Download or read book Design of a Novel Mechatronic System to Test Prosthetic Feet Under Specific Walking Activity Loads and Evaluate Their Lower Leg Trajectory Error written by Heidi V. Peterson and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lower limb amputees, numbered at more than 40 million globally, are challenged with limited mobility due to prosthetic devices that do not fully restore the functionalities of their biological limbs. While commercially available energy storage and return feet do restore some of the functionalities of a missing limb, the development and use of these prosthetic devices are limited by the current design, evaluation, and prescription processes. This is because the connection between the combined mechanical characteristics of a foot and user outcomes, such as mobility, comfort, and walking effort, is not fully understood. The lower leg trajectory error (LLTE) is a novel prosthetic foot performance metric that provides a quantitative connection between the mechanical characteristics of a foot and the expected gait of an amputee. Thus far, the LLTE value of a foot has only been calculated via simulation, which limits the practical use of the metric in prosthetic foot design, evaluation, and prescription. One way to systematically measure the LLTE value of a physical prosthetic foot would be through a mechanical bench test, but the capabilities of existing bench testing devices are insufficient due to limited degrees of actuation and reported accuracy. The purpose of this work was to design the Prosthetic Foot Testing Device (PFTD), a mechatronic testing device that could apply specific and uncoupled GRFs to any CoP on a foot and measure its deflection, through which it could measure the LLTE value and thus predict walking performance of any passive prosthetic foot. First, we determined high-level functional requirements of the PFTD, including the ranges of reference loads and prosthetic foot deflections as well as the LLTE measurement accuracy, such that the PFTD could meaningfully measure the full range of commercially available prosthetic feet. Second, we derived the relationships between the variables used to calculate the LLTE metric and those controlled or measured by the PFTD. Third, we used these relationships to design the PFTD and perform sensitivity analysis to ensure it could meaningfully and accurately measure the LLTE value of any passive prosthetic foot. In future work, the PFTD will be built, validated, and used to measure and compare the LLTE values of various prosthetic feet. The PFTD and theory presented herein may become a new tool in the prosthetics industry to systematically and amputee-independently measure and compare the performance of prosthetic devices using the LLTE value as a universal metric, which could ultimately improve the development and prescription processes of prostheses.

Download or read book Experimental Validation of the Lower Leg Trajectory Error an Optimization Metric for Prosthetic Feet written by Victor Prost (S.M.) and published by . This book was released on 2017 with total page 75 pages. Available in PDF, EPUB and Kindle. Book excerpt: In India alone, there are about one million people with lower limb amputation who require significantly more effort to walk than able-bodied individuals. They are subject to social stigmas preventing them from employment and independent living. There is a gap between the high-performance prosthetic feet in the United States that come at a cost of thousands of dollars and affordable prostheses in the developing world, which lack quality, durability and performance. The aim of this project was to design a high-performance, mass-manufacturable passive prosthetic foot for Indian amputees that complies with international standards at an affordable cost. This work was conducted in collaboration with Bhagwan Mahaveer Viklang Sahayata Samiti (BMVSS, the Jaipur Foot organization), in Jaipur, India. Through a novel, quantitative method called Lower Leg Trajectory Error (LLTE) which maps the mechanical design of a prosthetic foot to its biomechanical performance, we can optimize the compliance and geometry of a passive prosthesis to replicate able-bodied gait and loading on the foot using affordable materials. This thesis is focused on evaluating the accuracy and validity of the LLTE as a novel design tool. To validate feet designed using the LLTE, field trials and clinical testing were performed on prosthetic feet prototypes with varying stiffnesses and geometries. The novel merits of these prototypes are that they can replicate a similar quasi-stiffness and range of motion of a physiological ankle using interchangeable custom U-shaped constant stiffness springs ranging from 1.5 to 24 Nm/deg and having up to 30' of range of motion. Initial testing conducted using these feet validated the consitutive model of the LLTE and suggested that prosthetic feet designed with lower LLTE values could offer benefits to the user. In future work, the validated design tool will be used to create high-performance, low-cost and mass-manufacturable prosthetic feet for amputees, throughout the developing world and in the developed world.

Download or read book Development and Validation of a Novel Framework for Designing and Optimizing Passive Prosthetic Feet Using Lower Leg Trajectory written by Kathryn M. Olesnavage and published by . This book was released on 2018 with total page 160 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents a novel framework to optimize the design of passive prosthetic feet to best replicate physiological lower leg trajectory under typical ground reaction forces. The goal of developing this framework is ultimately to design a low cost, mass manufacturable prosthetic foot for persons with amputations living in the developing world. Despite a vast body of literature on prosthetic foot design, there is a dearth of knowledge regarding how the mechanical characteristics of passive prosthetic feet affect their biomechanical performance. Without understanding this relationship, the design of a prosthetic foot cannot be optimized for peak performance as measured by gait symmetry, metabolic cost of walking, or subjective feedback. The approach to designing prosthetic feet introduced here involves predicting the lower leg trajectory for a given prosthetic foot under typical loading and comparing this modeled trajectory to target physiological gait kinematics with a novel metric called the Lower Leg Trajectory Error (LLTE). The usefulness of this design approach was demonstrated by optimizing three simple conceptual models of prosthetic feet, each with two degrees of freedom. An experimental prosthetic foot with variable ankle stiffness was built based on one of these analytical models and tested by a subject with unilateral transtibial amputation in a gait lab under five different ankle stiffness conditions. Across five prosthetic-side steps with each of the five ankle stiffness conditions, the constitutive model used in the optimization process accurately predicted the horizontal and vertical position of the knee throughout stance phase to within an average of 1.0 cm and 0.3 cm, respectively, and the orientation of the lower leg segment to within 1.5°. After validating the theory behind this approach with the simple conceptual foot models, a method was developed to implement the same approach in optimizing the shape and size of a single-part compliant foot, resulting in a lightweight, easy to manufacture, low cost prosthetic foot. The optimal prosthetic foot design was built and tested qualitatively on six subjects in India with unilateral transtibial amputations with promising preliminary results..

Download or read book Development and Validation of a Passive Prosthetic Foot Design Framework Based on Lower Leg Dynamics written by Victor Prost and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: People with lower limb amputations face considerable challenges to everyday mobility that affect their quality of life. This is especially the case in low and middle income countries (LMIC) where the lack of affordable high-performance prosthetic devices forces people to use inadequate limbs that require more effort and exhibit unnatural walking motions. This thesis develops methods for designing customized, high-performance, low-cost, and durable passive prosthetic feet that enable users to replicate able-bodied walking patterns. The current development process of prosthetic feet relies on extensive user testing and iterative design rather than a predictive and quantitative design methodology that would facilitate the development of improved prosthetic devices. Here, we further developed the lower leg trajectory error (LLTE) framework, a novel design methodology that connects the mechanical characteristics of a prosthetic foot to the user's walking pattern. We extended the methodology to describe the entire prosthetic step for multiple walking activities and foot architectures, including durability requirements, and efficient constitutive modelling of prosthetic foot designs. These developments resulted in more than a two-fold improvement in the walking performance of LLTE-designed prosthetic feet that fulfilled the international standards durability requirements, and a ten-times reduction in computational time compared to the original LLTE methodology. The LLTE design framework and foot architectures described in this work should provide designers, engineers, and clinicians with a practical, predictive, and quantitative tool for designing and evaluating prosthetic feet. Using the LLTE framework, low-cost, customized passive prosthetic feet prototypes were designed and clinically evaluated for level ground walking against conventional carbon fiber prostheses. The LLTE feet performed as predicted with no iteration for a wide variety of patients. In addition, these prosthetic feet demonstrated 14% closer replication of able-bodied walking motion, 46% higher propulsion, 13% lower peak leg loading, and higher user preference compared to a standard commercial carbon fiber foot for less than a tenth of its cost. These results suggest that the LLTE framework can be used to design customized, low-cost prostheses that enable able-bodied walking pattern, with reduced effort and risk of long-term injuries. A systematic sensitivity investigation of five foot prototypes designed using the LLTE framework showed that users' most closely replicated the target able-bodied walking pattern with the predicted LLTE-optimal foot, experimentally demonstrating that the predicted optimum was a true optimum. In addition, the predicted LLTE performance of the prototype feet was correlated to the user's ability to replicate the target walking pattern, user's preference, and conventional clinical outcomes. This sensitivity study illustrated the utility of the LLTE framework as an systematic and robust evaluation methodology for prosthetic feet, potentially improving the development and prescription of prosthetic devices. A rugged prosthetic foot with a cosmetic overmold was also designed using the LLTE framework to accommodate the economic, environmental, and cultural requirements for users in India. The foot was distributed to 16 prosthetic users in India to be used for several months. Users walked 16% faster with the foot compared to their daily-use prosthesis, the Jaipur foot, and commented on the reduced effort of walking. The rugged foot endured one million cycles of fatigue testing, and the wear and tear of daily living without alterations in its mechanical performance. This mass-manufacturable, high-performance rugged foot could replace conventional feet used in low-resource settings and significantly improve the mobility and quality of life of LMIC prosthesis users.

Download or read book Mechatronic Design of an ISO 22675 Prosthetic Foot Tester written by ZhiYi Liang (S.B.) and published by . This book was released on 2019 with total page 86 pages. Available in PDF, EPUB and Kindle. Book excerpt: Researchers in the Global Engineering and Research Lab (GEAR Lab) at MIT have been actively working on an improved design of the most widely distributed prosthetic foot in India, known as the Jaipur Foot. By developing an ISO 22675 prosthetic foot life cycle tester, researchers in GEAR Lab can test the durability of the prosthetic designs and fulfill the life cycle requirements. This thesis explores the mechatronic design of an ISO 22675 prosthetic foot life cycle tester and its contribution towards establishing fatigue testing infrastructure for prosthetics in GEAR Lab. It is broken down into three sub-systems: mechanical design, electrical design, and control architecture. It also serves as a documentation file detailing the engineering design decisions that were made during the development of the project. By building upon a mechanical framework that was established by past researchers, mechanical redesigns were conducted on the force loading assembly and the pivoting loading platform. The redesigned mechanical assembly were tested to be able to sustain maximum test force level with a safety factor of at least 1.5. The redesigned structure also provides adjustability to four crucial geometric parameters specified by the ISO 22675 standard and enables testing of prosthetic foot ranging from 23 cm to 31 cm in length. In addition, a system control PCB was designed and developed to serve as an electrical communication hub for reliable communication between the host controller LabVIEW myRIO-1900, various sensors, and the two actuators responsible for applying the test force and rotating the loading platform. A control architecture was developed and implemented through a LabVIEW parallel timed loop control structure to execute the control loop at a rate of 1kHz to reliably control both the stepper motor and the servo in parallel, read sensor states and display system current real time state through a graphical user interface.

Download or read book Evaluating Use of a Robotic Prosthetic Foot Emulator to Test drive Prosthetic Feet in People with Lower Limb Amputation written by Elizabeth Gabrielle Halsne and published by . This book was released on 2021 with total page 195 pages. Available in PDF, EPUB and Kindle. Book excerpt: Selection of a prosthetic foot is an important decision for lower limb prosthesis prescription. Without objective evidence to guide foot prescription, clinicians (i.e., physicians and prosthetists) rely on their expertise to best match a foot to a patient’s functional goals. However, persons with lower limb amputation typically cannot usually try different prosthetic feet before one is ultimately selected. The robotic prosthetic foot emulator (PFE) is a technological advancement that could facilitate a test-driving approach to foot selection, in which the prosthesis user quickly trials several prosthetic feet and then contributes their experiential input to the decision-making process. This dissertation used quantitative and qualitative approaches to assess use of the PFE for test-driving prosthetic feet. First, quantitative procedures to emulate the angular stiffness of commercial feet used in the PFE were developed and validated. Mechanical testing procedures were used to collect angular stiffness data for a variety of commercial prosthetic forefeet. PFE foot profiles were created from these data and mechanical testing was repeated with the emulated feet to evaluate the accuracy of the emulation. Angular stiffness of emulated feet was significantly correlated with that of respective commercial feet. Mean differences in angular stiffness between emulated and commercial feet were less than 1%, and were independent of prosthetic foot type and example foot sizes or intended user body weights. Participants with lower limb amputation (LLA) then used both the PFE and commercial feet to complete a test-driving protocol, before completing qualitative, semi-structured interviews with an investigator. The purpose of the interviews was to develop a grounded theory of the experience of prosthetic foot prescription from the perspective of prosthesis users. The core category was the relationship between knowledge about prosthetic feet and decision-making power. Participants described prosthetic foot prescription as an educational journey. Relationships with clinicians and peers with LLA were recognized as highly valued and capable of influencing the quality of the foot prescription experience. Participants also noted the importance of their individuality and preferences for the extent of being engaged in decision-making. Test-driving accelerated users’ education about feet options and facilitated discussion with clinicians. Therefore, complementary findings from these two studies support the potential for future use of the PFE for test-driving. Further research may be warranted to evaluate the use of the PFE and test-driving to augment prosthetic foot prescription processes.

Download or read book Design of a Sensor Based Data Collection System for Lower Limb Prosthetic Gait Analysis written by Thomas Campbell Bulea and published by . This book was released on 2005 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: The primary function of a lower limb prosthetic device is restoration of ambulation. Proper alignment - the correct spatial relationship between artificial sockets and the natural limb - is paramount to attain an efficient, comfortable gait with a desired loading pattern on residual leg. Despite advances in prosthetic device design, the clinical alignment process remains subjective and nonsystematic due to a lack of an inexpensive, effective method quantification of the amputee gait. Gait laboratories provide accurate data for gait monitoring; however cost and lab availability prohibit most patients from this benefit. Economic concerns aside, gait labs do not fill the void of information needed to quantify the alignment process. Observation time and environment are too limited to amass useful information for prosthetic alignment improvement. A more logical and systematic approach to clinical alignment requires the quantification of amputee gait before and after adjustments made by the prosthetist. To complete this quantification must span extended periods of time and terrain. Thus, there is patent need for a portable, reliable, and cost effective motion capture system. This project proposes a design for such a system. Comprised of body (prosthetic) mounted inertial sensors - accelerometers and gyroscopes - the system is designed to track kinematics of the limbs during a walking cycle. The goal of this work is to prove the feasibility of motion capture system using these body mounted sensors. The effectiveness of the system will be judged as its ability to capture planar motion using two (2) accelerometers and one gyroscope mounted on an aluminum bar (simulating a prosthetic device). The design of system was formulated based on an extensive literature review pertaining to body mounted sensor systems. The rigid structure of the prostheses gives a prosthetic mounted sensor system distinct advantage over a body mounted system in terms of inverse kinematic calculations.

Download or read book Generative Design of an Additively Manufactured Passive Prosthetic Foot for Multiple Forms of Ambulation written by Megan McGuire and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Over 2.1 million people in the United States are living with limb loss. The majority of those individuals have a loss of a lower limb (Ziegler‐Graham et al, 2008), and over 150,000 people undergo lower limb amputation per year (Dillingham et al, 2005; Owings et al, 1996). Those with transtibial or transfemoral limb loss utilize lower-limb prostheses, which commonly includes a passive prosthetic foot. Prosthetic feet can be costly, limited in their functionality, and can be difficult to integrate with the addition of a sock, prosthetic cover (i.e. shell), and shoe. This study explores the use of computer-aided generative design to create usable additively manufactured (AM) mechanically-passive prosthetic feet that are optimized for multiple forms of ambulation including level, upstairs, downstairs, and sloped walking. Using the generative design framework, the foot is not only optimized for safety during multiple forms of ambulation, but also redesigned for reduced mass and cost using AM, as well as greater ease of use – forgoing the need for a separate shell or shoe by combining the prosthetic foot and customized sole into a single integrated unit. The result of this design study is a customizable 3D-printed foot model and sole, verified for safety through compressive loads to simulate multiple ambulation tasks, as well as different phase within these tasks. The models were tested against existing carbon fiber and 3D printed passive foot models, with and without a shell and shoe, under compression to simulate different forms of ambulation. For these conditions, we evaluate stiffness profiles and failure modes experimentally, as well as examine the distributions of stress and displacement within the finite element simulations of the generative design to understand how these designs function during different phases and modes of ambulation. This creation and validation of an AM, customizable foot and shoe prosthetic could open the door for the increased accessibility and performance of foot prostheses, as well as improve the quality of life for lower-limb amputees

Download or read book Kinematic Modeling for Control of Agile Powered Prosthetic Legs Over Continuously Varying Speeds and Inclines written by Kyle R. Embry and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: People with above knee amputations face many unique challenges during their activities of daily living. Conventional passive prosthetic legs are not optimal for the range of ambulation tasks amputee users face daily, including walking at varied speeds and inclines, which hampers amputee mobility in the community and quality of life. Powered knee and ankle prosthetic legs have the potential to improve quality of by providing actuators that can perform net positive work at the knee and ankle, reducing the work required from the wearer and making more tasks possible. However, the controllers for these devices are limited to a small set of pre-defined tasks that require many hours of tuning for each user. The ubiquitous use of discrete task-specific controllers follows from the prevailing paradigm of viewing human locomotion as a discrete set of activities. The overall goal of this dissertation is to model human locomotion over continuously varying speeds and inclines to help realize the design of agile, powered prostheses without discrete task controllers. There is a fundamental gap in knowledge about how to analyze and model continuously varying locomotion, which greatly limits the adaptability and agility of powered prostheses. The central hypothesis of this dissertation is that the knee and ankle kinematics for a continuous interval of speeds and inclines can be parameterized by a continuous mathematical model based on gait phase, walking speed, and incline alone. We have formulated a convex optimization framework to solve for the optimal parameters of this continuous model from a discrete experimental sampling of human kinematics during a variety of tasks. Using quasi-random phase shifting perturbations during a variety of walking inclines, we have investigated if a single phase variable can be used to accurately parameterize gait for a range of powered prosthetic leg applications. We then determined the degree to which sensors onboard the prosthesis can accurately measure walking speed and incline, and evaluate how the accuracy of these measurements affects the model0́9s ability to accurately predict joint kinematics for a number of users and conditions. This dissertation is scientifically significant to understanding how humans continuously adapt to speed and slope, technologically significant to the design of agile variable-activity prosthetic legs, and clinically significant to the adoption of powered prostheses that enable community ambulation for lower-limb amputees.

Download or read book Development and Application of Semi active Prosthetic Foot ankle Systems written by Kieran Kieran Nichols and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: There is a need for improved design and function of prosthetic devices to aid walking in persons with transtibial amputations. This dissertation focused on two semi-active ankle-foot prosthetic devices, the Variable Stiffness Foot (VSF) and Two Axis aDaptable Ankle (TADA), which allow users to change biomechanical ankle-foot functions using simpler designs, lower costs, and less power than active prostheses. The background for this dissertation explored the main lower-limb biomechanical principles of prosthetic design, prosthetic-walking mechanics, and sensor feedback. The VSF manuscript investigated the mechanical impact of adjusting stiffness on lower limb mechanics using a prosthetic foot, which can modulate forefoot stiffness. A less stiff VSF resulted in increased ankle dorsiflexion angle, decreased ankle plantarflexor moment, decreased knee extension, decreased knee flexor moment, and increased magnitudes of prosthetic energy storage, energy return, and push-off power. These findings suggest that a less stiff VSF may offer advantages in lower joint moments and greater ankle angle range of motion for individuals with lower-limb prostheses. The Two Axis aDaptable Ankle (TADA) is a semi-active prosthetic ankle that offers independent modulation of sagittal and frontal ankle angles. The first TADA study modified a Raspberry Pi 4 for real-time control of brushless direct-current motors, allowing for precise and reliable ankle angle adjustments. The control system employed CANopen over EtherCAT (CoE) for synchronized communication between the Raspberry Pi and motor controllers. The results demonstrated improved movement times, lower movement errors, and higher data transmission rates. As a continuation, the final TADA study aimed to create an ankle prosthesis that can synchronously record lower-body kinematics and kinetics and assess the sensitivity of those mechanics to different walking speeds and ankle angles for an unimpaired participant. Using a pylon load cell, the results showed that peak magnitudes and impulses increased for plantarflexor moments with increased plantarflexion angle and for evertor moments with increased inversion angles. Moreover, the peak sagittal pylon moments increased with higher walking speeds. The integrated control system of the TADA effectively controls ankle angles, can affect lower-body mechanical outcomes, and can allow for efficient adaptation to various speeds and terrains in users with transtibial amputations.

Download or read book Human machine centered Design and Actuation of Lower Limb Prosthetic Systems written by Philipp Beckerle and published by . This book was released on 2014 with total page 219 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Design and Implications of a Robotic Prosthetic Leg with Low impedance Actuation written by Toby Brent Elery and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent developments in the field of powered prostheses have produced several devices that implement a wide variety of actuation schemes, each presenting specific benefits and limitations to prosthetic design and acceptance of robotic prostheses. The work of this dissertation encompasses research focused on the design and implications of an actuation scheme new to robotic prosthetic leg design; low-impedance actuation. Although this style of actuation has shown promise in legged robots, it has potential benefits specifically relating to powered prosthetic legs as well. Such benefits include free-swinging knee motion, compliance with the ground, negligible unmodeled actuator dynamics, less acoustic noise, and power regeneration. To investigate these potential benefits a custom transfemoral (knee-ankle) robotic prosthetic leg with high-torque, low-impedance actuators was created. Preliminary benchtop testing established that both joints can be backdriven by small torques (~1-3 Nm), confirming the small reflected inertia and low impedance. The reduced joint-level impedance was achieved while maintaining the ability to produce very large torque (~180 Nm). Impedance control tests prove that the intrinsic impedance and unmodeled dynamics of the actuator are sufficiently small to control joint impedance without torque feedback or lengthy tuning trials. The negligible effect of the actuator's unmodeled dynamics is further demonstrated through the direct implementation of biological impedances in amputee walking experiments. The regenerative abilities, low friction, and small reflected inertia of the presented actuators also offer practical benefits through reduced power consumption and acoustic noise compared to state-of-art powered legs. Although these benefits are mainly related to the physical device, this dissertation also extends the investigation into potential benefits to the wearer. Additional walking experiments were conducted with three amputee subjects to study how the powered prosthetic leg with low-impedance actuators affected gait compensations, specifically at the residual hip. A walking controller was implemented on the powered prosthesis to exploit the low-impedance actuators' power density during push-off, impedance control abilities in stance, and trajectory tracking abilities to ensure toe-clearance during swing. Results show that when large push-off power is provided, less work is demanded from the residual hip to progress the limb forward. Moreover, all subjects displayed increased step length and propulsive impulses for the prosthetic side, compared to their passive prostheses. These results reduce demand on the hip to accelerate the body forward and display the ability to improve gait symmetries. Hip circumduction improved for subjects who had previously exhibited this compensation on their passive prosthesis. The improvements made to these compensations lead to reduced residual hip power and work, which can reduce fatigue and overuse injuries.

Download or read book Wearable Robots written by José L. Pons and published by John Wiley & Sons. This book was released on 2008-04-15 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.

Download or read book Lower limb Prosthetics written by Norman Berger and published by . This book was released on 1997 with total page 178 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book ROMANSY 21 Robot Design Dynamics and Control written by Vincenzo Parenti-Castelli and published by Springer. This book was released on 2016-06-29 with total page 436 pages. Available in PDF, EPUB and Kindle. Book excerpt: This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2016, the 21th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2016 is the 21st event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community.

Download or read book A Mathematical Introduction to Robotic Manipulation written by Richard M. Murray and published by CRC Press. This book was released on 2017-12-14 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.

Download or read book Neuro Robotics written by Panagiotis Artemiadis and published by Springer. This book was released on 2014-07-10 with total page 444 pages. Available in PDF, EPUB and Kindle. Book excerpt: Neuro-robotics is one of the most multidisciplinary fields of the last decades, fusing information and knowledge from neuroscience, engineering and computer science. This book focuses on the results from the strategic alliance between Neuroscience and Robotics that help the scientific community to better understand the brain as well as design robotic devices and algorithms for interfacing humans and robots. The first part of the book introduces the idea of neuro-robotics, by presenting state-of-the-art bio-inspired devices. The second part of the book focuses on human-machine interfaces for performance augmentation, which can seen as augmentation of abilities of healthy subjects or assistance in case of the mobility impaired. The third part of the book focuses on the inverse problem, i.e. how we can use robotic devices that physically interact with the human body, in order (a) to understand human motor control and (b) to provide therapy to neurologically impaired people or people with disabilities.