東華大學圖書館 |

語系: 繁體中文

說明(常見問題)

回圖書館首頁

手機版館藏查詢

登入

回首頁

切換: 標籤 | MARC模式 | ISBD

FindBook

Google Book

Amazon

博客來

The Relationship between Stiffness and Walking.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	The Relationship between Stiffness and Walking./
作者:	Schmitthenner, Dave.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2021,
面頁冊數:	137 p.
附註:	Source: Dissertations Abstracts International, Volume: 83-06, Section: B.
Contained By:	Dissertations Abstracts International83-06B.
標題:	Biomechanics. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28929367
ISBN:	9798494498250

The Relationship between Stiffness and Walking.
Schmitthenner, Dave.

The Relationship between Stiffness and Walking. - Ann Arbor : ProQuest Dissertations & Theses, 2021 - 137 p.

Source: Dissertations Abstracts International, Volume: 83-06, Section: B.

Thesis (Ph.D.)--The Pennsylvania State University, 2021.

Leg stiffness is an important factor in human walking. Understanding the ways in which stiffness impacts walking could lead to improvements in gait rehabilitation, exoskeleton design, and exoskeleton control. Three studies were conducted to better understand the effects of stiffness on walking. The first study investigated how changing stiffness of the foot itself affects walking. To do this, a rigid foot plate was attached to the foot of 16 subjects in order to increase the stiffness of the foot. This is because many exoskeletons and orthoses use a rigid foot plate, but this may affect the natural mechanics of the foot. The resulting spatiotemporal parameters, kinematics, and kinetics were compared with normal walking. It was found that the foot plate did not have an effect on spatiotemporal parameters, but did decrease the ankle range of motion and decreased the intersegmental motion of the different parts of the foot. It was also found that a foot plate that ends before the toes has less of an effect than a foot plate that extends to the end of the toes. Therefore, exoskeletons and orthoses should implement a jointed toe segment or a shorter foot plate in order to increase the transparency of the device. For the second study, an ankle exoskeleton was developed with the requirement that it was capable of a versatile range of control modes, and was robust. Versatility is important for an exoskeleton because the type of rehabilitation a person may require can vary due to a number of factors. The exoskeleton must also be robust in uncertain environments because humans undergoing rehabilitation may act unpredictably. Therefore, a pneumatically powered exoskeleton was designed and controlled using sliding mode control. This exoskeleton is capable of position, force, and impedance control. Four subjects were used to test the performance of these controllers while following position and force trajectories. The tests showed that regardless of the behavior of the wearer, the exoskeleton acted appropriately and under an acceptable degree of error. This demonstrates that sliding mode control can be used to make exoskeletons capable of the versatility required for rehabilitation. Lastly, in the third study, the control of leg stiffness while walking was investigated. This was done by using human data from 12 subjects to extract system models and leg stiffness controllers for walking using three different methods and informed by the spring-loaded inverted pendulum model. The first method used ordinary least squares to linearize the system about a Poincare section; the second linearized the spring-loaded inverted pendulum model and combined that with the results from the first method. The third method used the sparse identification of nonlinear dynamics procedure to identify linear combinations of nonlinear functions that describe the system. These methods were evaluated based on how well they predicted experimental data, and based on how well they controlled a spring-loaded inverted pendulum model walker in simulation. Results showed that all three methods resulted in similarly accurate models and controllers. Therefore, using human data in conjunction with data driven identification techniques may be used to reveal the mechanics of gait or to design robotic controllers for walking.

ISBN: 9798494498250Subjects--Topical Terms:

548685
Biomechanics.
Subjects--Index Terms:

Stiffness

The Relationship between Stiffness and Walking.
LDR:04322nmm a2200337 4500 001 2351969
005 20221111113727.5
008 241004s2021 ||||||||||||||||| ||eng d
020 $a 9798494498250
035 $a (MiAaPQ)AAI28929367
035 $a AAI28929367
040 $a MiAaPQ $c MiAaPQ
100 1 $a Schmitthenner, Dave. $3 3691572
245 1 4 $a The Relationship between Stiffness and Walking.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2021
300 $a 137 p.
500 $a Source: Dissertations Abstracts International, Volume: 83-06, Section: B.
502 $a Thesis (Ph.D.)--The Pennsylvania State University, 2021.
520 $a Leg stiffness is an important factor in human walking. Understanding the ways in which stiffness impacts walking could lead to improvements in gait rehabilitation, exoskeleton design, and exoskeleton control. Three studies were conducted to better understand the effects of stiffness on walking. The first study investigated how changing stiffness of the foot itself affects walking. To do this, a rigid foot plate was attached to the foot of 16 subjects in order to increase the stiffness of the foot. This is because many exoskeletons and orthoses use a rigid foot plate, but this may affect the natural mechanics of the foot. The resulting spatiotemporal parameters, kinematics, and kinetics were compared with normal walking. It was found that the foot plate did not have an effect on spatiotemporal parameters, but did decrease the ankle range of motion and decreased the intersegmental motion of the different parts of the foot. It was also found that a foot plate that ends before the toes has less of an effect than a foot plate that extends to the end of the toes. Therefore, exoskeletons and orthoses should implement a jointed toe segment or a shorter foot plate in order to increase the transparency of the device. For the second study, an ankle exoskeleton was developed with the requirement that it was capable of a versatile range of control modes, and was robust. Versatility is important for an exoskeleton because the type of rehabilitation a person may require can vary due to a number of factors. The exoskeleton must also be robust in uncertain environments because humans undergoing rehabilitation may act unpredictably. Therefore, a pneumatically powered exoskeleton was designed and controlled using sliding mode control. This exoskeleton is capable of position, force, and impedance control. Four subjects were used to test the performance of these controllers while following position and force trajectories. The tests showed that regardless of the behavior of the wearer, the exoskeleton acted appropriately and under an acceptable degree of error. This demonstrates that sliding mode control can be used to make exoskeletons capable of the versatility required for rehabilitation. Lastly, in the third study, the control of leg stiffness while walking was investigated. This was done by using human data from 12 subjects to extract system models and leg stiffness controllers for walking using three different methods and informed by the spring-loaded inverted pendulum model. The first method used ordinary least squares to linearize the system about a Poincare section; the second linearized the spring-loaded inverted pendulum model and combined that with the results from the first method. The third method used the sparse identification of nonlinear dynamics procedure to identify linear combinations of nonlinear functions that describe the system. These methods were evaluated based on how well they predicted experimental data, and based on how well they controlled a spring-loaded inverted pendulum model walker in simulation. Results showed that all three methods resulted in similarly accurate models and controllers. Therefore, using human data in conjunction with data driven identification techniques may be used to reveal the mechanics of gait or to design robotic controllers for walking.
590 $a School code: 0176.
650 4 $a Biomechanics. $3 548685
650 4 $a Mechanical engineering. $3 649730
653 $a Stiffness
653 $a Walking
653 $a Spatiotemporal parameters
653 $a Kinematics
653 $a Kinetics
690 $a 0548
690 $a 0648
710 2 $a The Pennsylvania State University. $3 699896
773 0 $t Dissertations Abstracts International $g 83-06B.
790 $a 0176
791 $a Ph.D.
792 $a 2021
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28929367