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Many industries require workers in warehouse and stockroom environments to perform frequent lifting tasks. Over time these repeated tasks can lead to excess strain on the worker's body and reduced productivity. This project seeks to develop an exoskeletal wrist fixture to be used in conjunction with a powered exoskeleton arm

Many industries require workers in warehouse and stockroom environments to perform frequent lifting tasks. Over time these repeated tasks can lead to excess strain on the worker's body and reduced productivity. This project seeks to develop an exoskeletal wrist fixture to be used in conjunction with a powered exoskeleton arm to aid workers performing box lifting types of tasks. Existing products aimed at improving worker comfort and productivity typically employ either fully powered exoskeleton suits or utilize minimally powered spring arms and/or fixtures. These designs either reduce stress to the user's body through powered arms and grippers operated via handheld controls which have limited functionality, or they use a more minimal setup that reduces some load, but exposes the user's hands and wrists to injury by directing support to the forearm. The design proposed here seeks to strike a balance between size, weight, and power requirements and also proposes a novel wrist exoskeleton design which minimizes stress on the user's wrists by directly interfacing with the object to be picked up. The design of the wrist exoskeleton was approached through initially selecting degrees of freedom and a ROM (range of motion) to accommodate. Feel and functionality were improved through an iterative prototyping process which yielded two primary designs. A novel "clip-in" method was proposed to allow the user to easily attach and detach from the exoskeleton. Designs utilized a contact surface intended to be used with dry fibrillary adhesives to maximize exoskeleton grip. Two final designs, which used two pivots in opposite kinematic order, were constructed and tested to determine the best kinematic layout. The best design had two prototypes created to be worn with passive test arms that attached to the user though a specially designed belt.
ContributorsGreason, Kenneth Berend (Author) / Sugar, Thomas (Thesis director) / Holgate, Matthew (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12
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Description
For the past two decades, advanced Limb Gait Simulators and Exoskeletons have been developed to improve walking rehabilitation. A Limb Gait Simulator is used to analyze the human step cycle and/or assist a user walking on a treadmill. Most modern limb gait simulators, such as ALEX, have proven themselves effective

For the past two decades, advanced Limb Gait Simulators and Exoskeletons have been developed to improve walking rehabilitation. A Limb Gait Simulator is used to analyze the human step cycle and/or assist a user walking on a treadmill. Most modern limb gait simulators, such as ALEX, have proven themselves effective and reliable through their usage of motors, springs, cables, elastics, pneumatics and reaction loads. These mechanisms apply internal forces and reaction loads to the body. On the other hand, external forces are those caused by an external agent outside the system such as air, water, or magnets. A design for an exoskeleton using external forces has seldom been attempted by researchers. This thesis project focuses on the development of a Limb Gait Simulator based on a Pure External Force and has proven its effectiveness in generating torque on the human leg. The external force is generated through air propulsion using an Electric Ducted Fan (EDF) motor. Such a motor is typically used for remote control airplanes, but their applications can go beyond this. The objective of this research is to generate torque on the human leg through the control of the EDF engines thrust and the opening/closing of the reverse thruster flaps. This device qualifies as "assist as needed"; the user is entirely in control of how much assistance he or she may want. Static thrust values for the EDF engine are recorded using a thrust test stand. The product of the thrust (N) and the distance on the thigh (m) is the resulting torque. With the motor running at maximum RPM, the highest torque value reached was that of 3.93 (Nm). The motor EDF motor is powered by a 6S 5000 mAh LiPo battery. This torque value could be increased with the usage of a second battery connected in series, but this comes at a price. The designed limb gait simulator demonstrates that external forces, such as air, could have potential in the development of future rehabilitation devices.
ContributorsToulouse, Tanguy Nathan (Author) / Sugar, Thomas (Thesis director) / Artemiadis, Panagiotis (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12
Description

This thesis worked towards the development of a parameterized 3D model off a cover that could go over any specific prosthesis depending on the parameters that had been entered. It also focused on gathering user inputs, which was done with the aid of the Amputee Coalition, that could be used

This thesis worked towards the development of a parameterized 3D model off a cover that could go over any specific prosthesis depending on the parameters that had been entered. It also focused on gathering user inputs, which was done with the aid of the Amputee Coalition, that could be used to create an aesthetic design on this cover. The Amputee Coalition helped to recruit participants through its website and social media platforms. Finally, multiple methods of creating a design were developed to increase the amount of customization that a user could have for their cover.

ContributorsRiley, Nicholas (Co-author) / Fusaro, Gerard (Co-author) / Sugar, Thomas (Thesis director) / Redkar, Sangram (Committee member) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2021-05
Description

This thesis worked towards the development of a parameterized 3D model off a cover that could go over any specific prosthesis depending on the parameters that had been entered. It also focused on gathering user inputs, which was done with the aid of the Amputee Coalition, that could be used

This thesis worked towards the development of a parameterized 3D model off a cover that could go over any specific prosthesis depending on the parameters that had been entered. It also focused on gathering user inputs, which was done with the aid of the Amputee Coalition, that could be used to create an aesthetic design on this cover. The Amputee Coalition helped to recruit participants through its website and social media platforms. Finally, multiple methods of creating a design were developed to increase the amount of customization that a user could have for their cover.

ContributorsFusaro, Gerard Anthony (Co-author) / Riley, Nicholas (Co-author) / Sugar, Thomas (Thesis director) / Redkar, Sangram (Committee member) / College of Integrative Sciences and Arts (Contributor) / Engineering Programs (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2021-05
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Description

Conversion of natural to urban land forms imparts influence on local and regional hydroclimate via modification of the surface energy and water balance, and consideration of such effects due to rapidly expanding megapolitan areas is necessary in light of the growing global share of urban inhabitants. Based on a suite

Conversion of natural to urban land forms imparts influence on local and regional hydroclimate via modification of the surface energy and water balance, and consideration of such effects due to rapidly expanding megapolitan areas is necessary in light of the growing global share of urban inhabitants. Based on a suite of ensemble-based, multi-year simulations using the Weather Research and Forecasting (WRF) model, we quantify seasonally varying hydroclimatic impacts of the most rapidly expanding megapolitan area in the US: Arizona's Sun Corridor, centered upon the Greater Phoenix metropolitan area. Using a scenario-based urban expansion approach that accounts for the full range of Sun Corridor growth uncertainty through 2050, we show that built environment induced warming for the maximum development scenario is greatest during the summer season (regionally averaged warming over AZ exceeds 1 °C).

Warming remains significant during the spring and fall seasons (regionally averaged warming over AZ approaches 0.9 °C during both seasons), and is least during the winter season (regionally averaged warming over AZ of 0.5 °C). Impacts from a minimum expansion scenario are reduced, with regionally averaged warming ranging between 0.1 and 0.3 °C for all seasons except winter, when no warming impacts are diagnosed. Integration of highly reflective cool roofs within the built environment, increasingly recognized as a cost-effective option intended to offset the warming influence of urban complexes, reduces urban-induced warming considerably. However, impacts on the hydrologic cycle are aggravated via enhanced evapotranspiration reduction, leading to a 4% total accumulated precipitation decrease relative to the non-adaptive maximum expansion scenario. Our results highlight potentially unintended consequences of this adaptation approach within rapidly expanding megapolitan areas, and emphasize the need for undeniably sustainable development paths that account for hydrologic impacts in addition to continued focus on mean temperature effects.

ContributorsGeorgescu, Matei (Author) / Mahalov, A. (Author) / Moustaoui, M. (Author)
Created2012-09-07
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Description

This research evaluates the climatic summertime representation of the diurnal cycle of near-surface temperature using the Weather Research and Forecasting System (WRF) over the rapidly urbanizing and water-vulnerable Phoenix metropolitan area. A suite of monthly, high-resolution (2 km grid spacing) simulations are conducted during the month of July with both

This research evaluates the climatic summertime representation of the diurnal cycle of near-surface temperature using the Weather Research and Forecasting System (WRF) over the rapidly urbanizing and water-vulnerable Phoenix metropolitan area. A suite of monthly, high-resolution (2 km grid spacing) simulations are conducted during the month of July with both a contemporary landscape and a hypothetical presettlement scenario. WRF demonstrates excellent agreement in the representation of the daily to monthly diurnal cycle of near-surface temperatures, including the accurate simulation of maximum daytime temperature timing. Thermal sensitivity to anthropogenic land use and land cover change (LULCC), assessed via replacement of the modern-day landscape with natural shrubland, is small on the regional scale. The WRF-simulated characterization of the diurnal cycle, supported by previous observational analyses, illustrates two distinct and opposing impacts on the urbanized diurnal cycle of the Phoenix metro area, with evening and nighttime warming partially offset by daytime cooling. The simulated nighttime urban heat island (UHI) over this semiarid urban complex is explained by well-known mechanisms (slow release of heat from within the urban fabric stored during daytime and increased emission of longwave radiation from the urban canopy toward the surface). During daylight hours, the limited vegetation and dry semidesert region surrounding metro Phoenix warms at greater rates than the urban complex. Although prior work has suggested that daytime temperatures are lower within the urban complex owing to the addition of residential and agricultural irrigation (i.e., “oasis effect”) we show that modification of Phoenix's surrounding environment to a biome more representative of temperate regions eliminates the daytime urban cooling. Our results indicate that surrounding environmental conditions, including land cover and availability of soil moisture, play a principal role in establishing the nature and evolution of the diurnal cycle of near-surface temperature for the greater Phoenix, Arizona, metropolitan area relative to its rural and undeveloped counterpart.

ContributorsGeorgescu, Matei (Author) / Moustaoui, M. (Author) / Mahalov, A. (Author) / Dudhia, J. (Author)
Created2011-12-11
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Description

Evaluation of built environment energy demand is necessary in light of global projections of urban expansion. Of particular concern are rapidly expanding urban areas in environments where consumption requirements for cooling are excessive. Here, we simulate urban air conditioning (AC) electric consumption for several extreme heat events during summertime over

Evaluation of built environment energy demand is necessary in light of global projections of urban expansion. Of particular concern are rapidly expanding urban areas in environments where consumption requirements for cooling are excessive. Here, we simulate urban air conditioning (AC) electric consumption for several extreme heat events during summertime over a semiarid metropolitan area with the Weather Research and Forecasting (WRF) model coupled to a multilayer building energy scheme. Observed total load values obtained from an electric utility company were split into two parts, one linked to meteorology (i.e., AC consumption) which was compared to WRF simulations, and another to human behavior. WRF-simulated non-dimensional AC consumption profiles compared favorably to diurnal observations in terms of both amplitude and timing. The hourly ratio of AC to total electricity consumption accounted for ~53% of diurnally averaged total electric demand, ranging from ~35% during early morning to ~65% during evening hours. Our work highlights the importance of modeling AC electricity consumption and its role for the sustainable planning of future urban energy needs. Finally, the methodology presented in this article establishes a new energy consumption-modeling framework that can be applied to any urban environment where the use of AC systems is prevalent.

ContributorsSalamanca, F. (Author) / Georgescu, Matei (Author) / Mahalov, A. (Author) / Moustaoui, M. (Author) / Wang, M. (Author) / Svoma, B. M. (Author)
Created2013-08-29
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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

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.
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