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The robotic gait simulator: A dynami...

Aubin, Patrick Mark.

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The robotic gait simulator: A dynamic cadaveric foot and ankle model for biomechanics research.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	The robotic gait simulator: A dynamic cadaveric foot and ankle model for biomechanics research./
作者:	Aubin, Patrick Mark.
面頁冊數:	169 p.
附註:	Source: Dissertation Abstracts International, Volume: 71-09, Section: B, page: 5667.
Contained By:	Dissertation Abstracts International71-09B.
標題:	Engineering, Electronics and Electrical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3421552
ISBN:	9781124213521

The robotic gait simulator: A dynamic cadaveric foot and ankle model for biomechanics research.
Aubin, Patrick Mark.

The robotic gait simulator: A dynamic cadaveric foot and ankle model for biomechanics research. - 169 p.

Source: Dissertation Abstracts International, Volume: 71-09, Section: B, page: 5667.

Thesis (Ph.D.)--University of Washington, 2010.

Background. Lower limb dynamic cadaveric gait simulators are useful for investigating the biomechanics of the foot and ankle but many systems have several common limitations, including: simplified tendon forces, non-physiologic tibial kinematics, greatly reduced velocities, scaled body weight (BW), and trial-and-error vertical ground reaction force (vGRF) control.

ISBN: 9781124213521Subjects--Topical Terms:

626636
Engineering, Electronics and Electrical.

The robotic gait simulator: A dynamic cadaveric foot and ankle model for biomechanics research.
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245 1 4 $a The robotic gait simulator: A dynamic cadaveric foot and ankle model for biomechanics research.
300 $a 169 p.
500 $a Source: Dissertation Abstracts International, Volume: 71-09, Section: B, page: 5667.
500 $a Adviser: William R. Ledoux.
502 $a Thesis (Ph.D.)--University of Washington, 2010.
520 $a Background. Lower limb dynamic cadaveric gait simulators are useful for investigating the biomechanics of the foot and ankle but many systems have several common limitations, including: simplified tendon forces, non-physiologic tibial kinematics, greatly reduced velocities, scaled body weight (BW), and trial-and-error vertical ground reaction force (vGRF) control.
520 $a The objective of this dissertation is to design, develop, and validate a robotic gait simulator (RGS) which addresses these limitations. As a powerful tool for clinical research we further aim to use the RGS to: 1) evaluate biomedical devices (including prosthetic feet); 2) model normal and pathological gait; 3) evaluate surgical treatment strategies; 4) elucidate disease etiology; and 5) determine biological function.
520 $a Methods. A 6-degress of freedom (6-DOF) parallel robot was utilized as part of the RGS to recreate the relative tibia to ground motion. A custom-designed nine-axis proportional-integral-derivative (PID) force control tendon actuation system provided force to the extrinsic tendons of the cadaveric lower limb. A fuzzy logic vGRF controller was developed which altered the target tibialis anterior and Achilles tendon force in real time, and iteratively adjusted the robotic trajectory in order to track a target vGRF.
520 $a Results. The RGS was able to accurately reproduce 6-DOF tibial kinematics, tendon forces, and vGRF with a cadaveric lower limb. The fuzzy logic vGRF controller was able to track the target in vivo vGRF with an average root mean square (RMS) error of only 5.9% BW during a biomechanically realistic (¾ BW, 2.7 s) stance phase simulation.
520 $a The five objectives that motivated the development of the RGS were achieved through five clinical studies which simulated: 1) transtibial amputee gait; 2) a flat foot deformity, 3) arthrodesis of the first metatarsophalangeal joint; 4) a long second metatarsal and its relationship to the crossover toe deformity, and 5) normal foot and ankle kinematics.
520 $a Conclusion. By leveraging robotic technologies and advanced intelligent control methods the RGS represents the state of the art in dynamic cadaveric gait simulation and has demonstrated its value as a clinical research tool.
590 $a School code: 0250.
650 4 $a Engineering, Electronics and Electrical. $3 626636
650 4 $a Biophysics, Biomechanics. $3 1035342
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0544
690 $a 0648
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710 2 $a University of Washington. $3 545923
773 0 $t Dissertation Abstracts International $g 71-09B.
790 1 0 $a Ledoux, William R., $e advisor
790 $a 0250
791 $a Ph.D.
792 $a 2010
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