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Design, Control, and Perception of B...

Azocar, Alejandro Francisco.

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Design, Control, and Perception of Bionic Legs and Exoskeletons.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Design, Control, and Perception of Bionic Legs and Exoskeletons./
Author:	Azocar, Alejandro Francisco.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2020,
Description:	208 p.
Notes:	Source: Dissertations Abstracts International, Volume: 82-07, Section: B.
Contained By:	Dissertations Abstracts International82-07B.
Subject:	Public health. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28240343
ISBN:	9798684627064

Design, Control, and Perception of Bionic Legs and Exoskeletons.
Azocar, Alejandro Francisco.

Design, Control, and Perception of Bionic Legs and Exoskeletons. - Ann Arbor : ProQuest Dissertations & Theses, 2020 - 208 p.

Source: Dissertations Abstracts International, Volume: 82-07, Section: B.

Thesis (Ph.D.)--University of Michigan, 2020.

This item must not be sold to any third party vendors.

Bionic systems---wearable robots designed to replace, augment, or interact with the human body---have the potential to meaningfully impact quality of life; in particular, lower-limb prostheses and exoskeletons can help people walk faster, better, and safer. From a technical standpoint, there is a high barrier-to-entry to conduct research with bionic systems, limiting the quantity of research done; additionally, the constraints introduced by bionic systems often prohibit accurate measurement of the robot's output dynamics, limiting the quality of research done. From a scientific standpoint, we have begun to understand how people regulate lower-limb joint impedance (stiffness and damping), but not how they sense and perceive changes in joint impedance. To address these issues, I first present an open-source bionic leg prosthesis; I describe the design and testing process, and demonstrate patients meeting clinical ambulation goals in a rehabilitation hospital. Second, I develop tools to characterize open-loop impedance control systems and show how to achieve accurate impedance control without a torque feedback signal; additionally, I evaluate the efficiency of multiple bionic systems. Finally, I investigate how well people can perceive changes in the damping properties of a robot, similar to an exoskeleton. With this dissertation, I provide technical and scientific advances aimed at accelerating the field of bionics, with the ultimate goal of enabling meaningful impact with bionic systems.

ISBN: 9798684627064Subjects--Topical Terms:

534748
Public health.
Subjects--Index Terms:

Bionic legs

Design, Control, and Perception of Bionic Legs and Exoskeletons.
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245 1 0 $a Design, Control, and Perception of Bionic Legs and Exoskeletons.
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300 $a 208 p.
500 $a Source: Dissertations Abstracts International, Volume: 82-07, Section: B.
500 $a Advisor: Rouse, Elliott J.
502 $a Thesis (Ph.D.)--University of Michigan, 2020.
506 $a This item must not be sold to any third party vendors.
506 $a This item must not be added to any third party search indexes.
520 $a Bionic systems---wearable robots designed to replace, augment, or interact with the human body---have the potential to meaningfully impact quality of life; in particular, lower-limb prostheses and exoskeletons can help people walk faster, better, and safer. From a technical standpoint, there is a high barrier-to-entry to conduct research with bionic systems, limiting the quantity of research done; additionally, the constraints introduced by bionic systems often prohibit accurate measurement of the robot's output dynamics, limiting the quality of research done. From a scientific standpoint, we have begun to understand how people regulate lower-limb joint impedance (stiffness and damping), but not how they sense and perceive changes in joint impedance. To address these issues, I first present an open-source bionic leg prosthesis; I describe the design and testing process, and demonstrate patients meeting clinical ambulation goals in a rehabilitation hospital. Second, I develop tools to characterize open-loop impedance control systems and show how to achieve accurate impedance control without a torque feedback signal; additionally, I evaluate the efficiency of multiple bionic systems. Finally, I investigate how well people can perceive changes in the damping properties of a robot, similar to an exoskeleton. With this dissertation, I provide technical and scientific advances aimed at accelerating the field of bionics, with the ultimate goal of enabling meaningful impact with bionic systems.
590 $a School code: 0127.
650 4 $a Public health. $3 534748
650 4 $a Biomedical engineering. $3 535387
650 4 $a Systems science. $3 3168411
650 4 $a Health care management. $3 2122906
650 4 $a Kinesiology. $3 517627
650 4 $a Mechanical engineering. $3 649730
650 4 $a Robotics. $3 519753
653 $a Bionic legs
653 $a Prosthetics
653 $a Wearable devices
653 $a Quality of life
653 $a Lower-limb prostheses
653 $a Bionic systems
653 $a Rehabilitation hospital
653 $a Control systems
653 $a Exoskeleton
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