Matching Items (13)
Filtering by
- All Subjects: Trunk
- All Subjects: Exoskeleton
- Creators: Lee, Hyunglae
Description
The world population is aging. Age-related disorders such as stroke and spinal cord injury are increasing rapidly, and such patients often suffer from mobility impairment. Wearable robotic exoskeletons are developed that serve as rehabilitation devices for these patients. In this thesis, a knee exoskeleton design with higher torque output compared to the first version, is designed and fabricated.
A series elastic actuator is one of the many actuation mechanisms employed in exoskeletons. In this mechanism a torsion spring is used between the actuator and human joint. It serves as torque sensor and energy buffer, making it compact and
safe.
A version of knee exoskeleton was developed using the SEA mechanism. It uses worm gear and spur gear combination to amplify the assistive torque generated from the DC motor. It weighs 1.57 kg and provides a maximum assistive torque of 11.26 N·m. It can be used as a rehabilitation device for patients affected with knee joint impairment.
A new version of exoskeleton design is proposed as an improvement over the first version. It consists of components such as brushless DC motor and planetary gear that are selected to meet the design requirements and biomechanical considerations. All the other components such as bevel gear and torsion spring are selected to be compatible with the exoskeleton. The frame of the exoskeleton is modeled in SolidWorks to be modular and easy to assemble. It is fabricated using sheet metal aluminum. It is designed to provide a maximum assistive torque of 23 N·m, two times over the present exoskeleton. A simple brace is 3D printed, making it easy to wear and use. It weighs 2.4 kg.
The exoskeleton is equipped with encoders that are used to measure spring deflection and motor angle. They act as sensors for precise control of the exoskeleton.
An impedance-based control is implemented using NI MyRIO, a FPGA based controller. The motor is controlled using a motor driver and powered using an external battery source. The bench tests and walking tests are presented. The new version of exoskeleton is compared with first version and state of the art devices.
A series elastic actuator is one of the many actuation mechanisms employed in exoskeletons. In this mechanism a torsion spring is used between the actuator and human joint. It serves as torque sensor and energy buffer, making it compact and
safe.
A version of knee exoskeleton was developed using the SEA mechanism. It uses worm gear and spur gear combination to amplify the assistive torque generated from the DC motor. It weighs 1.57 kg and provides a maximum assistive torque of 11.26 N·m. It can be used as a rehabilitation device for patients affected with knee joint impairment.
A new version of exoskeleton design is proposed as an improvement over the first version. It consists of components such as brushless DC motor and planetary gear that are selected to meet the design requirements and biomechanical considerations. All the other components such as bevel gear and torsion spring are selected to be compatible with the exoskeleton. The frame of the exoskeleton is modeled in SolidWorks to be modular and easy to assemble. It is fabricated using sheet metal aluminum. It is designed to provide a maximum assistive torque of 23 N·m, two times over the present exoskeleton. A simple brace is 3D printed, making it easy to wear and use. It weighs 2.4 kg.
The exoskeleton is equipped with encoders that are used to measure spring deflection and motor angle. They act as sensors for precise control of the exoskeleton.
An impedance-based control is implemented using NI MyRIO, a FPGA based controller. The motor is controlled using a motor driver and powered using an external battery source. The bench tests and walking tests are presented. The new version of exoskeleton is compared with first version and state of the art devices.
ContributorsJhawar, Vaibhav (Author) / Zhang, Wenlong (Thesis advisor) / Sugar, Thomas G. (Committee member) / Lee, Hyunglae (Committee member) / Marvi, Hamidreza (Committee member) / Arizona State University (Publisher)
Created2018
Description
A robotic swarm can be defined as a large group of inexpensive, interchangeable
robots with limited sensing and/or actuating capabilities that cooperate (explicitly
or implicitly) based on local communications and sensing in order to complete a
mission. Its inherent redundancy provides flexibility and robustness to failures and
environmental disturbances which guarantee the proper completion of the required
task. At the same time, human intuition and cognition can prove very useful in
extreme situations where a fast and reliable solution is needed. This idea led to the
creation of the field of Human-Swarm Interfaces (HSI) which attempts to incorporate
the human element into the control of robotic swarms for increased robustness and
reliability. The aim of the present work is to extend the current state-of-the-art in HSI
by applying ideas and principles from the field of Brain-Computer Interfaces (BCI),
which has proven to be very useful for people with motor disabilities. At first, a
preliminary investigation about the connection of brain activity and the observation
of swarm collective behaviors is conducted. After showing that such a connection
may exist, a hybrid BCI system is presented for the control of a swarm of quadrotors.
The system is based on the combination of motor imagery and the input from a game
controller, while its feasibility is proven through an extensive experimental process.
Finally, speech imagery is proposed as an alternative mental task for BCI applications.
This is done through a series of rigorous experiments and appropriate data analysis.
This work suggests that the integration of BCI principles in HSI applications can be
successful and it can potentially lead to systems that are more intuitive for the users
than the current state-of-the-art. At the same time, it motivates further research in
the area and sets the stepping stones for the potential development of the field of
Brain-Swarm Interfaces (BSI).
robots with limited sensing and/or actuating capabilities that cooperate (explicitly
or implicitly) based on local communications and sensing in order to complete a
mission. Its inherent redundancy provides flexibility and robustness to failures and
environmental disturbances which guarantee the proper completion of the required
task. At the same time, human intuition and cognition can prove very useful in
extreme situations where a fast and reliable solution is needed. This idea led to the
creation of the field of Human-Swarm Interfaces (HSI) which attempts to incorporate
the human element into the control of robotic swarms for increased robustness and
reliability. The aim of the present work is to extend the current state-of-the-art in HSI
by applying ideas and principles from the field of Brain-Computer Interfaces (BCI),
which has proven to be very useful for people with motor disabilities. At first, a
preliminary investigation about the connection of brain activity and the observation
of swarm collective behaviors is conducted. After showing that such a connection
may exist, a hybrid BCI system is presented for the control of a swarm of quadrotors.
The system is based on the combination of motor imagery and the input from a game
controller, while its feasibility is proven through an extensive experimental process.
Finally, speech imagery is proposed as an alternative mental task for BCI applications.
This is done through a series of rigorous experiments and appropriate data analysis.
This work suggests that the integration of BCI principles in HSI applications can be
successful and it can potentially lead to systems that are more intuitive for the users
than the current state-of-the-art. At the same time, it motivates further research in
the area and sets the stepping stones for the potential development of the field of
Brain-Swarm Interfaces (BSI).
ContributorsKaravas, Georgios Konstantinos (Author) / Artemiadis, Panagiotis (Thesis advisor) / Berman, Spring M. (Committee member) / Lee, Hyunglae (Committee member) / Arizona State University (Publisher)
Created2017
Description
Falls are known to be a common occurrence and a costly one as well, as they are the second leading cause of unintentional deaths and millions of other injuries worldwide. Falls often occur due to an increase in trunk flexion angle, so this experiment aims to reduce the trunk flexion received while stepping over an obstacle. To achieve this a soft actuator was attached to the trunk and pressure was sent as subjects walked and stepped over an obstacle presented on a treadmill. The pressure is meant to stiffen the back which should in theory reduce the trunk flexion angle and lower the chances of falling. In this experiment, two groups were tested: three participants from a control group (healthy young adults) and three participants from an experimental group (healthy elderly adults). Since elderly adults have the highest fall risk due to overall lack of stability, they are the experimental group and the focus for this experiment. The results from the study showed that elderly adults had a beneficial effect with the soft actuator as there was a noticeable difference in trunk flexion when the device was attached. The experiment also supported prior research that stated that trunk flexion was greater in elderly adults than younger adults. Despite the positive results, further studies should be done to prove that the soft devices influence lowering trunk flexion angle as well as to see if the device has any noticeable effect on younger adults.
ContributorsFisher, Caleb (Author) / Lee, Hyunglae (Thesis director) / Olivas, Alyssa (Committee member) / Barrett, The Honors College (Contributor) / Harrington Bioengineering Program (Contributor)
Created2023-05
ContributorsFisher, Caleb (Author) / Lee, Hyunglae (Thesis director) / Olivas, Alyssa (Committee member) / Barrett, The Honors College (Contributor) / Harrington Bioengineering Program (Contributor)
Created2023-05
ContributorsFisher, Caleb (Author) / Lee, Hyunglae (Thesis director) / Olivas, Alyssa (Committee member) / Barrett, The Honors College (Contributor) / Harrington Bioengineering Program (Contributor)
Created2023-05
ContributorsFisher, Caleb (Author) / Lee, Hyunglae (Thesis director) / Olivas, Alyssa (Committee member) / Barrett, The Honors College (Contributor) / Harrington Bioengineering Program (Contributor)
Created2023-05
ContributorsFisher, Caleb (Author) / Lee, Hyunglae (Thesis director) / Olivas, Alyssa (Committee member) / Barrett, The Honors College (Contributor) / Harrington Bioengineering Program (Contributor)
Created2023-05
ContributorsFisher, Caleb (Author) / Lee, Hyunglae (Thesis director) / Olivas, Alyssa (Committee member) / Barrett, The Honors College (Contributor) / Harrington Bioengineering Program (Contributor)
Created2023-05
ContributorsFisher, Caleb (Author) / Lee, Hyunglae (Thesis director) / Olivas, Alyssa (Committee member) / Barrett, The Honors College (Contributor) / Harrington Bioengineering Program (Contributor)
Created2023-05
ContributorsFisher, Caleb (Author) / Lee, Hyunglae (Thesis director) / Olivas, Alyssa (Committee member) / Barrett, The Honors College (Contributor) / Harrington Bioengineering Program (Contributor)
Created2023-05