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

Fully Adjustable Passive Ankle Mechanism for Lower Body Exoskeletons.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Fully Adjustable Passive Ankle Mechanism for Lower Body Exoskeletons./
作者:	Rosenson, Daniel.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2021,
面頁冊數:	76 p.
附註:	Source: Masters Abstracts International, Volume: 83-01.
Contained By:	Masters Abstracts International83-01.
標題:	Robotics. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28498708
ISBN:	9798534671629

Fully Adjustable Passive Ankle Mechanism for Lower Body Exoskeletons.
Rosenson, Daniel.

Fully Adjustable Passive Ankle Mechanism for Lower Body Exoskeletons. - Ann Arbor : ProQuest Dissertations & Theses, 2021 - 76 p.

Source: Masters Abstracts International, Volume: 83-01.

Thesis (M.Engr.)--Stevens Institute of Technology, 2021.

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

The use of lower body exoskeletons for stroke rehabilitation has increased in popularity in the last decade. As such, more and more people are gaining access to a previously exclusive rehabilitative service. The traditional design for lower body exoskeletons reduces the complexity of the ankle joint by including an unadjustable (or discretely adjustable) parallel spring rather than using an actuator or complex system of springs and clutches to better replicate healthy ankle torque. This simplification is done to reduce weight, inertia, and cost of the device. This might limit the effectiveness of current protocols for robot-assisted rehabilitation. Everybody walks differently, and as such, everyone will have different ankle torque profiles. This large inter-subject variability necessitates accurate ankle torque replication during rehabilitation that a single stiffness spring at the ankle cannot achieve. The ultimate goal being for the affected leg to perfectly replicate the torque profiles of the healthy leg. This will reduce the chance for an imbalanced gait which could lead to long-term compensation injuries.The goal of this thesis is to conceptualize, design, and fabricate a lightweight mechanism that is adjustable in such a way as to approximately complement a patient's residual motor function at the ankle joint, to help him/her achieve a normative ankle torque vs. angle profile. This directly opposes the "one-size-fits-many" approach of current exoskeletons on the market. The novelty of this design lies in its adjustability, which will make it possible to personalize the behavior of the mechanism to an individual's functional ability and unique ideal ankle torque profile. This thesis justifies the need for this device, describes the current state of the art on lower-extremity exoskeletons, introduces the conceptual design and its optimization, features the detailed design of the prototype, and concludes with preliminary testing of the new prototype.

ISBN: 9798534671629Subjects--Topical Terms:

519753
Robotics.
Subjects--Index Terms:

AFO

Fully Adjustable Passive Ankle Mechanism for Lower Body Exoskeletons.
LDR:03084nmm a2200361 4500 001 2351890
005 20221111113706.5
008 241004s2021 ||||||||||||||||| ||eng d
020 $a 9798534671629
035 $a (MiAaPQ)AAI28498708
035 $a AAI28498708
040 $a MiAaPQ $c MiAaPQ
100 1 $a Rosenson, Daniel. $3 3691479
245 1 0 $a Fully Adjustable Passive Ankle Mechanism for Lower Body Exoskeletons.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2021
300 $a 76 p.
500 $a Source: Masters Abstracts International, Volume: 83-01.
500 $a Advisor: Zanotto, Damiano;Wang, Long.
502 $a Thesis (M.Engr.)--Stevens Institute of Technology, 2021.
506 $a This item must not be sold to any third party vendors.
520 $a The use of lower body exoskeletons for stroke rehabilitation has increased in popularity in the last decade. As such, more and more people are gaining access to a previously exclusive rehabilitative service. The traditional design for lower body exoskeletons reduces the complexity of the ankle joint by including an unadjustable (or discretely adjustable) parallel spring rather than using an actuator or complex system of springs and clutches to better replicate healthy ankle torque. This simplification is done to reduce weight, inertia, and cost of the device. This might limit the effectiveness of current protocols for robot-assisted rehabilitation. Everybody walks differently, and as such, everyone will have different ankle torque profiles. This large inter-subject variability necessitates accurate ankle torque replication during rehabilitation that a single stiffness spring at the ankle cannot achieve. The ultimate goal being for the affected leg to perfectly replicate the torque profiles of the healthy leg. This will reduce the chance for an imbalanced gait which could lead to long-term compensation injuries.The goal of this thesis is to conceptualize, design, and fabricate a lightweight mechanism that is adjustable in such a way as to approximately complement a patient's residual motor function at the ankle joint, to help him/her achieve a normative ankle torque vs. angle profile. This directly opposes the "one-size-fits-many" approach of current exoskeletons on the market. The novelty of this design lies in its adjustability, which will make it possible to personalize the behavior of the mechanism to an individual's functional ability and unique ideal ankle torque profile. This thesis justifies the need for this device, describes the current state of the art on lower-extremity exoskeletons, introduces the conceptual design and its optimization, features the detailed design of the prototype, and concludes with preliminary testing of the new prototype.
590 $a School code: 0733.
650 4 $a Robotics. $3 519753
650 4 $a Biomedical engineering. $3 535387
650 4 $a Ankle. $3 3563106
650 4 $a Patients. $3 1961957
650 4 $a Standard deviation. $3 3560390
650 4 $a Gait. $3 1362772
650 4 $a Regression analysis. $3 529831
650 4 $a Sensitivity analysis. $3 3560752
650 4 $a Genetic algorithms. $3 533907
650 4 $a Optimization. $3 891104
650 4 $a Range of motion. $3 3683609
650 4 $a Variables. $3 3548259
650 4 $a Approximation. $3 3560410
650 4 $a Medical equipment. $3 3560831
650 4 $a Design. $3 518875
650 4 $a Rehabilitation. $3 529790
650 4 $a Walking. $3 548733
650 4 $a Geometry. $3 517251
650 4 $a Biomechanics. $3 548685
653 $a AFO
653 $a Ankle torque profile
653 $a Exoskeleton
690 $a 0771
690 $a 0541
690 $a 0389
690 $a 0648
710 2 $a Stevens Institute of Technology. $b Mechanical Engineer. $3 3177147
773 0 $t Masters Abstracts International $g 83-01.
790 $a 0733
791 $a M.Engr.
792 $a 2021
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28498708