Tesis sobre el tema "Wearable robotic"
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Duval, Jean-François S. M. Massachusetts Institute of Technology. "FlexSEA : flexible, scalable electronics architecture for wearable robotic applications". Thesis, Massachusetts Institute of Technology, 2015. http://hdl.handle.net/1721.1/98647.
Texto completo"June 2015." Cataloged from PDF version of thesis.
Includes bibliographical references (pages 135-136).
The work of this thesis aims to enable the fast prototyping of multi-axis wearable robotic systems by developing a new modular electronics system. The flexible, scalable electronics architecture (FlexSEA) developed for this thesis fills the void between embedded systems used in commercial devices and in research prototypes. This system provides the required hardware and software for precise motion control, data acquisition, and networking. Scalability is obtained through the use of fast industrial communication protocols between the modules, and the standardization of the peripheral interfaces. Hardware and software encapsulation is used to provide high-performance, real-time control of the actuators while keeping the high-level control development fast, safe and simple. The FlexSEA kits are composed of two custom circuit boards (advanced brushless motor driver and microcontroller board), one commercial embedded computer, a complete software stack and documentation. During its development it has been integrated into a powered prosthetic knee as well as an autonomous ankle exoskeleton. To assess the usability of the FlexSEA kit, a new user successfully used a kit to read sensors and control an output device in less than three hours. FlexSEA simplifies and accelerates wearable robotics prototyping.
by Jean-François Duval.
S.M.
Dang, Wenting. "Stretchable interconnects for smart integration of sensors in wearable and robotic applications". Thesis, University of Glasgow, 2018. http://theses.gla.ac.uk/40994/.
Texto completoCheung, 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.
Texto completoCataloged 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.
Texto completoCataloged 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.
Fong, Wai K. "Design of a man-wearable control station for a robotic rescue system". Master's thesis, University of Cape Town, 2015. http://hdl.handle.net/11427/24316.
Texto completoSajid, Nisar. "Toward Novel Remote-Center-of-Motion Manipulators and Wearable Hand-Grounded Kinesthetic Haptics for Robot-Assisted Surgery". Kyoto University, 2019. http://hdl.handle.net/2433/242497.
Texto completoKyoto University (京都大学)
0048
新制・課程博士
博士(工学)
甲第21759号
工博第4576号
新制||工||1713(附属図書館)
京都大学大学院工学研究科機械理工学専攻
(主査)教授 松野 文俊, 教授 椹木 哲夫, 教授 小森 雅晴
学位規則第4条第1項該当
Vivian, Michele. "Studio dell'interazione tra Sistema Muscoloscheletrico Umano e Dispositivi di Assistenza Robotici". Doctoral thesis, Università degli studi di Padova, 2015. http://hdl.handle.net/11577/3423948.
Texto completoNegli ultimi anni, la riabilitazione sfrutta sempre di più dispositivi robotici al fine di ridurre i costi e velocizzare il processo di recupero dei pazienti. Finora però, la maggior parte dei dispositivi disponibili sul mercato porta il soggetto a comportarsi in modo passivo, imponendo traiettorie preprogrammate ai pazienti. Un'ulteriore limitazione delle attuali tecnologie è l'incapacità di valutare accuratamente la dinamica dell'interazione tra il paziente e il dispositivo robotico. Tale interazione gioca un ruolo centrale nella mutua modulazione del comportamento dell'essere umano e del sistema robotico, che risulerà diverso rispetto a quello indipendente. In particolare, la predizione di questa interazione può fornire informazioni utili per migliorare sia il design dell'esoscheletro che il processo di riabilitazione. Questa tesi presenta la soluzione che propongo per lo sviluppo di un simulatore in grado di simulare dinamicamente il movimento che risulta dalla cooperazione dell'essere umano e del dispositivo robotico. L'idea principale su cui si basa questa soluzione è di decomporre il sistema in diversi livelli. La soluzione proposta è stata chiamata Multi-Level modeling approach ed è l'argomento principale di questa tesi. La decomposizione proposta si articola in tre livelli: Human, Robot, e Boundary. I livelli sono poi integrati in un unico sistema in cui ogni livello si occupa di rispondere a specifici problemi. Il livello Human rappresenta il soggetto che sta indossando il sistema robotico, ad esempio un esoscheletro per gli arti inferiori. Per raggiungere una collaborazione simbiotica tra il soggetto e l'esoscheletro, l'approccio deve includere le intenzioni del soggetto e monitorare i suoi sforzi per raggiungere il movimento desiderato. Conoscere le trasformazioni interne all'utente possono fornire importanti informazioni sulla modulazione dei parametri dinamici interni dovuti al dispositivo esterno. Il livello Robot si concentra sul sistema robotico indossabile che supporta i movimenti. L'approccio si propone di modellare sia i meccanismi del dispositivo che le strategie di controllo. Questo permette di testare diverse strategie di controllo per trovare quella che meglio si adatta agli specifici bisogni del paziente e alle sue caratteristiche. L'ultimo livello è il Boundary, che ha come obiettivo principale quello di modellare il meccanismo di trasferimento di energia meccanica, includendo anche le non idealità (come le forze dissipative), per riuscire a stimare accuratamente l'interazioni risultante. Diverse sfide sono emerse durante lo sviluppo del sistema complessivo, che sono state affrontate investigando diverse soluzioni, selezionando e validando la più promettente. Il primo problema è stato individuare una piattaforma software comune ai tre livelli in grado di riprodurre simultaneamente il loro comportamento dinamico. Tra i diversi software disponibili ho selezionato OpenSim perchè molto conosciuto e già usato per lo studio della dinamica del movimento umano. Anche se OpenSim è già testato nell'ambito biomeccanico, era necessaria un'ulteriore valutazione come simulatore per i livelli Robot e Boundary. In questo lavoro sono stati presentati quali analisi sono state compiute e i risultati ottenuti. I parametri dinamici interni dell'essere umano sono modulati ed influenzati dei dispositivi esterni. Ho quindi proposto di monitorare queste variazioni, prendendo in considerazione il comando neurale che viene inviato ai muscoli. Questo può essere eseguito misurando l'attività elettromiografica dei muscoli, cioè il potenziale elettrico generato dal muscolo quando viene attivato, prima della contrazione muscolare. Questi segnali possono essere usati come ingresso per un modello dell'apparato muscoloscheletrico umano al fine di calcolare il contributo del soggetto al movimento. L'uso di questo modello si rende necessario a causa delle relazioni non lineari tra gli EMG e le forze muscolari generate e quindi i momenti ai giunti. La stima delle forze di interazione che emergono durante la cooperazione uomo-robot può essere effettuata attraverso un modello di interazione che è fondamentalmente un insieme di modelli di contatto. A causa delle specifiche caratteristiche del nostro lavoro dedicato alla riabilitazione, questo modello di contatto richiede maggiori attenzioni. Per questo ho introdotto e validato una procedura per calibrare i modelli di contatto e migliorare l'accuratezza delle forze di interazione stimate. Uno dei problemi nell'usare i segnali EMG è che è necessario utilizzare degli elettrodi di superficie per acquisirli in modo non invasivo; questo però significa che la qualità dei dati raccolti è molto sensibile alla disposizione degli elettrodi e al loro decadimento, oltre che alle interferenze magnetiche e elettriche. In molti contesti, come la riabilitazione a casa, questo può costituire una forte limitazione. Una soluzione alternativa per evitare la misura diretta degli EMG è presentata in questo lavoro. L'idea è che per azioni ripetitive, che sono spesso di grande interesse nella riabilitazione, sia possibile sostituire la raccolta dati diretta con un modello degli EMG calibrato sul soggetto. L'obiettivo di questo lavoro è stato di proporre un approccio efficace per la stima delle iterazioni che emergono durante il movimento cooperativo uomo-robot. L'approccio Multi-Level Modeling, che è stato presentato in questa tesi, decompone questo problema complesso permettendo di sviluppare tutti i componenti necessari alla realizzazione di un sistema completo che sia in grado di raggiungere l'obiettivo finale.
Rowe, Justin Bradley. "Evaluating robotic assistance and developing a wearable hand activity monitor to improve upper extremity movement recovery after stroke". Thesis, University of California, Irvine, 2015. http://pqdtopen.proquest.com/#viewpdf?dispub=3727453.
Texto completoIn their daily lives, stroke survivors must often choose between attempting upper-extremity activities using their impaired limb, or compensating with their less impaired limb. Choosing their impaired limb can be difficult and discouraging, but might elicit beneficial neuroplasticity that further reduces motor impairments, a phenomenon referred to as “the virtuous cycle”. In contrast, compensation is often quicker, easier, and more effective, but can reinforce maladaptive changes that limit motor recovery, a phenomenon referred to as “learned non-use”. This dissertation evaluated the role of robotic assistance in, and designed a wearable sensing system for, promoting the virtuous cycle.
In the first half of the dissertation, we use the FINGER robot to test the hypothesis that robotic assistance during clinical movement training triggers the virtual cycle. FINGER consists of two singly-actuated mechanisms that assist individuated movement of the index and middle fingers. 30 chronic stroke participants trained in FINGER using a GuitarHero-like game for nine sessions. Half were guided by an adaptive impedance controller towards a success rate of 85%, while the other half were guided towards 50%. Increasing assistance to enable successful practice decreased effort, but primarily for less-impaired participants. Overall, however, high success practice was as effective (or more) as low success practice and even more effective for highly impaired individuals. Participants who received high assistance training were more motivated and reported using their impaired hand more at home. These results support the hypothesis that high assistance clinical movement training motivates impaired hand use, leading to greater use of the hand in daily life, resulting in a self-training effect that reduces motor impairment.
The second half of the dissertation describes the development of the manumeter - a non-obtrusive wearable device for monitoring and incentivizing impaired hand use. Contrasted against wrist accelerometry (the most comparable technology), the manumeter uses a magnetic ring and a wristband with mangetometers to detect wrist and finger movement rather than gross arm movement. We describe 1) the inference of wrist and finger movement from differential magnetometer readings using a radial basis function network, 2) initial testing in which distance traveled estimates were within 94.7%±19.3 of their goniometricly measured values, 3) experiments with non-impaired participants in which the manumeter detected some functional activities better than wrist accelerometry, and 4) improvements to the hardware and data processing that allow both subject-independent tracking of the position of the finger relative to the wrist (RMS errors < 1cm) and highly reliable detection of whether the hand is open or closed. Its performance and non-obtrusive design make the manumeter well suited for measuring and reinforcing impaired hand use in daily life after stroke.
The contributions of this dissertation are experimental confirmation that high assistance movement training promotes the virtuous cycle, and development of a wearable sensor for monitoring hand movement in daily life. Training with robotic assistance and hand use feedback may ultimately help individuals with stroke recover to their full potential.
Perozzi, Marco. "A myo-controlled wearable manipulation system with tactile sensing for prosthetics studies". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2022. http://amslaurea.unibo.it/25054/.
Texto completoPuehn, Christian G. "Development of a Low-Cost Social Robot for Personalized Human-Robot Interaction". Case Western Reserve University School of Graduate Studies / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=case1427889195.
Texto completoMoffat, Shannon Marija. "Biologically Inspired Legs and Novel Flow Control Valve Toward a New Approach for Accessible Wearable Robotics". Digital WPI, 2019. https://digitalcommons.wpi.edu/etd-theses/1279.
Texto completoBharti, Pratool. "Context-based Human Activity Recognition Using Multimodal Wearable Sensors". Scholar Commons, 2017. http://scholarcommons.usf.edu/etd/7000.
Texto completoAbromowitz, Madeleine Rose. "Characterization and control of a new high-torque motor for autonomous wearable robotics". Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/106065.
Texto completoCataloged from PDF version of thesis.
Includes bibliographical references (pages 65-67).
A new 'axial-transverse flux' motor (ATFM) topology is of interest to autonomous lower-extremity robotics designers for its high torque density and low winding resistance. Unfortunately, deliberate asymmetries in the design make finite-element modeling of this topology largely intractable. An ATFM prototype was characterized experimentally using a custom dynamometer and controller. The prototype was found to have a torque constant Kt of 7.26 Nm/A and a per-phase winding resistance of 0.59 Ohms. It is characterized by high AC and DC zero-current torque, as well as significant torque ripple (M: 12.9%, SD: 0.6%) when driven with balanced three-phase sinusoidal commutation. A set of optimized commutation waveforms are developed based on an independent phase control strategy, and it is shown that this strategy can eliminate ripple in simulation and reduce it in practice (M: 7.8%, SD: 0.5%), without reduction of mean torque or increased conduction losses relative to sinusoidal commutation.
by Madeleine Rose Abromowitz.
S.M.
Lee, Seungyon. "Buzzwear: supporting multitasking with wearable tactile displays on the wrist". Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/37146.
Texto completoBarrows, Bryan Alan. "A Machine Learning Approach for Next Step Prediction in Walking using On-Body Inertial Measurement Sensors". Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/82329.
Texto completoMaster of Science
Saka, Mustafa Yasin. "A Low Cost Stereo Based 3d Slam For Wearable Applications". Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612764/index.pdf.
Texto completoZhao, Yuchen. "Human skill capturing and modelling using wearable devices". Thesis, Loughborough University, 2017. https://dspace.lboro.ac.uk/2134/27613.
Texto completoCastle, Robert Oliver. "Simultaneous recognition, localization and mapping for wearable visual robots". Thesis, University of Oxford, 2009. http://ora.ox.ac.uk/objects/uuid:a0172b40-5bb8-4f1c-a93b-38dc7b672a25.
Texto completoNycz, Christopher Julius. "Modeling & Analysis of Design Parameters for Portable Hand Orthoses to Assist Upper Motor Neuron Syndrome Impairments and Prototype Design". Digital WPI, 2018. https://digitalcommons.wpi.edu/etd-dissertations/501.
Texto completoWirekoh, Jackson O. "Development of Soft Actuation Systems for Use in Human-Centered Applications". Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1124.
Texto completoViennet, Emmanuel y 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.
Texto completoBaraldi, Roberta. "Le nuove tecnologie nella lotta contro il Covid-19". Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2020.
Buscar texto completoWesslén, Jacob. "Exoskeleton exploration : Research, development, and applicability of industrial exoskeletons in the automotive industry". Thesis, Tekniska Högskolan, Högskolan i Jönköping, JTH, Industriell organisation och produktion, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:hj:diva-40093.
Texto completoJeong, Seung Hee. "Soft Intelligence : Liquids Matter in Compliant Microsystems". Doctoral thesis, Uppsala universitet, Mikrosystemteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-281281.
Texto completoChai, Yea-Yen y 蔡依穎. "Development of Wearable Robotic Fingers for Rehabilitation Applications". Thesis, 2013. http://ndltd.ncl.edu.tw/handle/95490681148252405050.
Texto completo國立交通大學
電控工程研究所
101
With the increase of stroke patients, the quality of stroke rehabilitation has drawn much attention in recent years. Researchers have been developed various kinds of exoskeleton devices for specific rehabilitation functions. In this thesis, we have developed a 3 Degrees of Freedom (3DOF) wearable robotic fingers for task-oriented training of rehabilitation grasping tasks. We propose a control strategy for the task training considering user comfort based-on his/her intention and the safety in task training procedure. The control strategy is divided into two parts: user compliance control and grasping compliance control. In user compliance control, we employed a mass-spring-damper model for grasping operation when the user exerted an intention force, this strategy can allow the user to feel comfortable guidance of the movement. In grasping compliance control, a similar physical model is used when the finger exoskeleton comes into contact with the object, that the system will percept the situation immediately and assists an appropriate grasping force for stable grasping. Experimental verification shows that the developed wearable rehabilitation robotic fingers can provide a comfortable fit for the users and is capable to assist the users to achieve the grasping task training.
"Design, Modeling, and Evaluation of Soft Poly-Limbs: Toward a New Paradigm of Wearable Continuum Robotic Manipulation for Daily Living Tasks". Doctoral diss., 2020. http://hdl.handle.net/2286/R.I.62646.
Texto completoDissertation/Thesis
Doctoral Dissertation Systems Engineering 2020
"Design and Fabrication of Fabric ReinforcedTextile Actuators forSoft Robotic Graspers". Master's thesis, 2019. http://hdl.handle.net/2286/R.I.53959.
Texto completoDissertation/Thesis
Masters Thesis Biomedical Engineering 2019
Pu, Shu-Wei y 卜書偉. "Research and Development of Human Finger Stiffness Measurement System through Mechatronic Integration of Hand Wearable Robotic Device". Thesis, 2014. http://ndltd.ncl.edu.tw/handle/00117814732196170509.
Texto completo國立清華大學
動力機械工程學系
102
The development of robotics has gradually advanced from industrial and military use to medical nursing and rehabilitation use. Physical rehabilitation robotics has become the main stream in the medical application, including upper and lower limb rehabilitation robotic devices. Investigated researches in the global have shown that the intensity, repeatability, and the amount of rehabilitation in the process are directly related to the results of the rehabilitation process. Also, the preferable time for rehabilitation process for each patient is crucial the rehabilitation results. The patents will have beneficial recovery results if patents are able to undergo proper rehabilitation process on the preferable time set by the doctors. The method of rehabilitation process is decided by the clinical experience of the doctors and therapists; thus, different rehabilitation methods chosen by the doctors and therapist might lower the result of the rehabilitation process and raise the unnecessary medical cost. The purpose of this study is to design and develop a wearable robotic device for human hand, which focuses on patents who lost their range of motion limitation in their hand movement and suffered from nervous system diseases. The aim of this rehabilitation device is to assist patents in performing repeating hand movement rehabilitation. Also, doctors and therapist can control the setting rehabilitation device to fulfill the needs of the patents. Not only did this study focus on the design and development of a wearable robotic device for human hand but also develop the stiffness measurement system for robotic device. The measured data can be used to determine the level of healthiness of patents' hand in order for the doctors and therapist to decide the appropriate rehabilitation therapy for each individual. Through the development of the rehabilitation device and stiffness measurement system, doctors and therapists can be provided with real time result data to assist them in rehabilitation diagnosis and treatment.
Park, Joon-Hyuk. "Wearable Torso Exoskeletons for Human Load Carriage and Correction of Spinal Deformities". Thesis, 2016. https://doi.org/10.7916/D81V5F5G.
Texto completoChua, Jason Yap Moore Carl A. "Design of a wearable cobot". Diss., 2006. http://etd.lib.fsu.edu/theses/available/etd-03012006-152943.
Texto completoAdvisor: Carl A. Moore, Florida State University, College of Engineering, Dept. of Mechanical Engineering. Title and description from dissertation home page (viewed June 8, 2006). Document formatted into pages; contains x, 107 pages. Includes bibliographical references.
"Gait Dynamic Stability Analysis with Wearable Assistive Robots". Master's thesis, 2018. http://hdl.handle.net/2286/R.I.50559.
Texto completoDissertation/Thesis
Masters Thesis Mechanical Engineering 2018
"Human Activity Recognition and Control of Wearable Robots". Doctoral diss., 2018. http://hdl.handle.net/2286/R.I.51725.
Texto completoDissertation/Thesis
Doctoral Dissertation Aerospace Engineering 2018
Nassour, John. "Biologically inspired action representation on humanoids with a perspective for soft wearable robots". 2019. https://monarch.qucosa.de/id/qucosa%3A75787.
Texto completoObwohl bei vielen Aufgaben in der Robotik vor allem Genauigkeit, Präzision, Flexibilität, Anpassungsfähigkeit usw. gefragt sind, gibt es in der Wearable-Robotik auch einige andere Aspekte, die einen zuverlässigen und vielversprechenden Ansatz kennzeichnen. Die drei Schlüsselelemente, sind die folgenden: Steuerung, Aktuatoren und Sensoren. Dabei ist das Ziel für jedes der genannten Elemente, eine menschengerechte Lösung und ein menschengerechtes Design zu finden. Eine Möglichkeit, die menschliche Motorik zu verstehen, besteht darin, sie auf menschenähnlichen Robotern zu erzeugen. Biologisch inspirierte Bewegungsabläufe sind vielversprechend bei der Steuerung von tragbaren Robotern, da sie natürlichere Bewegungen ermöglichen. Darüber hinaus zeigt die tragbare Robotik spannende Fortschritte bei ihrem Design. Zum Beispiel verwenden softe Exoskelette weiche Materialien, um sowohl Sensoren als auch Aktuatoren zu erschaffen. Diese Arbeit erforscht ein adaptives Repräsentationsmodell für Bewegungen in der Robotik. Das konkrete Bewegungsmodell besteht aus vier Modularitäten: Musterauswahl, räumliche Koordination, zeitliche Koordination und sensorisch-motorische Anpassung. Diese Modularität in der Motorsteuerung könnte uns mehr Erkenntnisse über das Erlernen und Verallgemeinern von Handlungen nicht nur für humanoide Roboter, sondern auch für ihre biologischen Gegenstücke liefern. Erfolgreich testeten wir das Modell an einem humanoiden Roboter, indem dieser gelernt hat eine Vielzahl von Aufgaben auszuführen (Stoß-Ausgleichsbewegungen, Gehen, Zeichnen, Greifen, etc.). Im Folgenden schlagen wir mehrere weiche Aktuatoren vor, welche das Problem des Haltens schwerer Lasten und auch die Frage der Online- Programmierung der Roboterbewegung lösen. Diese weichen Aktuatoren verwenden textile Materialien mit thermoplastischem Polyurethan, die als aufblasbare Schläuche geformt sind. Die Schläuche wurden in Gehäusekanäle mit einer dehnungsbegrenzten Seite gefaltet, um Flexoren zu schaffen. Wir haben ein neues Design vorgeschlagen, um die angespannte Seite eines Flexors zu kontrollieren, indem wir vier textile Schnüre entlang seiner Längsachse hinzufügen. Dadurch kann das Verhalten des Flexors online programmiert werden, um ihn in mehrere Richtungen zu biegen und zu verdrehen. Im letzten Teil dieser Arbeit haben wir piezoresistive Elemente in einer Überlagerungsstruktur organisiert. Die sensorische Struktur wird auf einem sensorischen Greifer verwendet, um Druck- und Krümmungsreize zu erfassen und zu unterscheiden. Den sensorischen Greifer haben wir weiterentwickelt indem wir kapazitiv arbeitende Näherungssensoren mittels leitfähiger Textilteile hinzufügten. Schließlich entwickelten wir einen vielseitigen weichen Dehnungssensor, der Silikonschläuche mit einer eingebetteten resistiven Lösung verwendet, deren Wiederstand sich proportional zur Belastung der Schläuche verhält. Dies ermöglicht einem völlig weichen Handschuh die Erkennung von Handgesten. Die vorgeschlagenen Kombinationen aus weichen Aktuatoren, weichen Sensoren und biologisch inspirierter Bewegungsrepräsentation kann eine neue Perspektive eröffnen, um intelligente tragbare Roboter zu erschaffen.
Fu, Chienen y 傅建恩. "Research Of Programmable Logic Controller Based Wearable Rehabilitation Robotics". Thesis, 2012. http://ndltd.ncl.edu.tw/handle/33036998469498816633.
Texto completo義守大學
電機工程學系
100
cerebral vascular accident is third largest cause of the human toll. It also most of reason to bring adults disability in the world. In America, each year about 75 million stroke patient increase in. And there are rising trend year by year, each year, about 500 million people have Non-fatal stroke of which about one-third people disability The chance of stroke recurrence is very high of which one-fifth of patients have the opportunity to recurrence within five years. It has become one of people the top ten leading cause of death, due to the impact of lifestyle and eating habits, the rapid increase in stroke patients. The event, patients with serious cases will die, the mild will cause physical handicaps can not walk by themselves, they must count on others to take care of. They just can complete their daily life. Although market already has health equipment, but most are large and weight doesn’t light, and also expensive, so this research purpose for design a light volume and can simple and easy of wearing type rehabilitation robotics can let patients wear rehabilitation robotics from hospital or home by themselves, through institutions of improved design, can make patients wearing more easily, and it won’t cause arm heavy and complex and difficult to started or using places has limit. This study focuses on improved design on the machine body, and by LEGO robots to do the experiment to show the overall mode of operation and set the movable limit switch point in the rehabilitation robotics,and according to each patient's situation to make adjustments, It’s excellent versatile.
"Nonlinear Phase Based Control to Generate and Assist Oscillatory Motion with Wearable Robotics". Doctoral diss., 2016. http://hdl.handle.net/2286/R.I.41228.
Texto completoDissertation/Thesis
Doctoral Dissertation Mechanical Engineering 2016
"Design of a Knee Exoskeleton for Gait Assistance". Master's thesis, 2018. http://hdl.handle.net/2286/R.I.50565.
Texto completoDissertation/Thesis
Masters Thesis Mechanical Engineering 2018
Secciani, Nicola. "sEMG-based control strategy for a Hand Exoskeleton System". Doctoral thesis, 2020. http://hdl.handle.net/2158/1183545.
Texto completo(10725849), Minji Lee. "INTELLIGENT SELF ADAPTING APPAREL TO ADAPT COMFORT UTILITY". Thesis, 2021.
Buscar texto completoRodrigues, Tiago Emanuel Pereira. "Real-time muscle-in-the-loop optimization for physical rehabilitation with an active exoskeleton: a paradigm shift". Master's thesis, 2021. http://hdl.handle.net/10773/33681.
Texto completoAuxiliar a locomoção humana com uma ortose robótica ainda é bastante desafiante, em grande parte devido à complexidade do sistema neuromusculoesquelético, à dinâmica variável no tempo que acompanha a adaptação motora e à singularidade da resposta de cada indivíduo à assistência dada pelo robô. Até hoje, está por cumprir a promessa inicial destes dispositivos, principalmente devido ao facto de não serem perfeitamente adequados para a reabilitação de pacientes neuropatológicos. Um dos principais desafios que dificultam esse objetivo foca-se ainda na interface e na co-dependência entre o ser humano e a máquina. Hoje em dia, a maioria dos exoesqueletos comerciais reproduz padrões de marcha predefinidos, enquanto que os exoesqueletos em investigação estão só agora a mudar para controladores com base em perfis de binário otimizados. Na maioria dos casos, a dinâmica do sistema musculoesquelético humano ainda é ignorada e não tem em consideração as condições ideais para induzir uma modulação positiva da atividade neuromuscular. Isso ocorre porque ambas as estratégias de reabilitação ainda são enfatizadas no nível macro de toda a articulação, em vez de se concentrar na dinâmica e atividade dos músculos, que são os elementos anatómicos que realmente precisam de ser reabilitados. Estratégias para manter o ser humano em loop nos comandos que controlam o exoesqueleto em tempo real podem ajudar a superar estes desafios. O principal objetivo desta dissertação é fazer uma mudança de paradigma na abordagem em como a assistência que é dada a um sujeito por um exosqueleto é modelada e controlada durante a reabilitação física. Portanto, no contexto do presente trabalho, pretendeu-se projetar, conceder, implementar e validar um modelo de otimização muscle-in-the-loop em tempo real para encontrar a melhor relação de suporte capaz de induzir as condições ideais de reabilitação para um grupo específico de músculos fragilizados, tendo um impacto mínimo nos outros músculos saudáveis. O modelo de otimização desenvolvido foi implementado na forma de um plugin e foi integrado numa interface baseada num modelo neuromecânico para o controlo de um exoesqueleto bilateral de tornozelo. Testes experimentais piloto avaliaram a viabilidade e a eficácia do modelo. Os resultados dos testes mais significativos demonstraram reduções de EMG de até 61 ± 3 % no Soleus e 41 ± 10 % no Gastrocnemius Lateral. Adicionalmente, os resultados demonstraram também a eficiência em reabilitação da redução específica no EMG devido à otimização tendo em conta a fadiga muscular após cada teste. Finalmente, dois estudos preliminares paralelos emergiram dos testes piloto, que analisaram a adaptação muscular após uma nova condição assistiva ter sido definida ao longo do tempo e o efeito do posicionamento lateral dos atuadores do exoesqueleto nos músculos da perna.
Mestrado em Engenharia Biomédica
"Design and Control of a Low Cost and Compliant Assistive Knee Exoskeleton". Master's thesis, 2020. http://hdl.handle.net/2286/R.I.57417.
Texto completoDissertation/Thesis
Masters Thesis Engineering 2020
"A Wearable Pneumatic Device for Investigating Ankle Inversion and Eversion in Human Gait". Master's thesis, 2016. http://hdl.handle.net/2286/R.I.38780.
Texto completoDissertation/Thesis
Masters Thesis Mechanical Engineering 2016
Bianchi, Matteo. "Development and Testing of Hand Exoskeletons". Doctoral thesis, 2019. http://hdl.handle.net/2158/1154245.
Texto completo"A Study on the Analysis of Treadmill Perturbation Data for the Design of Active Ankle Foot Orthosis to Prevent Falls and Gait Rehabilitation". Master's thesis, 2020. http://hdl.handle.net/2286/R.I.62777.
Texto completoDissertation/Thesis
Masters Thesis Electrical Engineering 2020
ALO', Roberta. "Safety and energetic efficiency in wearable robots. Innovative actuated devices". Doctoral thesis, 2017. http://hdl.handle.net/11589/100567.
Texto completo"Design of a Portable Pneumatic Exosuit for Knee Extension Assistance with Gait Sensing using Fabric-based Inflatable Insole Sensors". Master's thesis, 2020. http://hdl.handle.net/2286/R.I.57312.
Texto completoDissertation/Thesis
Masters Thesis Mechanical Engineering 2020
(8647860), Aniket Pal. "Design and Fabrication of Soft Biosensors and Actuators". Thesis, 2020.
Buscar texto completoOne of the largest application of soft materials has been in the field of flexible electronics, especially in wearable sensors. While wearable sensors for physical attributes such as strain, temperature, etc. have been popular, they lack applications and significance from a healthcare perspective. Point-of-care (POC) devices, on the other hand, provide exceptional healthcare value, bringing useful diagnostic tests to the bedside of the patient. POC devices, however, have been developed for only a limited number of health attributes. In this dissertation I propose and demonstrate wireless, wearable POC devices to measure and communicate the level of various analytes in and the properties of multiple biofluids: blood, urine, wound exudate, and sweat.
Along with sensors, another prominent area of soft materials application has been in actuators and robots which mimic biological systems not only in their action but also in their soft structure and actuation mechanisms. In this dissertation I develop design strategies to improve upon current soft robots by programming the storage of elastic strain energy. This strategy enables us to fabricate soft actuators capable of programmable and low energy consuming, yet high speed motion. Collectively, this dissertation demonstrates the use of soft compliant materials as the foundation for developing new sensors and actuators for human use and interaction.
BARBERA, MARSIA SANTA. "A phenomenological exploration of the interplay of habits, bodily self-perception and social self-presentation in human-technology interaction". Doctoral thesis, 2018. http://hdl.handle.net/11570/3130744.
Texto completo(9708467), Siddhant Srinath Betrabet. "Data Acquisition and Processing Pipeline for E-Scooter Tracking Using 3D LIDAR and Multi-Camera Setup". Thesis, 2021.
Buscar texto completoAnalyzing behaviors of objects on the road is a complex task that requires data from various sensors and their fusion to recreate movement of objects with a high degree of accuracy. A data collection and processing system are thus needed to track the objects accurately in order to make an accurate and clear map of the trajectories of objects relative to various coordinate frame(s) of interest in the map. Detection and tracking moving objects (DATMO) and Simultaneous localization and mapping (SLAM) are the tasks that needs to be achieved in conjunction to create a clear map of the road comprising of the moving and static objects.
These computational problems are commonly solved and used to aid scenario reconstruction for the objects of interest. The tracking of objects can be done in various ways, utilizing sensors such as monocular or stereo cameras, Light Detection and Ranging (LIDAR) sensors as well as Inertial Navigation systems (INS) systems. One relatively common method for solving DATMO and SLAM involves utilizing a 3D LIDAR with multiple monocular cameras in conjunction with an inertial measurement unit (IMU) allows for redundancies to maintain object classification and tracking with the help of sensor fusion in cases when sensor specific traditional algorithms prove to be ineffectual when either sensor falls short due to their limitations. The usage of the IMU and sensor fusion methods relatively eliminates the need for having an expensive INS rig. Fusion of these sensors allows for more effectual tracking to utilize the maximum potential of each sensor while allowing for methods to increase perceptional accuracy.
The focus of this thesis will be the dock-less e-scooter and the primary goal will be to track its movements effectively and accurately with respect to cars on the road and the world. Since it is relatively more common to observe a car on the road than e-scooters, we propose a data collection system that can be built on top of an e-scooter and an offline processing pipeline that can be used to collect data in order to understand the behaviors of the e-scooters themselves. In this thesis, we plan to explore a data collection system involving a 3D LIDAR sensor and multiple monocular cameras and an IMU on an e-scooter as well as an offline method for processing the data to generate data to aid scenario reconstruction.