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- Genre: Academic theses
Description
With more people falling every year it is more important to continue to track everyday activity as well as follow the progress that someone is making over time. As well as at risk subjects, athletes are also wanting to track their activity as well as improve in finer control of their motions and abilities. To improve someone’s balance, strength, flexibility, and more someone can now start to use different biological sensors to help live a healthier and better lifestyle. To build different sensors requires materials that are comfortable to wear and accurate in collecting data. Graphene has been considered a wonder material that is used in many different applications which allow circuits and devices to use the flexible and durable material to conduct electricity. This paper shows multiple different tests and 36 trials of using graphene as a device which measures pressure that can be used to analyze gait patterns. These tests involve walking on a dual force plate treadmill for 90 continuous seconds with the graphene strip in the heel of the shoe wirelessly transmitting data to be recorded. The initial tests show that graphene will pick up noise and that graphene can start to deteriorate without proper protection. When looking at subject 1 there is less than .01 seconds of error between the graphene circuit and the ground truth. The ground truth was collected simultaneously, and the t-tests and ANOVA tests showed that there is no statistical difference between the graphene system and the ground truth. These tests also showed a 96.7% reproducibility score. There are limitations as seen in the later subjects, but these limitations can be overcome by further protecting the graphene and replacing the strip when it starts to show signs of deterioration which will allow graphene to be used in everyday bio wearable devices.
ContributorsSweeten, William (Author) / Lockhart, Thurmon (Thesis advisor) / Arquiza, Jose Apollo (Committee member) / Soangra, Rahul (Committee member) / Arizona State University (Publisher)
Created2022
Description
Shoulder injuries are common in major league baseball (MLB) players due to the explosive and unnatural throwing motion. The goal of the thesis was to provide quantitative information about factors that influence pitching outcomes, to better understand risk management of rotator cuff tears/injuries. Typically, shoulder injuries are due to the stress placed on the glenohumeral joint. While the kinetic chain and joint muscular forces produce the explosive overhead throw. There’s a vast range when it comes to shoulder injuries for pitchers. Rotator cuff injuries are common, and multiple factors contribute to either impingement/strains, tendinitis, or tears. The purpose of this study was to assess shoulder injuries sustained by MLB pitchers between 2015-2021, to identify changes between performance metrics, collected from a publicly available database for differences between pre and post injury. Selected factors of interest are: playing years in the league, injury history, average pitch types thrown for both preinjury and postinjury, release speed, release position in the x, y, and z directions, horizontal and vertical movement, horizontal and vertical positions of the ball when it crosses home plate (plate_x and plate_z), resultant velocities and accelerations, release spin rate, release extension, spin axis and return-to-sport determined by length of time spent on the injured list (IL) for more than 100 days or less than 100 days. Resultant velocities and accelerations were calculated using the provided metrics for velocity and acceleration in the x, y, z global dimensions. Resultant velocities were significant only for off-speed pitches (P= 0.053). Multiple linear regression analysis was preformed to relate ball flight kinematics (displacement, ball velocity, and acceleration), angular kinematics (spin rate and spin axis) per each pitch bin (e.g., fastballs, breaking balls, and off-speed pitches) to relate performance metrics found prior to injury and those after the sustained injury. Ball speed in miles per hour presented significance in the off-speed pitches, though spin rate was only significant for breaking ball pitches. Two distinct spin axis orientations were significant: breaking balls and off-speed pitches. The horizontal release position was significant for both fastballs and breaking balls than in the vertical release position which was significant for all pitch bins. From the analysis of variance, inferences were made to additional factors of interest that are out of the scope such as, kinematic sequence velocities and ground reaction forces.
ContributorsWalsh, McKenzie (Author) / Ofori, Edward (Thesis advisor) / Siegler, Jason (Committee member) / Peterson, Daniel (Committee member) / Arizona State University (Publisher)
Created2022
Description
This study examined bite force generation in American monkfish (Lophius americanus) and how it scaled with size, focusing in particular on the roles of the quadratomandibularis (QM) muscle and mechanical advantage in jaw closure in this species. Considering the feeding strategy of other anglerfishes, it was hypothesized that monkfish would trend towards force optimization rather than speed optimization in terms of the jaw closing system. The data revealed that bite force has a slightly positive allometric scaling relationship with size, while mechanical advantage was constant throughout growth. Maximum theoretical bite force ranged from 8 N to 87 N, with total lengths ranging from 17 cm to 51 cm. When comparing the bite force of the American monkfish to that of 10 other fish species, small monkfish exhibit a bite comparable to similarly sized species. However, larger monkfish were estimated to have a stronger bite than organisms of similar size.
ContributorsSawant, Sarika (Author) / Ferry, Lara (Thesis advisor) / Barley, Anthony (Committee member) / Shiffman, David (Committee member) / Arizona State University (Publisher)
Created2024
Description
Introduction. Intervertebral disc degeneration (DD) is one of the most common diagnoses in patients with neck pain and contributes to worldwide disability. Despite the advances in diagnostic imaging today, little is known about functional status of cervical DD. The purpose of this research was to 1) develop and validate an ovine model of cervical spine DD, 2) to quantify and compare the effect of disc lesions on dynamic spinal stiffness, and 3) study the effect of disc lesions on spinal accelerations and displacements during two types of spinal manipulative therapy (SMT). Methods. Fifteen sheep received surgically induced disc injury to the mid-cervical spine via scalpel wound a minimum of five months earlier and 15 sheep served as controls. All animals were biomechanically assessed at the level of the lesion using swept-sine mechanical loads from 0-20 Hz under load control to quantify dynamic dorsoventral (DV) spine stiffness (load/deformation, N/mm). The effect of disc lesion on stiffness was assessed using a one-factor repeated measures ANOVA comparing 32 mechanical excitation frequencies. Tri-axial accelerometers rigidly attached to adjacent vertebrae across the target level further evaluated the effect of disc lesion on spinal motion response during two types of SMTs. A 2x6x2 repeated measures ANOVA examined the effect of disc lesion and SMT force-time profile on spine motion response. Postmortem histological analysis graded specimens at the target site and comparison was made with descriptive statistics. Results. Annular disc tears were only observed in the disc lesion group and the mild degeneration identified was localized to the injured annular tissue that did not progress to affect other areas of the disc. No difference in overall DD grading was found among the groups. DV stiffness was significantly increased in the disc lesion group by approximately 34% at 31 of 32 frequencies examined (p<.05). SMTs resulted in decreased displacements in the disc lesion group (p<.05), and SMT type significantly influenced spinal accelerations for both the DV and axial planes. Conclusion. Disc lesions in the ovine cervical spine produce localized annular degenerative changes that increase the cervical spine dynamic stiffness and reduce its spinal motion response during manual examination and treatment that is further augmented by the force-time profile administered by the clinician.
ContributorsColloca, Christopher (Author) / Hinrichs, Richard N (Thesis advisor) / Abbas, James (Committee member) / Ringenbach, Shannon (Committee member) / Hooker, Steven (Committee member) / Arizona State University (Publisher)
Created2015
Description
Falls are the leading cause of fatal and non-fatal injuries in the older adult population with more than 27,000 fall related deaths reported every year[1]. Adults suffering from lower extremity arthritis have more than twice the likelihood of experiencing multiple falls resulting in increased fall-related injuries compared to healthy adults. People with lower extremity end-stage osteoarthritis(KOA), experience a number of fall risk factors such as knee instability, poor mobility, and knee pain/stiffness. At end-stage knee OA, the space between the bones in the joint of the knee is significantly reduced, resulting in bone to bone frictional wearing causing bone deformation. In addition, an impaired stepping response during a postural perturbation is seen in people with OA related knee instability. The most common treatment for end-stage knee osteoarthritis is a surgical procedure called, total knee replacement (TKR). It is known that TKR significantly reduces pain, knee stiffness, and restores musculoskeletal functions such as range of motion. Despite studies concluding that knee OA increases fall-risk, it remains unknown if standard treatments, such as TKR, can effectively decrease fall-risk. Analyzing the compensatory step response during a fall is a significant indicator of whether a fall or a recovery will occur in the event of a postural disturbance and is key to determining fall risk among people. Studies have shown reduced trunk stability and step length, as well as increased trunk velocities, correspond to an impaired compensatory step. This study looks at these populations to determine whether TKR significantly enhances compensatory stepping response by analyzing trunk velocities and flexions among other kinematic/kinetic variable analysis during treadmill induced perturbations and clinical assessments.
ContributorsMeza, Estefania (Author) / Honeycutt, Claire (Thesis advisor) / Lockhart, Thurmon E (Committee member) / Hodge, William A (Committee member) / Arizona State University (Publisher)
Created2019
Description
There are many inconsistencies in the literature regarding how to estimate the Lyapunov Exponent (LyE) for gait. In the last decade, many papers have been published using Lyapunov Exponents to determine differences between young healthy and elderly adults and healthy and frail older adults. However, the differences in methodologies of data collection, input parameters, and algorithms used for the LyE calculation has led to conflicting numerical values for the literature to build upon. Without a unified methodology for calculating the LyE, researchers can only look at the trends found in studies. For instance, LyE is generally lower for young adults compared to elderly adults, but these values cannot be correlated across studies to create a classifier for individuals that are healthy or at-risk of falling. These issues could potentially be solved by standardizing the process of computing the LyE.
This dissertation examined several hurdles that must be overcome to create a standardized method of calculating the LyE for gait data when collected with an accelerometer. In each of the following investigations, both the Rosenstein et al. and Wolf et al. algorithms as well as three normalization methods were applied in order to understand the extent at which these factors affect the LyE. First, the a priori parameters of time delay and embedding dimension which are required for phase space reconstruction were investigated. This study found that the time delay can be standardized to a value of 10 and that an embedding dimension of 5 or 7 should be used for the Rosenstein and Wolf algorithm respectively. Next, the effect of data length on the LyE was examined using 30 to 1300 strides of gait data. This analysis found that comparisons across papers are only possible when similar amounts of data are used but comparing across normalization methods is not recommended. And finally, the reliability and minimum required number of strides for each of the 6 algorithm-normalization method combinations in both young healthy and elderly adults was evaluated. This research found that the Rosenstein algorithm was more reliable and required fewer strides for the calculation of the LyE for an accelerometer.
This dissertation examined several hurdles that must be overcome to create a standardized method of calculating the LyE for gait data when collected with an accelerometer. In each of the following investigations, both the Rosenstein et al. and Wolf et al. algorithms as well as three normalization methods were applied in order to understand the extent at which these factors affect the LyE. First, the a priori parameters of time delay and embedding dimension which are required for phase space reconstruction were investigated. This study found that the time delay can be standardized to a value of 10 and that an embedding dimension of 5 or 7 should be used for the Rosenstein and Wolf algorithm respectively. Next, the effect of data length on the LyE was examined using 30 to 1300 strides of gait data. This analysis found that comparisons across papers are only possible when similar amounts of data are used but comparing across normalization methods is not recommended. And finally, the reliability and minimum required number of strides for each of the 6 algorithm-normalization method combinations in both young healthy and elderly adults was evaluated. This research found that the Rosenstein algorithm was more reliable and required fewer strides for the calculation of the LyE for an accelerometer.
ContributorsSmith, Victoria (Author) / Lockhart, Thurmon E (Thesis advisor) / Spano, Mark L (Committee member) / Honeycutt, Claire F (Committee member) / Lee, Hyunglae (Committee member) / Peterson, Daniel S (Committee member) / Arizona State University (Publisher)
Created2019
Description
This dissertation aimed to evaluate the effectiveness and drawbacks of promising fall prevention strategies in individuals with stroke by rigorously analyzing the biomechanics of laboratory falls and compensatory movements required to prevent a fall. Ankle-foot-orthoses (AFOs) and functional electrical stimulators (FESs) are commonly prescribed to treat foot drop. Despite well-established positive impacts of AFOs and FES devices on balance and gait, AFO and FES users fall at a high rate. In chapter 2 (as a preliminary study), solely mechanical impacts of a semi-rigid AFO on the compensatory stepping response of young healthy individuals following trip-like treadmill perturbations were evaluated. It was found that a semi-rigid AFO on the stepping leg diminished the propulsive impulse of the compensatory step which led to decreased trunk movement control, shorter step length, and reduced center of mass (COM) stability. These results highlight the critical role of plantarflexors in generating an effective compensatory stepping response. In chapter 3, the underlying biomechanical mechanisms leading to high fall risk in long-term AFO and FES users with chronic stroke were studied. It was found that AFO and FES users fall more than Non-users because they have a more impaired lower limb that is not fully addressed by AFO/FES, therefore leading to a more impaired compensatory stepping response characterized by increased inability to generate a compensatory step with paretic leg and decreased trunk movement control. An ideal future AFO that provides dorsiflexion assistance during the swing phase and plantarflexion assistance during the push-off phase of gait is suggested to enhance the compensatory stepping response and reduce more falls. In chapter 4, the effects of a single-session trip-specific training on the compensatory stepping response of individuals with stroke were evaluated. Trunk movement control was improved after a single session of training suggesting that this type of training is a viable option to enhance compensatory stepping response and reduce falls in individuals with stroke. Finally, a future powered AFO with plantarflexion assistance complemented by a trip-specific training program is suggested to enhance the compensatory stepping response and decrease falls in individuals with stroke.
ContributorsNevisipour, Masood (Author) / Honeycutt, Claire (Thesis advisor) / Sugar, Thomas (Thesis advisor) / Artemiadis, Panagiotis (Committee member) / Abbas, James (Committee member) / Lee, Hyunglae (Committee member) / Arizona State University (Publisher)
Created2019
Description
The Atlantic razor clam burrows underground with effectiveness and efficiency by coordinating shape changings of its shell and foot. Inspired by the burrowing strategy of razor clams, this research is dedicated to developing a self-burrowing technology for active underground explorations by investigating the burrowing mechanism of razor clams from the perspective of soil mechanics. In this study, the razor clam was observed to burrow out of sands simply by extending and contracting its foot periodically. This upward burrowing gait is much simpler than its downward burrowing gait, which also involves opening/closing of the shell and dilation of the foot. The upward burrowing gait inspired the design of a self-burrowing-out soft robot, which drives itself out of sands naturally by extension and contraction through pneumatic inflation and deflation. A simplified analytical model was then proposed and explained the upward burrowing behavior of the robot and razor clams as the asymmetric nature of soil resistances applied on both ends due to the intrinsic stress gradient of sand deposits. To burrow downward, additional symmetry-breaking features are needed for the robot to increase the resistance in the upward burrowing direction and to decrease the resistance in the downward burrowing direction. A potential approach is by incorporating friction anisotropy, which was then experimentally demonstrated to affect the upward burrowing of the soft robot. The downward burrowing gait of razor clams provides another inspiration. By exploring the analogies between the downward burrowing gait and in-situ soil characterization methods, a clam-inspired shape-changing penetrator was designed and penetrated dry granular materials both numerically and experimentally. Results demonstrated that the shell opening not only contributes to forming a penetration anchor by compressing the surrounding particles, but also reduces the foot penetration resistance temporally by creating a stress arch above the foot; the shell closing facilitates the downward burrowing by reducing the friction resistance to the subsequent shell retraction. Findings from this research shed lights on the future design of a clam-inspired self-burrowing robot.
ContributorsHuang, Sichuan (Author) / Tao, Junliang (Thesis advisor) / Kavazanjian, Edward (Committee member) / Marvi, Hamidreza (Committee member) / Zapata, Claudia (Committee member) / van Paassen, Leon (Committee member) / Arizona State University (Publisher)
Created2020
Description
Traditionally, wearable exoskeletons for gait assistance have addressed the issue of high power requirement of providing support during walking. However, exoskeletons often are bulky, and suffer from misalignment of joints between the robot and the user. Soft robots in recent work have shown the ability to provide a high degree of compliance with a light weight and lower cost. This work presents the design, control, and evaluation of a soft inflatable exosuit to assist knee extension. First, the design of novel soft inflatable actuators of I cross-section and their application in the soft inflatable exosuit is presented. The actuators are applied to a soft and lightweight garment interface to assist in knee extension during the swing phase demonstrating reduced muscle activity for the quadriceps. Second, the control of the soft exosuit is presented with the introduction of a knee angle measurement system and smart shoe insole sensors. A new control method using human joint stiffness models as well as actuator models is developed. The new control method is evaluated with three users and a reduction in the sEMG activity of the quadriceps is observed with an increase in the activity of the hamstrings. Third, an improved version of the exosuit and a controller to assist knee extension in swing phase and initial stance are presented. The exosuit is applied to seven healthy and three impaired participants. Kinematics, muscle activity and gait compensations are studied. Reduced muscle activity for the quadriceps is seen in healthy participants with reduced execution times for functional activities such as timed up-and-go as well as sit-to-stand transitions in impaired participants. Finally, an untethered version of the soft exosuit using inflatable actuator composites and a portable pneumatic source are presented. Finite element models for the composites and inflatable actuators are generated and the actuators are characterized for performance. The design of a portable source for the exosuit is also presented. The inflatable actuator composites and the portable source are implemented in a portable exosuit system which demonstrated a reduction in the Vastus Lateralis activity during incline walking for three participants. Overall, this work investigated the feasibility of several versions of the soft exosuit for gait assistance.
ContributorsSridar, Saivimal (Author) / Zhang, Wenlong (Thesis advisor) / Sugar, Thomas (Committee member) / Lockhart, Thurmon (Committee member) / Arizona State University (Publisher)
Created2020
Description
The human ankle is a vital joint in the lower limb of the human body. As the point of interaction between the human neuromuscular system and the physical world, the ankle plays important role in lower extremity functions including postural balance and locomotion . Accurate characterization of ankle mechanics in lower extremity function is essential not just to advance the design and control of robots physically interacting with the human lower extremities but also in rehabilitation of humans suffering from neurodegenerative disorders.
In order to characterize the ankle mechanics and understand the underlying mechanisms that influence the neuromuscular properties of the ankle, a novel multi-axial robotic platform was developed. The robotic platform is capable of simulating various haptic environments and transiently perturbing the ankle to analyze the neuromechanics of the ankle, specifically the ankle impedance. Humans modulate ankle impedance to perform various tasks of the lower limb. The robotic platform is used to analyze the modulation of ankle impedance during postural balance and locomotion on various haptic environments. Further, various factors that influence modulation of ankle impedance were identified. Using the factors identified during environment dependent impedance modulation studies, the quantitative relationship between these factors, namely the muscle activation of major ankle muscles, the weight loading on ankle and the torque generation at the ankle was analyzed during postural balance and locomotion. A universal neuromuscular model of the ankle that quantitatively relates ankle stiffness, the major component of ankle impedance, to these factors was developed.
This neuromuscular model is then used as a basis to study the alterations caused in ankle behavior due to neurodegenerative disorders such as Multiple Sclerosis and Stroke. Pilot studies to validate the analysis of altered ankle behavior and demonstrate the effectiveness of robotic rehabilitation protocols in addressing the altered ankle behavior were performed. The pilot studies demonstrate that the altered ankle mechanics can be quantified in the affected populations and correlate with the observed adverse effects of the disability. Further, robotic rehabilitation protocols improve ankle control in affected populations as seen through functional improvements in postural balance and locomotion, validating the neuromuscular approach for rehabilitation.
In order to characterize the ankle mechanics and understand the underlying mechanisms that influence the neuromuscular properties of the ankle, a novel multi-axial robotic platform was developed. The robotic platform is capable of simulating various haptic environments and transiently perturbing the ankle to analyze the neuromechanics of the ankle, specifically the ankle impedance. Humans modulate ankle impedance to perform various tasks of the lower limb. The robotic platform is used to analyze the modulation of ankle impedance during postural balance and locomotion on various haptic environments. Further, various factors that influence modulation of ankle impedance were identified. Using the factors identified during environment dependent impedance modulation studies, the quantitative relationship between these factors, namely the muscle activation of major ankle muscles, the weight loading on ankle and the torque generation at the ankle was analyzed during postural balance and locomotion. A universal neuromuscular model of the ankle that quantitatively relates ankle stiffness, the major component of ankle impedance, to these factors was developed.
This neuromuscular model is then used as a basis to study the alterations caused in ankle behavior due to neurodegenerative disorders such as Multiple Sclerosis and Stroke. Pilot studies to validate the analysis of altered ankle behavior and demonstrate the effectiveness of robotic rehabilitation protocols in addressing the altered ankle behavior were performed. The pilot studies demonstrate that the altered ankle mechanics can be quantified in the affected populations and correlate with the observed adverse effects of the disability. Further, robotic rehabilitation protocols improve ankle control in affected populations as seen through functional improvements in postural balance and locomotion, validating the neuromuscular approach for rehabilitation.
ContributorsNalam, Varun (Author) / Lee, Hyunglae (Thesis advisor) / Artemiadis, Panagiotis (Committee member) / Santello, Marco (Committee member) / Sugar, Thomas (Committee member) / Lockhart, Thurmon (Committee member) / Arizona State University (Publisher)
Created2020