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 Individualizing a Powered Prosthetic Leg Over Continuously varying Tasks written by Emma Reznick and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: On a day-to-day basis, able-bodied people traverse a number of different terrains, moving at a self-selected speed and walking up and down inclines in reaction to the environment around them. The transition from one task to another is seamless and our body adapts its locomotion to meet each task without much thought. Lower-limb amputees do not have that luxury. Current technology often does not allow for amputees to change the motion, or kinematic output, of the leg to adapt to the environment around them, adding a level of difficulty to amputees' lives and limiting their mobility. Clinical individualization of a prosthesis allows for amputees to maximize their walking performance and achieve a comfortable gait closer to the able-bodied norm. In passive prostheses, this entails a prosthetist manually adjusting the hardware to change the motion of the leg throughout the gait cycle. Powered, robotic prostheses have potential to emulate the adaptability of an intact leg, but require an engineer to change the settings with the help of a prosthetist, which is a time-consuming and arduous task. This thesis presents research allowing for easy and intuitive clinical individualization of powered prostheses that adapt to continuously varying walking tasks. First, the development of an intuitive clinical control interface, which allows a prosthetist to quickly tune a powered prosthesis for level-ground walking without the need of an engineer. Next, a tuning system was developed which individualizes a kinematic model of continuously varying walking tasks given the tuning of one level-ground task. Lastly, a 10-subject dataset was collected to expand the continuously varying model to include new tasks, such as walk to run transitions, running over level-ground, stair ascent and descent, and sit-to-stand.

Download or read book Virtual Constraint Control of Powered Prosthetic Legs written by David Quintero and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The lower limb amputee population is gradually increasing, primarily due to complications from vascular diseases. The vast majority of lower limb amputees use mechanically passive prosthetic legs, which are unable to provide energy input at the joints and can only dissipate energy during locomotion. To improve amputee gait, powered prosthetic legs are in development. Several control methods have been proposed for these devices, but almost all of them divide the gait cycle into multiple, sequential periods with different controllers. This results in many patient-specific control parameters and switching rules that must be tuned for a specific ambulation mode, such as a desired walking speed or slope. The different periods of gait could potentially be unified over the entire gait cycle by virtual kinematic constraints that are enforced using a torque control scheme. The prosthetic control method proposed as part of this dissertation work unifies the different periods of gait through virtual constraints that are driven by a human-inspired phase variable. A phase variable is a kinematic quantity corresponding to an unactuated degree of freedom that evolves monotonically during steady walking, thus representing the progression through the gait cycle. The unified controller was designed systematically by method of virtual constraints, which was implemented within an amputee biped walker model for different walking speeds. To validate this control strategy even further, a powered knee-ankle prosthesis was designed and built during the course of this dissertation work for experimental validation. The mechanical design and real-time control of the powered prosthesis is presented. Experiments were conducted with multiple above-knee amputee subjects walking across various speeds and inclines, while no control parameters were tuned. This verified that our unified control scheme can work seamlessly and efficiently for multiple amputee users, and also, for different ambulation modes without retuning the controller. Furthermore, this work has taken a step forward to providing a solution of the technical challenges for powered knee-ankle prostheses to be used in a clinical setting. An intuitive clinical user interface was developed for clinicians to change the prosthesis control based on their clinical insight and expertise. We performed a case study with a clinician adjusting the virtual constraint design on the prosthesis, which resulted in improvement of the amputee’s gait symmetry using our control strategy.

Download or read book Investigation of a Unified Phase Variable in Human Locomotion for Applications in Powered Prostheses written by Dario J. Villarreal Suarez and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Estimates indicate that by 2050 the U.S. will incur a two-fold increase in the incidence of amputation and stroke, due largely to the prevalence of vascular disease. Amputees suffer from a slower, less stable, and less efficient gait than that of able-bodied persons. Developing methods to control powered prosthetic legs in a simple, efficient, and customizable manner could help current and future amputees ambulate more efficiently. The current methodology used to control powered prosthetic legs sees the gait cycle as a process consisting of discrete states (e.g., heel strike, load acceptance, toe off, pre-swing, mid-swing, etc). Thus, current powered prosthetic legs synchronize to their wearer by transitioning between a finite numbers of states based on switching rules. This approach is limited as state machine control strategies end up dictating the walking speed and response of the robotic leg rather than the amputee. Novel approaches from the biped robotic field have led to new ways of visualizing the gait cycle. The gait cycle is seen and controlled as a continuous periodic process synchronized by a phase variable rather than a sequence of discrete events. A phase variable is a mechanical signal that changes monotonically, i.e., it strictly increases or decreases, over time and therefore is able to parameterize a rhythmic process. This approach allows biped robots to synchronize all their joint actuators seamlessly in order to achieve a stable and steady gait. In this dissertation, this type of control architecture is translated to control a powered prosthetic leg by studying the human gait cycle from a phase variable perspective. Before designing a controller for a powered prosthetic leg that is capable of matching the timing of the amputee's gait cycle, the human sense of phase in locomotion must be understood. In this dissertation, the design of a perturbation mechanism and experimental protocol capable of producing multi-joint phase-shifting perturbations in able-bodied subjects is presented. These phase-shifting perturbations helped us statistically compare different parameterizations of nominal and perturbed joint trajectories in ten able-bodied subjects. We derived and analyzed unified phase variable candidates (i.e., able to parameterize the entire stride) in human locomotion from the results of these perturbation experiments. A statistical analysis found the correlations between nominal and perturbed joint trajectories to be significantly greater when parameterized by the derived unified phase variable (0.95+) than by time. Finally, we performed experiments on three above knee amputee subjects wearing a powered knee and ankle prosthetic leg with a unified phase variable that correctly parameterizes perturbed kinematics and is suitable for real-time controllers. Implementing our bioinspired phase variable in the robotic leg not only allowed amputee subjects to walk steadily at different speeds and inclines, but also gave them voluntary control over the leg during non-rhythmic tasks (e.g., walking backwards and stepping back and forth). In addition, no tuning of the controller was required between subjects due to the versatility of the phase variable algorithm. The results from the amputee experiments show that we have developed a control architecture that allows the powered prosthetic leg to behave as a plug-and-play device due to the simple, yet effective, derivation of a unified phase variable.

Download or read book Bioinspired Legged Locomotion written by Maziar Ahmad Sharbafi and published by Butterworth-Heinemann. This book was released on 2017-11-21 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bioinspired Legged Locomotion: Models, Concepts, Control and Applications explores the universe of legged robots, bringing in perspectives from engineering, biology, motion science, and medicine to provide a comprehensive overview of the field. With comprehensive coverage, each chapter brings outlines, and an abstract, introduction, new developments, and a summary. Beginning with bio-inspired locomotion concepts, the book's editors present a thorough review of current literature that is followed by a more detailed view of bouncing, swinging, and balancing, the three fundamental sub functions of locomotion. This part is closed with a presentation of conceptual models for locomotion. Next, the book explores bio-inspired body design, discussing the concepts of motion control, stability, efficiency, and robustness. The morphology of legged robots follows this discussion, including biped and quadruped designs. Finally, a section on high-level control and applications discusses neuromuscular models, closing the book with examples of applications and discussions of performance, efficiency, and robustness. At the end, the editors share their perspective on the future directions of each area, presenting state-of-the-art knowledge on the subject using a structured and consistent approach that will help researchers in both academia and industry formulate a better understanding of bioinspired legged robotic locomotion and quickly apply the concepts in research or products. - Presents state-of-the-art control approaches with biological relevance - Provides a thorough understanding of the principles of organization of biological locomotion - Teaches the organization of complex systems based on low-dimensional motion concepts/control - Acts as a guideline reference for future robots/assistive devices with legged architecture - Includes a selective bibliography on the most relevant published articles

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.

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 Legged Robots that Balance written by Marc H. Raibert and published by MIT Press. This book was released on 1986 with total page 254 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, by a leading authority on legged locomotion, presents exciting engineering and science, along with fascinating implications for theories of human motor control. It lays fundamental groundwork in legged locomotion, one of the least developed areas of robotics, addressing the possibility of building useful legged robots that run and balance. The book describes the study of physical machines that run and balance on just one leg, including analysis, computer simulation, and laboratory experiments. Contrary to expectations, it reveals that control of such machines is not particularly difficult. It describes how the principles of locomotion discovered with one leg can be extended to systems with several legs and reports preliminary experiments with a quadruped machine that runs using these principles. Raibert's work is unique in its emphasis on dynamics and active balance, aspects of the problem that have played a minor role in most previous work. His studies focus on the central issues of balance and dynamic control, while avoiding several problems that have dominated previous research on legged machines. Marc Raibert is Associate Professor of Computer Science and Robotics at Carnegie-Mellon University and on the editorial board of The MIT Press journal, Robotics Research. Legged Robots That Balanceis fifteenth in the Artificial Intelligence Series, edited by Patrick Winston and Michael Brady.

Download or read book Fundamentals of Amputation Care and Prosthetics written by Douglas Murphy, MD and published by Demos Medical Publishing. This book was released on 2013-08-28 with total page 249 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by experienced physiatrists, prosthetists, and therapists, this book provides an introduction to the field of amputee care and prosthetics. Dedicated chapters guide you through prescription of prostheses for the various levels and types of amputations in both the lower and upper extremity and address recent advances in functionality and safety. Pre- and post-operative care, prosthetic troubleshooting, gait issues and medical management of the residual limb are also addressed. With concise key information highlighted throughout, this handbook is a welcome point of care resource or study tool for trainees and practitioners in any field who work with amputees to restore function and help enrich the lives of these individuals. Fundamentals of Amputation Care and Prosthetics features: Concise, practical manual; covers the basics of upper and lower extremity amputee care and prosthetics Succinct presentation, well-illustrated; information is easy to find Portable; perfect for use on rounds or in the clinic State-of-the-art distillation of current thinking and practice; excellent transitional book for residents or ready reference for experienced practitioners

Download or read book The Robotics Primer written by Maja J. Mataric and published by MIT Press. This book was released on 2007-08-17 with total page 325 pages. Available in PDF, EPUB and Kindle. Book excerpt: A broadly accessible introduction to robotics that spans the most basic concepts and the most novel applications; for students, teachers, and hobbyists. The Robotics Primer offers a broadly accessible introduction to robotics for students at pre-university and university levels, robot hobbyists, and anyone interested in this burgeoning field. The text takes the reader from the most basic concepts (including perception and movement) to the most novel and sophisticated applications and topics (humanoids, shape-shifting robots, space robotics), with an emphasis on what it takes to create autonomous intelligent robot behavior. The core concepts of robotics are carried through from fundamental definitions to more complex explanations, all presented in an engaging, conversational style that will appeal to readers of different backgrounds. The Robotics Primer covers such topics as the definition of robotics, the history of robotics (“Where do Robots Come From?”), robot components, locomotion, manipulation, sensors, control, control architectures, representation, behavior (“Making Your Robot Behave”), navigation, group robotics, learning, and the future of robotics (and its ethical implications). To encourage further engagement, experimentation, and course and lesson design, The Robotics Primer is accompanied by a free robot programming exercise workbook that implements many of the ideas on the book on iRobot platforms. The Robotics Primer is unique as a principled, pedagogical treatment of the topic that is accessible to a broad audience; the only prerequisites are curiosity and attention. It can be used effectively in an educational setting or more informally for self-instruction. The Robotics Primer is a springboard for readers of all backgrounds—including students taking robotics as an elective outside the major, graduate students preparing to specialize in robotics, and K-12 teachers who bring robotics into their classrooms.

Download or read book Advances in Robot Kinematics Analysis and Control written by Jadran Lenarčič and published by Springer Science & Business Media. This book was released on 2013-04-17 with total page 578 pages. Available in PDF, EPUB and Kindle. Book excerpt: The contributions in this book were presented at the sixth international symposium on Advances in Robot Kinematics organised in June/July 1998 in Strobl/Salzburg in Austria. The preceding symposia of the series took place in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996). Ever since its first event, ARK has attracted the most outstanding authors in the area and managed to create a perfect combination of professionalism and friendly athmosphere. We are glad to observe that, in spite of a strong competition of many international conferences and meetings, ARK is continuing to grow in terms of the number of participants and in terms of its scientific impact. In its ten years, ARK has contributed to develop a remarkable scientific community in the area of robot kinematics. The last four symposia were organised under the patronage of the International Federation for the Theory of Machines and Mechanisms -IFToMM. interest to researchers, doctoral students and teachers, The book is of engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, design, and control of robots. It is divided into sections that were found as the prevalent areas of the contemporary kinematics research. As it can easily be noticed, an important part of the book is dedicated to various aspects of the kinematics of parallel mechanisms that persist to be one of the most attractive areas of research in robot kinematics.

Download or read book Parallel Robots written by J.P. Merlet and published by Springer. This book was released on 2000-07-31 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).

Download or read book An Introduction to Mathematical Modeling written by Edward A. Bender and published by Courier Corporation. This book was released on 2012-05-23 with total page 273 pages. Available in PDF, EPUB and Kindle. Book excerpt: Employing a practical, "learn by doing" approach, this first-rate text fosters the development of the skills beyond the pure mathematics needed to set up and manipulate mathematical models. The author draws on a diversity of fields — including science, engineering, and operations research — to provide over 100 reality-based examples. Students learn from the examples by applying mathematical methods to formulate, analyze, and criticize models. Extensive documentation, consisting of over 150 references, supplements the models, encouraging further research on models of particular interest. The lively and accessible text requires only minimal scientific background. Designed for senior college or beginning graduate-level students, it assumes only elementary calculus and basic probability theory for the first part, and ordinary differential equations and continuous probability for the second section. All problems require students to study and create models, encouraging their active participation rather than a mechanical approach. Beyond the classroom, this volume will prove interesting and rewarding to anyone concerned with the development of mathematical models or the application of modeling to problem solving in a wide array of applications.

Download or read book Model Based Engineering of Collaborative Embedded Systems written by Wolfgang Böhm and published by Springer Nature. This book was released on 2020-12-14 with total page 404 pages. Available in PDF, EPUB and Kindle. Book excerpt: This Open Access book presents the results of the "Collaborative Embedded Systems" (CrESt) project, aimed at adapting and complementing the methodology underlying modeling techniques developed to cope with the challenges of the dynamic structures of collaborative embedded systems (CESs) based on the SPES development methodology. In order to manage the high complexity of the individual systems and the dynamically formed interaction structures at runtime, advanced and powerful development methods are required that extend the current state of the art in the development of embedded systems and cyber-physical systems. The methodological contributions of the project support the effective and efficient development of CESs in dynamic and uncertain contexts, with special emphasis on the reliability and variability of individual systems and the creation of networks of such systems at runtime. The project was funded by the German Federal Ministry of Education and Research (BMBF), and the case studies are therefore selected from areas that are highly relevant for Germany’s economy (automotive, industrial production, power generation, and robotics). It also supports the digitalization of complex and transformable industrial plants in the context of the German government's "Industry 4.0" initiative, and the project results provide a solid foundation for implementing the German government's high-tech strategy "Innovations for Germany" in the coming years.

Download or read book Quadrupedal Locomotion written by Pablo González de Santos and published by Springer Science & Business Media. This book was released on 2007-02-17 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt: Walking machines have advantages over traditional vehicles, and have already accomplished tasks that wheeled or tracked robots cannot handle. Nevertheless, their use in industry and services is currently limited in scope. This book brings together methods and techniques that have been developed to deal with obstacles to wider acceptance of legged robots. Part I provides an historical overview. Part II concentrates on control techniques, as applied to Four-legged robots.

Download or read book Grasping in Robotics written by Giuseppe Carbone and published by Springer Science & Business Media. This book was released on 2012-11-15 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt: Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture). The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and humanoid robotics. It could even be adopted as a reference textbook in specific PhD courses.

Download or read book Design of Dynamic Legged Robots written by Sangbae Kim and published by . This book was released on 2017-03-20 with total page 86 pages. Available in PDF, EPUB and Kindle. Book excerpt: Focuses on the mechanical design of legged robots, from the history through to the present day. Discusses some of the main challenges to actuator design in legged robots and examines a recently developed technology called proprioceptive actuators in order to meet the needs of today's legged machines.