbitrary direction. This eliminates the need for orienting the gripper against the object with three-axis wrist joints, reducing the number of degrees of freedom (DOF) from 6 to 3. The other is an effective control algorithm that allows the wearer to move freely while the robot on the shoulder is holding an object. Unlike a robot sitting on a floor, the SRL worn by a human is disturbed by the movement of the wearer. An admittance-based control algorithm allows the robot to hold the object stably and securely despite the human movement and changes in posture. A 3 DOF prototype robot with a new granular jamming gripper and an ergonomic body mounting gear is developed and tested. It is demonstrated that the robot can hold a large object securely in the overhead area despite the movement of the wearer while performing an assembly work.
by Lawrence 'Zack' Bright.
S.M.
Davenport, Clark (Clark Michael). "Supernumerary robotic limbs : biomechanical analysis and human-robot coordination Training." Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/81600.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (p. 83-86).
As the workforce within manufacturing grows older, especially within aircraft manufacturing, the need for new technologies to assist workers arises. If a technology could offer improvements to an aircraft manufacturing laborer's efficiency, as well as reduce the load on his body, it could potentially see vast use. This thesis discusses a potential solution to these issues - the Supernumerary Robotic Limbs (SRL). These limbs could potentially increase the workspace of the human operator to him more efficient, as well as reduce the load on the human while he performs staining tasks. It accomplishes this by providing the worker with extra arms in the form of a wearable backpack. This thesis first evaluates how the torques imposed on a human are affected when he uses an SRL-like device to help bear a static load. It is shown that the human work load necessary to bear such a load is reduced substantially. The second focus of this thesis is the skill acquisition. A data-driven approach is taken to learn trajectories and a leader-follower coordination relationship. This is done by generating teaching data representing trajectories and coordination information with two humans, then transferring the pertinent information to a robot that assumes the role of the follower. This coordination is validated in a simple one-dimension example, and is implemented on a robot that coordinates with a human leader during a control-box wiring task.
by Clark Davenport.
S.M.
Smalley, Grace. "An investigation of the NHS service provision of prosthetic limbs." Thesis, Loughborough University, 2013. https://dspace.lboro.ac.uk/2134/12339.
Full textBright, Lawrence (Lawrence Zack). "Supernumerary robotic limbs for human augmentation in overhead assembly tasks." Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/111770.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (pages 91-95).
Manufacturing tasks are highly demanding of work, and there is an especially high prevalence of injury associated with overhead tasks which are taxing to the shoulder and upper body. To assist workers completing these tasks, and to increase overall productivity, safety and effectiveness, we introduce a novel design of Supernumerary Robotic Limb (SRL). This is a robotic arm worn on the shoulder of the technician/- worker which extends the human capability with implicit force control algorithms that allow for intuitive control and interface of the extra robot arm. Affectionately dubbed Aucto, the robotic arm can lift an object and hold it while the wearer is securing the object using a tool with both hands. The worker does not have to take a laborious posture for a long time, reducing fatigue and injuries. Furthermore, a single worker can execute the task, which would otherwise require two workers. Two technical challenges and novel solutions are presented. One is to make the wearable robot simple and lightweight with use of a new type of granular jamming gripper that can grasp diverse objects from an arbitrary direction. This eliminates the need for orienting the gripper against the object with three-axis wrist joints, reducing the number of degrees of freedom (DOF) from 6 to 3. The other is an effective control algorithm that allows the wearer to move freely while the robot on the shoulder is holding an object. Unlike a robot sitting on a floor, the SRL worn by a human is disturbed by the movement of the wearer. An admittance-based control algorithm allows the robot to hold the object stably and securely despite the human movement and changes in posture. A 3 DOF prototype robot with a new granular jamming gripper and an ergonomic body mounting gear is developed and tested. It is demonstrated that the robot can hold a large object securely in the overhead area despite the movement of the wearer while performing an assembly work.
by Lawrence 'Zack' Bright.
S.M.
Farrah, John Alfred. "Measurement of mechanical properties of the skin in lower limb chronic venous disease compared to established non-invasive methods of assessment." Thesis, University College London (University of London), 1998. http://discovery.ucl.ac.uk/1318062/.
Full textGailey, Robert Stuart. "The amputee mobility predictor : a functional assessment instrument for the prediction of the lower limb amputee's readiness to ambulate." Thesis, University of Strathclyde, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.367028.
Full textHockman, Dorit. "Limbs gone batty : the role of the anterior-posterior patterning signal, Sonic Hedgehog, in the development of the unique bat limb." Master's thesis, University of Cape Town, 2007. http://hdl.handle.net/11427/4272.
Full textThe unique skeletal structure of the bat forelimb and hindlimb provides a new and exciting model for the field of evolutionary developmental biology, which seeks to reveal the molecular mechanisms behind vertebrate limb diversity. The digits of the bat forelimb, excluding the thumb, are considerably elongated and webbed. The hindlimb digits are free of webbing and are of uniform length, lacking the asymmetrical patterning of the forelimb. In this study, gene expression analysis has revealed that changes in the spatial and temporal expression patterns of the anteriorposterior patterning signal, Sonic hedgehog (Shh), and its downstream target, Patched 1 (PtcJ), have contributed to the development of the unique bat limb. The embryonic development of Miniopterus natalensis (Miniopteridae) is described for the first time and the expression patterns of Shh and PtcJ in the developing limbs of this species are compared to those in Carollia perspicillata (Phyllostomidae) and the mouse. Early in bat limb development (stage 14), Shh expression in the ZPA appears to be anteriorly expanded when compared to the mouse. This observation is in line with the reported expansion of Fgf8 expression in the AER (Cretekos et al. 2007) and reveals that an enhancement of the Shh-Fgf positive feedback loop may be responsible for the initial posterior expansion of the bat forelimb. Later in development (stage 16) Shh and PtcJ acquire a novel domain of expression within the interdigital tissue of both the bat forelimb and hindlimb. These expression patterns parallel the reported up-regulation of Fgf8, Gremlin and Bmp2 in the interdigital tissue of C. perspicillata (Weatherbee et al. 2006) and support the hypothesis that the Shh-Fgfpositive feedback loop is re-initiated in the interdigital tissue of the bat limbs. The cell survival and proliferation signals provided by the Shh-Fgf signalling loop most likely contribute to the lengthening of the posterior forelimb digits, the survival of the tissue between the forelimb digits and the extension of digits 1 and 5 of the hindlimb to the same length of the remaining digits. The novel Shh and PtcJ expression patterns were observed in both M natalensis and C. perspicillata, supporting the monophyly of the chiropteran sub-order, Verspertilioniformes.
Boisvert, Catherine Anne. "The Origin of Tetrapod Limbs and Girdles: Fossil and Developmental Evidence." Doctoral thesis, Uppsala universitet, Evolutionär organismbiologi, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-98911.
Full textPhillips, Mark N., and n/a. "Anatomy of microvenous valves of normal and venous ulcerated lower limbs." University of Otago. Dunedin School of Medicine, 2005. http://adt.otago.ac.nz./public/adt-NZDU20060523.142055.
Full textZaman, Shahaduz. "Broken limbs, broken lives ethnography of a hospital ward in Bangladesh /." [S.l. : Amsterdam : s.n.] ; Universiteit van Amsterdam [Host], 2003. http://dare.uva.nl/document/67476.
Full textUpjohn, Tegan. "Three-dimensional kinematics of the lower limbs during forward hockey skating." Thesis, McGill University, 2005. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=84083.
Full textMethods. While skating on a hockey treadmill subjects were filmed with four synchronized digital video cameras while wearing reflective marker triads on the thighs, shanks and skates. Subjects skated within a calibrated volume at a self selected speed that they could maintain comfortably for one minute. Each subject completed three trials separated by 5 minutes of rest. Data was reduced and analyzed using programs written in MATLAB. Two-way ANOVA and Tukey Post Hoc tests were used to determine statistic significance.
Results. Elite and recreational subjects were significantly different (p≤0.05) during knee abduction and knee rotation at push off, as well as during knee abduction and knee flexion at blade contact. Contra lateral lower limbs were significantly different (p≤0.05) during ankle abduction and hip rotation at blade contact as well as during knee abduction at push off.
Conclusion. Some aspects of the skating stride are similar in elite and recreational hockey skaters but there were several kinematic differences between skill levels and contra-lateral legs. The skating kinematics of elite hockey players may serve as a model for young hockey players and recreational hockey players, helping them develop a more efficient and effective stride.
Kurek, Daniel. "Design and control of Supernumerary Robotic Limbs for near-ground work." Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/111729.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (page 63).
Supernumerary Robotic Limbs (SRLs) are a recent form of robot that augment natural human abilities through the addition of body-mounted robotic appendages which can move independently of the wearer. This thesis provides a detailed analysis of the MantisBot, an SRL morphology that provides a wearer with two torso-mounted limbs that support the body in crawling- and kneeling-like positions, such that the wearer's natural arms are free to do useful work near the ground. First, the concept and its motivations are discussed, followed by a biomechanical analysis of the human-robot system. Two full-scale prototypes are then introduced, and control laws used in supporting a wearer's body both statically using impedance control, and dynamically using predictive models of natural crawling gaits, are developed. Finally, the system is experimentally validated, and it is concluded that SRLs for near-ground work are a valid and useful tool for improving worker comfort and productivity.
by Daniel Kurek.
S.M.
Dewhirst, O. P. "Nonlinear system analysis of local reflex control of locust hind limbs." Thesis, University of Southampton, 2012. https://eprints.soton.ac.uk/351342/.
Full textGharibeh, Lara. "Gata6 Haploinsufficiency Leads to Aortic Valve, Conduction System and Limbs Defects." Thesis, Université d'Ottawa / University of Ottawa, 2018. http://hdl.handle.net/10393/37584.
Full textNovak, Kimberly Michelle. "Morphometric Analyses of Embryonic Mouse Limbs Deficient in Ectodermal SMAD4 Signaling." Kent State University / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=kent1334329067.
Full textThomas, Helen. "Radiation exposure to personnel during portable fluoroscopic imaging of equine lower limbs." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp03/NQ33326.pdf.
Full textCheung, Michael Yanshun. "Mechanical and trajectory design of wearable Supernumerary Robotic Limbs for crutch use." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/105711.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (page 22).
The Supernumerary Robotic Limbs (SRL) is a wearable robot that augments its user with two robotic limbs, kinematically independent from the user's own limbs. This thesis explores the use of the SRL as a hands-free robotic crutch for assisting injured or elderly people. This paper first details the mechanical and material design choices that drastically reduced the weight of this SRL prototype, including advanced composite materials, efficient joint structure, and high-performance pneumatic actuators. The latter half of this paper characterizes the biomechanics of both traditional crutch-assisted and SRL-assisted ambulation, models this gait pattern with an inverted pendulum system, and derives equations of motion to create a simulation that examines the effect of various initial parameters. Finally, an optimum set of initial parameters is identified to produce a successful SRL-assisted swing.
by Michael Yanshun Cheung.
S.B.
Lo, Roger (Roger D. ). "Control of a pneumatically actuated joint for wearable supernumerary robotic limbs application." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/105691.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (page 31).
Presented is work on the development of the Supernumerary Robotic Limbs project, headed by Federico Parietti in the d'Arbeloff Labs under Prof. Harry Asada. Specifically, this paper focuses on the integration of lightweight, pneumatic systems for prismatic joint actuation, and the various control schemes studied. This joint serves as the leg of the robot, and extends from the hip of the wearer to contact the ground. The design consists of a two-way pneumatic cylinder inside a load bearing carbon fiber sleeve, actuated with a nominally closed 5-3 way solenoid valve, and weighs in at <1kg per actuator. The positional control scheme is closed via tracking from a linear magnetopotentiometer, while the force control scheme utilizes both the positional tracking as well as a load cell at the foot of the leg. System modeling of the actuator dynamics allowed for development of a model based proportional control method. Optimization of the proportional gain and system delay time produced a rise time of 200ms given a step input command for a 250mm stroke. The developed scheme was implemented in the full wearable system to assist a human support weight in crouched positions and standing up from a sitting position. Initial testing has shown the effectiveness of the power, compactness and compliance of pneumatic systems in a wearable robotic device.
by Roger Lo.
S.B.
Niven, Jeremy Edward. "Sensory influences from contralateral limbs on leg motor neurones in the locust." Thesis, University of Cambridge, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.620934.
Full textAshton, Claire. "Loathed and falling limbs :." Thesis, 2008. http://spectrum.library.concordia.ca/976077/1/MR45451.pdf.
Full textYang, Chi-tai, and 楊其泰. "Motion Trajectory Reconstruction of Upper Limbs Based on Inertia Sensing Signals-Various Limb-Revolution Montions." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/62043296627380542226.
Full text國立中央大學
機械工程研究所
100
The aim of this study is to analyze inertia sensing signals including acceleration and angular velocity for the reconstruction of motion trajectory of upper limbs. This study consists of two parts. The first part is the technical develop, that is limbs motion simulation and build the method of trajectory reconstruction. In order to simulate the angular velocity and linear acceleration value on the local coordinates in limb movement, can derive the angular velocity equation and linear acceleration equation by using kinematics. However, reconstruction of trajectory will use the acceleration on global coordinates, so make the value on local coordinate can transform to the global coordinates by use transformation matrix. Then transformation matrix can get by using quaternion, and quaternion can get by using angular displacement. This study presents new method to obtain angular displacement, by calculated frequency domain signal frequency, amplitude and phase that from angular velocity signal spectrum. Similarly, by using the spectrum of linear acceleration on global coordinates, can compute the linear displacement, and reconstruct motion trajectory. Secondly, is the technical verification. Design five revolution motions, to compare the correctness of reconstruction of motion trajectory by used simulation signal and inertia sensing signal from actual measurement. Through comparing the results between simulated signals and experimental data, the developed motion trajectory reconstruction scheme is justified.
蘇惠麗. "Preservation of Amputated Limbs on Immature Rats." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/51817224233699008152.
Full text國立臺灣大學
獸醫學研究所
85
Because immature limbs have growth potential, replantation will always be attempted when amputation happens in clinical situations. Many reports have shown the long-term effects of ischemia on immature amputated limbs. However, very few of them are related to the effect of epiphyseal growth plate of immature bone in short period of total ischemia. Since limbs replantation and free vascularized bone transfers are commonly applied to children, we should not ignore the ischemic effect on epiphyseal growth plates in a short term. Currently, the University of Wisconsin cold storage solution (UW solution) is considered the most popular tissue preservation solution in transplantation centers worldwide. It has been proven with preserving effects on skeletal muscle, skin and epiphyseal growth plate, individually. According to the references, the advantages of perfusion include quick lowering of core temperature of the tissue and washout of the toxic metabolites from tissues. However, there is no report regarding the effects of continuous perfusion with UW solution on immature amputated limbs preservation. Therefore, in order to realize the growing changes of immature animal after surfering a short period of ischemia, and to find out the best way available to preserve such kind of limbs, a group of five-week-old, 120-150 grams, male Wistar rats were used as the animal model for this study. In the pilot study, the hypothermic continuous perfusion protocol was established. Length of tibia in immature and mature rats were collected for future reference. Referred to the Wu et. al. study, the perfusion rate (20ml/h) of UW solution was also confirmed in the perfusion effect study. The main study was divided into two parts: the 3-hour ischemia study and the 7-hour ischemia study. In the 3-hour ischemia study, the rats' right rear legs were cut on the mid thighs, while leaving the femoral artery and vein (clamped) and sciate nerve intact. There are five treatments in this study : (1) hypothermic continuous perfusion with UW solution, (2) normothermic continuous perfusion with UW solution, (3) normothermic continuous perfusion with normal saline, (4) hypothermic preservation without perfusion, and (5) normothermic preservation without perfusion. While clamping, both femoral artery and vein, the epigastric artery was cannulated with 30GA needle and was perfused for 2 hours, then the perfused fluid was allowed to freely flowed out through the epigastric vein. Fifteen weeks after the operations, results showed that the rats' right tibias were slight longer than the left ones in all treatments (p<0.01). There was no significant difference in statistics between five treatments in 3-hour ischemia groups, winch means all of tlie five treatments can be used for preserving immature amputated limbs as long as no secondary injuries were produced. When perfusion groups were compared to non-perfusion groups, the statistics showed that perfusion is better way than non-perfusion. Although no differences in tibial lengths among each group, histological examination revealed better ossification in the first group. The others showed slight to severe abrupt termination of bone formation. This implied that the group 1 treatment is better than others. Only one treatment, the hypothermic continuous perfusion with UW solution, was used for the 7-hour ischemia study. According to the reports, after 4 to 6 hours of wann ischemia, skeletal muscles would show partial or whole irreversibile damages. In this study, all amputated limbs which were hypothennic perfused for 6 hours presented slight overgrowth in the right tibias in the fifteen week after the operations. The histological examination indicated well preserved muscle and moderate inhibition of bone formation. In conclution, the hypothermic continuous perfusion with UW solution lias shown its merits in protecting skeletal muscles from necrosis and in preserving epiphyseal growth plate activity after 3-hour and 7-hour ischemia. It is worthwhile to undertake further study on this model to prove the feability of long term preservation in immature amputated limbs.
cheyen, Xiao, and 蕭哲彥. "Interaction limbs and the siege of mind." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/85521382542532556216.
Full text國立新竹教育大學
藝術教育與創作碩士班
102
Interaction limbs and the siege of mind -- Study on Sculpture Creation of Xiao cheyen Abstract Sculpture is an object consisting of colored material, this object has the colored form is shaped by the so-called shape is determined by internal and external interfaces to constitute the image occupies physical space, space to promote physical. Compared with numerous sculptures arts disciplines, the technology is extremely prominent position occupied by factors such as materials technology, body language, spatial scheduling, and other tactile highlights. However, discard the technical content of the artistic expression of the role, the technical level of the most important is the space that people will be referred to as a space for art sculpture. In sculpture, the space constraints of other factors, the grasp of space is to understand it as a sculpture sculpture, art fundamental way. So for questioning space has become an important ideological path questioning the existence of the root causes of the sculpture. The discussion mainly through their own creative space dispatched emotional performance interwoven with scattered between the main body, and then use the framework Bureau caught self-conscious statement of changes in mood, giving their lives and with the dialogue. Theoretical studies to clarify the creative direction and self-analysis, reflecting the creative process from the feelings, values define the self-existent, combining sophisticated technology and creative thinking on the inside and outside in the conservation of the rich then.
Rosas, Francisca Mendes Cerqueira da Silva. "Medical Treatment of lymphedema of lower limbs." Master's thesis, 2019. https://hdl.handle.net/10216/121524.
Full textYao, Cheng-Shiang, and 姚誠祥. "The Assessment System of Lower Limbs Rehabilitation." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/97160858727697231388.
Full text中原大學
生物醫學工程研究所
104
Researches showed that the mortality after 1 year of hip fracture is highly relative with patient’s ability of mobility. Patients after receiving orthopedic interventions of lower limbs may suffer from difficulty in returning pre-injury health and functional ability. Therefore, it is important to evaluate the ambulation function during the process of post-operative rehabilitation. Doctors’ opinions and physical examination are common tools for assessing treatment outcomes in clinical. However, even though it can have more objective result, using accelerometer for evaluating ambulation on patients after surgical intervention is still a rare method in literatures. Because above reasons, followed Physical Activity and Frailty Analysis System developed in 2012, this study added IR sensor devices to elevate the accuracy during measuring. After measurement, system can output the final gait report which showed patient’s gait parameters. Moreover, trend of analysis can help doctor evaluate the status of patient’s recovery. The system was applied in clinical by cooperating with hospital. A standard was built in order to identify normal or abnormal gait of patient by patient’s gait parameters. Measurement results are positive correlation with Lower Extremity Functional Scale. Patient’s gait parameters are closer to standard after rehabilitation.