Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 103 for “"Exoskeletons"”.
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Exoskeletons
<p>This collection of creative nonfiction includes reflective personal essays in three parts. The first part deals loosely with my efforts to assert, define, and interrogate my sense of identity dealing primarily with childhood/adolescent experiences and reflections on my parents. The second part …
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Development of Passive Lower Back Exoskeletons
The design of two passive back lift assist exoskeletons are presented in this thesis. The first exoskeleton uses carbon fiber as an energy storage medium while the second system utilizes a series system comprised of a gas spring and metal coil spring. The first exoskeleton was successfully tested …
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Multiscale materials design of natural exoskeletons : fish armor
Biological materials have developed hierarchical and heterogeneous material nanostructures and microstructures to provide protection against various environmental threats that, in turn, provide bioinspired clues to man-made, protective material designs. In particular, designs of dermal fish armor …
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Underactuated Exoskeletons for Lifting, Carrying, and Walking Assistance
Exoskeletons are rapidly emerging from the realm of science-fiction myth to practical reality in everyday life. Various designs have provided viable means for individuals to regain capabilities that were lost or perform tasks not previously possible by their ability alone. In this research, I …
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Engineering, Adoption, and Ethics of Lift-Assist Exoskeletons
… their bodies resulting in high levels of injury. Exoskeletons are one method of being able to decrease the forces on a worker while still allowing them to move. In this research, I propose a novel exoskeleton design that integrates the design process with an ethical understanding of how technology …
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A novel torsional spring design for knee prostheses and exoskeletons
… spring design for use in knee prostheses and exoskeletons is presented and analyzed. The planar spring design features an outer hub and an inner hub, which are connected by slender beams and store torsion energy in beam bending. The beams are fixed to the outer hub on one end and attached to …
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A Novel Method and Two Exoskeletons for Whole-arm Gravity Compensation
… centered upon the published A Novel Method and Exoskeletons for Whole-arm Gravity Compensation (Turner, Hull 2020), and includes a novel concept for supporting the weight of a person's arm or robotic linkage. The design is capable of supporting weights held near the hand, and provides support …
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Characterizing Human Motor Adaptation and Learning When Using Different Occupational Exoskeletons
Occupational exoskeletons offer promising solutions to reduce biomechanical risk factors and mitigate work-related musculoskeletal disorder risks from manual labor. However, understanding how individuals adapt to these devices over time remains limited, complicating effective design, training, and …
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Investigation of Future Voluntary Movement Prediction for Pathological Tremor-Alleviating Exoskeletons
… have side effects. Therefore, rehabilitation exoskeletons have emerged as an assistive technology and have become an essential supplement to traditional treatments. Then, performance optimization is particularly critical to fully realizing the potential of exoskeletons. The ideal tremor …
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Effects of Occupational Exoskeletons on Responses to Simulated Slips and Trips
Occupational exoskeletons are designed to reduce workplace injury risk by decreasing work demands. Due to their relatively recent development, there has been limited research into potential unintended and undesirable consequences of wearing them. The goal of this thesis was to investigate the …
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Comparison of DC Motors and Dielectric Elastomer Actuators For Wearable Wrist Exoskeletons
Paralysis or loss of strength resulting from stroke requires patients to undergo extensive rehabilitation therapy. It is known that intensive therapy contributes significantly to recovery, but as the number of surviving stroke patients increases, it is difficult for clinics to provide patients with …
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Towards Understanding the Effects of Exoskeletons on Sensory Integration and Step Regulation
Robotic exoskeletons have, for a few decades, proven their potential to augment human performance and assist those with mobility impairments. Extensive research has demonstrated that robotic assistance can be used to reduce the energetic cost of walking, improve the dynamic stability of the user, …
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Simulation and Design of Two Tool Support Arm Exoskeletons with Gravity Compensation
We present and analyze two arm exoskeletons based on a pantograph linkage that allow for the support of 89~N (20~pounds) at the user's hand. Using a pantograph linkage allows for a constant force to be created at the hand in any orientation when a constant vertical force is supplied to the other …
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Biomechanical Assessment of Varied Lifting Tasks With and Without Passive Back Support Exoskeletons
… postures, and heavy lifting. Back support exoskeletons have increasingly been studied as a solution to this problem. In addition to evaluating exoskeletons, giving some focus to the various lifting styles themselves can also provide some insight into ameliorating this problem. Research …
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Biomechanical Analysis and Modeling of Back-Support Exoskeletons for Use in Repetitive Lifting Tasks
… material handling (MMH) tasks. Back-support exoskeletons (BSEs) are a promising ergonomic intervention to mitigate LBP risk, by reducing muscular exertion and spine loading. The purpose of this work was to help better understand both the "intended" and "unintended" consequences of BSE use on …
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Biomechanical Assessment and Metabolic Evaluation of Passive Lift-Assistive Exoskeletons During Repetitive Lifting Tasks
… world. In the past several years, the industrial exoskeletons especially the passive ones have been proposed as alternative intervention and assistive devices, which are capable of reducing the risk of WMSDs and LBP. However, more research is warranted to validate the applicability of these …
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A novel approach to user controlled ambulation of lower extremity exoskeletons using admittance control paradigm
The robotic lower extremity exoskeletons address the ambulatory problems confronting individuals with paraplegia. Paraplegia due to spinal cord injury (SCI) can cause motor deficit to the lower extremities leading to inability to walk. Though wheelchairs provide mobility to the user, they do not …
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Development of a Conducting Polymer based Flexible Position Sensor for the Control of Hand Exoskeletons
… illnesses such as stroke. At present, hand exoskeletons face an issue regarding to the sensors being employed to determine the finger position. These sensors utilise mechanical designs that require physical movements of rigid components. As such, these sensors are bulky and heavy. They …
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Design and Control of Two Under-Actuated Upper Body Exoskeletons for Augmenting Human Capabilities in Lifting
Exoskeletons are getting popular day by day due to their abilities in helping people. Exoskeletons can be used to help people gain motor senses through rehabilitation. It can also help healthy people to augment their abilities. These exoskeletons need to be strong yet light, so that the human body …
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Musculoskeletal Modeling of Back-Support Exoskeletons: Comparative Evaluation of Spine Loads, Muscle Activity, and Optimization Strategies
… a primary occupational risk factor. Back-support exoskeletons (BSEs) have emerged as a promising ergonomic intervention to reduce spinal loading during lifting tasks. While prior studies indicate reductions in trunk muscle activity with BSE use, experimental evaluations were often limited by …
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