Download or read book Design and Construction of a Variable Stiffness Prosthetic Arm Prototype microform written by Megan Catherine McTavish and published by Library and Archives Canada = Bibliothèque et Archives Canada. This book was released on 2005 with total page 406 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book A Variable Stiffness Robotic Arm Design Using Linear Actuated Compliant Parallel Guided Mechanism written by Ruiqi Hu (Mechanical engineer) and published by . This book was released on 2017 with total page 51 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents the development details of a human safety robotic arm design with variable stiffness, starting from an initial conceptual design to prototype validations. Instead of changing the compliance of the joint, this design concept introduces compliance to the robotic link itself. The mechanism of the design is a parallel guided beam with a slider linear actuated by a power screw and a DC motor. By controlling the slider position, the effective length of the robotic arm link can be adjusted to achieve necessary stiffness change. The stiffness variation capability of the effective length concept was first validated on a physical conceptual model by experiments. For comparison, a simulation model was also created for the structure of the robotic arm in Abaqus using finite element methods. All the analysis, simulation and tests performed in this research were based on small beam bending deflections. A prototype was developed based on the conceptual model, having transmission and actuation module integrated. Simple and accurate PID position control using Arduino for rapid prototyping is also demonstrated in this thesis. The performance of the prototype was evaluated by two categories of experiments: stiffness tests and PID position calibration. The overall stiffness change ratio achieved was around 20 times by static stiffness test results. The position steady state error and the overshoot of the system was within 0.5mm.

Download or read book Design and Evaluation of a Quasi passive Variable Stiffness Ankle foot Prosthesis to Improve Biomechanics Across Walking Speeds written by Emily Rogers-Bradley and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Currently there are an estimated 875,000 people with major lower limb loss in the United States, with numbers projected to increase 1.6-fold by 2050 due to increasing prevalence of diabetes, obesity, and related dysvascular conditions [1]. Lower limb amputation often leads to secondary conditions such as knee pain, knee osteoarthritis, osteopenia, back pain, postural changes, and general deconditioning [2]. For people with transtibial (below-knee) amputation, prevalence of knee osteoarthritis in the contralateral limb is 17x higher than in the general population, with 27% of people with unilateral amputation developing knee osteoarthritis [3]. This large increase in incidence is likely due to insufficient push-off power from the prosthesis and increased limb loading on the contralateral side [4]. This thesis presents an ankle-foot prosthesis which increases energy storage and return, increases peak power, and decreases contralateral limb loading in a low-mass, quasi-passive device. This is achieved by automatically adjusting prosthesis stiffness to maximize energy storage across walking speeds. A novel quasi-passive variable stiffness ankle-foot prosthesis is presented with high resolution stiffness adjustment from 352 - 479 Nm/radian, corresponding to biological ankle quasi-stiffness during level ground walking from 0.75 - 1.5 m/s for a 50th percentile male. This thesis presents the development of a novel mechanism for varying bending stiffness of leaf springs which utilizes independently controlled lockable linear actuators which constrain relative sliding of parallel leaf springs relative to a mechanical ground to control bending stiffness. The detailed device design and analysis of the variable stiffness ankle-foot prosthesis is described, including a parametric model for approximating device stiffness, contact stress analysis, fatigue life calculations, and bolted joint analysis. The benchtop testing results demonstrate that the device successfully achieves the targeted stiffness range, device mass, and structural integrity. A study was conducted with 7 participants with unilateral transtibial amputation in order to evaluate the kinetic and kinematic effects of the variable stiffness prosthesis during walking compared to a passive energy storage and return foot. During the experiment, subjects walked on an instrumented treadmill at the speeds of 0.75 m/s, 1.0 m/s, 1.25 m/s, and 1.5 m/s while force and motion data was recorded. This thesis presents results from the clinical study which demonstrate a 15.5 - 19.3% greater peak ankle angle during walking across all speeds with the variable stiffness ankle compared to a passive control, 5.4 - 14.8% greater peak joint power, 10.5 - 23.7% greater energy return, and a 4.0 - 6.7% lower contralateral limb knee external adduction moment across walking speeds. This thesis presents the first of its architecture variable stiffness ankle-foot prosthesis utilizing a novel locking parallel leaf spring mechanism for stiffness control. The prosthesis has a lower device mass compared to existing powered and quasi-passive devices, and increases biomimetic functionality beyond standard passive prostheses. This thesis presents significant clinical results demonstrating the benefits of such a device on the biomechanics and energetics of people with transtibial amputation while walking. This device has the potential to improve health outcomes in people with transtibial amputation by normalizing biomechanics and increasing energy storage and return, and decreasing contralateral limb loading and unwanted knee external adduction moment. This prosthesis has the potential to expand access to high performance prosthesis technology by creating a device that is low mass, low power, and lower cost compared to fully powered devices.

Download or read book Design and Development of a Novel Lightweight Long reach Composite Robotic Arm written by Darrin Willis and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Biomechanics of Lower Limb Prosthetics written by Mark R. Pitkin and published by Springer. This book was released on 2009-10-14 with total page 153 pages. Available in PDF, EPUB and Kindle. Book excerpt: Foreword from a Clinical Biomechanist, Applied Physiologist and Prosthetist teaching graduate students in Prosthetics & Orthotics. While there are many books on Biomechanics, arguably the quintessential science of limb prosthetics, none addresses the fundamental principles in sufficient detail and depth to be practically useful to the prosthetist, rehabilitation specialist or researcher. Dr. Pitkin’s monograph is an exemplary collection of theoretical principles from his research and o- ers, presented in its clinical and applied biomechanics form. The textbook provides an excellent overview of the many facets of lower limb prosthetic design and engineering for the ardent clinician researcher and student. The book delves into many of the basic concepts that are required knowledge for the clinician and the scientist to have as the foundation for their work. Dr. Pitkin has an e- quent manner in which he reflects on the history and literature to tell the storied evolution of prosthetic design . He takes the reader on a journey to consider his theories, which have substantive foundations to contemplate. By the end of chapter one, we have the basic h- tory and an appreciation for the rationale behind the “rolling joint ankle” with evidence to support his theoretical views.

Download or read book Design and Construction of a Four bay Variable geometry truss Manipulator Arm written by and published by . This book was released on 1995 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Design of a Variable Stiffness Passive Layer Jamming Structure for Anthropomorphic Robotic Finger Applications written by Nkemdilim Okechukwu Umezude and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Soft robots can effectively mimic human hand interface characteristics and facilitate collaborative operations with humans in a safe manner. This dissertation research concerns the design and fabrication of a low cost variable stiffness structure for applications in compliant robotic fingers. A conceptual design of a compact multi-layer structure is proposed for realizing variable stiffness, when applied to underactuated fingers of an anthropomorphic robotic hand. The proposed design comprises thin material layers with clearance that permits a progressive hardening feature while grasping and added design flexibility and tuning of the fingers' compliance. The design permits stiffness variations in a passive manner in the soft contact regions. The design is realized to ensure ease of scalability and cost-effective fabrication by the 'Additive Manufacturing (AM)'/3D-printing technology. Both the multi-layer structures and the fingers could be fabricated as a single entity, and from a single base material with relatively low elastic modulus. The proposed design also exhibits finite degrees-of-freedom representative of the human finger - The feasibility of the design and its manufacturability are verified through prototype fabrication using a readily available 3D-printing material, namely; 'Thermoplastic PolyUrethane (TPU)' with Young's Modulus of 25MPa. The chosen material permitted low stiffness of the multi-layer structure in the contact interface under relatively small deformations, while ensuring sufficient rigidity on the non-contact regions of the finger. A finite element (FE) model is formulated considering 3D tetrahedral elements and a nodal-normal contact detection method together with the augmented Lagrange formulation. The model is analyzed to determine the force-displacement characteristics of the structure subject to linearly increasing compressive load, under the assumption of low interface friction. A simplified analytical model of the multi-layer structure is also formulated considering essential boundary and support conditions for each individual layer. The model revealed progressive hardening characteristics of the multilayer structure during compression due to sequential jamming of individual layers. The force-displacement characteristics of the design could thus be varied by varying the multi-layer structure parameters, such as number of layers, thickness of individual layers, material properties, and clearance between the successive layers. It is shown that the simplified analytical model could provide reasonably good estimate of the force-deflection properties of the structure in a computationally efficient manner. The analytical model is subsequently used to investigate the influences of variations in the multilayer structure parameters in a computationally efficient manner. It is shown that the proposed design offers superior tuning flexibility to realize desired force-displacement characteristics of the structure for developing scalable anthropomorphic robotic fingers of a compliant robotic hand, in addition to the cost-effective manufacturability.

Download or read book Design and Development of a Novel Lightweight Long reach Composite Robotic Arm written by and published by . This book was released on 2008 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Metallic robotic arms, or manipulators, currently dominate automated industrial operations, but due to their intrinsic weight, have limited usefulness for large-scale applications in terms of precision, speed, and repeatability. This thesis focuses on exploring the feasibility of using polymeric composite materials for the construction of long-reach robotic arms. Different manipulator layouts were investigated and an ideal design was selected for a robotic arm that has a 5 [m] reach, 50 [kg] payload, and is intended to operate on large objects with complex curvature. The cross-sectional geometry of the links of the arm were analyzed for optimal stiffness- and strength-to-weight ratios that are capable of preserving high precision and repeatability under time-dependent external excitations. The results lead to a novel multi-segment link design and method of production. A proof-of-concept prototype of a two degrees-of-freedom (2-DOF) robotic arm with a reach of 1.75 [m] was developed. Both static and repeatability testing were performed for verification. The results indicated that the prototype robot main-arm constructed of carbon fiber-epoxy composite material provides good stiffness-to-weight and strength-to-weight ratios. Finite element analysis (FEA) was performed on a 3-D computer model of the arm. Successful verification led to the use of the 3-D model to define the dimensions of an industrial-sized robotic arm. The results obtained indicate high stiffness and minimal deflection while achieving a significant weight reduction when compared to commercial arms of the same size and capability.

Download or read book Powered Upper Limb Prostheses written by Ashok Muzumdar and published by Springer. This book was released on 2012-12-06 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: Powered Upper Limb Prostheses deals with the concept, implementation and clinical application of utilizing inherent electrical signals within normally innervated residual muscles under voluntary control of an upper limb amputee. This amplifies these signals by battery-powered electrical means to make a terminal device, the prosthetic hand, move to perform intended function. The reader is introduced to various facets of upper limb amputations and their clinical management in both children and adults. The authors from Canada, USA and Great Britain are well known practicioners, academics and researchers in the field. The book has over 130 illustrations and contains an extensive bibliography.

Download or read book Delft Pneumatic Bipeds written by Martjin Wisse and published by Springer Science & Business Media. This book was released on 2007-06-29 with total page 143 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, Martijn Wisse and Richard Q. van der Linde provide a detailed description of their research on pneumatic biped robots at the Delft University of Technology, The Netherlands. The book covers the basic theory of passive dynamic walking and explains the implementation of pneumatic McKibben muscles in a series of successful prototypes.

Download or read book Underactuated Robotic Hands written by Lionel Birglen and published by Springer Science & Business Media. This book was released on 2008-02-11 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a cornerstone publication in robotic grasping. The authors have developed an internationally recognized expertise in this area. Additionally, they designed and built several prototypes which attracted the attention of the scientific community. The purpose of this book is to summarize years of research and to present, in an attractive format, the expertise developed by the authors on a new technology for grasping which has achieved great success both in theory and in practice.

Download or read book Production Quality Control and Clinical Applications of Radiosynovectomy Agents written by International Atomic Energy Agency and published by . This book was released on 2021-08-31 with total page 123 pages. Available in PDF, EPUB and Kindle. Book excerpt: Therapeutic radiopharmaceuticals play a major role in today's nuclear medicine with a positive impact on the diagnosis and treatment of diseases. One area of application is radiation synovectomy (RSV).

Download or read book Soldier Mobility written by North Atlantic Treaty Organization. Research and Technology Organization. Human Factors and Medicine Panel. Specialists' Meeting and published by . This book was released on 2001 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Many NATO nations have soldier modernization programmes that aim to equip soldiers with fully-integrated state-of-the-art technologies that will enhance the five NATO soldier capability areas: lethality, protection, mobility, sustainability, and command and control. Military load carriage systems (LCS), which include clothing and personal areas. In particular, LCS are critical to soldier mobility and sustainability, and ultimately, to soldier performance and survival on the battlefield.

Download or read book Spinal Disorders written by Norbert Boos and published by Springer Science & Business Media. This book was released on 2008-09-24 with total page 1162 pages. Available in PDF, EPUB and Kindle. Book excerpt: Spinal disorders are among the most common medical conditions with significant impact on health related quality of life, use of health care resources and socio-economic costs. This is an easily readable teaching tool focusing on fundamentals and basic principles and provides a homogeneous syllabus with a consistent didactic strategy. The chosen didactic concept highlights and repeats core messages throughout the chapters. This textbook, with its appealing layout, will inspire and stimulate the reader for the study of spinal disorders.

Download or read book Performance Evaluation of Programmable Robots and Manipulators written by Thomas B. Sheridan and published by . This book was released on 1976 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book World Index of Plastics Standards written by Leslie H. Breden and published by . This book was released on 1971 with total page 458 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Springer Handbook of Robotics written by Bruno Siciliano and published by Springer. This book was released on 2016-07-27 with total page 2259 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/