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 26 for “"Joint torque"”.
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Joint Torque Feedback for Motion Training with an Elbow Exoskeleton
Joint torque feedback (JTF) is a new and promising means of kinesthetic feedback to provide information to a person or guide them during a motion task. However, little work has been done to apply the torque feedback to a person. This project evaluates the properties of JTF as haptic feedback, …
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Optimization-Based Inverse Dynamics to Reduce Errors in Estimated Joint Torques
… the potential to significantly reduce errors in joint torque calculations.
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Towards the development of a dynamic device for the evaluation of hypertonia of the upper extremity
… wrist and finger flexor tone by monitoring wrist joint torque during passive wrist extension. Wrist flexor tone evaluations made by manipulation of the wrist joint alone, however, could be affected by possible hypertonia of the finger flexors due to the moment arm that these muscles‟ tendons have …
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An investigation of space suit mobility with applications to EVA operations
… (EVA) by compiling a detailed database of the torques needed to bend the joints of a space suit, developing models of the mechanics of space suit joints based on experimental data, and utilizing these models to estimate a human factors performance metric, the work envelope for space suited EVA …
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Space suit simulator for partial gravity extravehicular activity experimentation and training
… to become accustomed to space suit-imposed high joint torques and limited range of motion. Space suit experimentation is difficult for researchers because the current suit is expensive, bulky, heavy, hard to don/doff, and in very short supply. The main objective of this thesis is to develop a …
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Industrial automation and control in hazardous nuclear environments
… based on user-specified parameters. 2. Joint torque monitoring 3. Online motion planning for contact tasks 4. Object-in-hand industrial manufacturing 5. Grasping and handling of nuclear material 6. Software compliance via robust nonlinear control methods A high-bandwidth collision …
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Localizing external contact using proprioceptive sensors : the contact particle filter
… points that best explain the observed external joint torque, and returns sensible estimates even when the external torque measurement is corrupted with noise. We demonstrate the capability of the CPF in multiple scenarios. We show how it can track multiple external contacts on a simulated Atlas …
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Estimating output torque via amplitude estimation and neural drive : a high-density sEMG study
… This thesis presents an exploration of output joint torque estimation using high density surface electromyography (HDsEMG). The specific aims of this thesis were to implement a well-established amplitude estimation method for standard multi-electrode sEMG collection with an HDsEMG grid, and to …
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Flexible dynamic modeling and control for the Remote Manipulator System
… model has six degree-of-freedom rigid dynamics, joint flexibility dynamics, link transverse elastic dynamics and torsional elastic dynamics. A computationally efficient control approach for addressing joint and boom flexibility of the RMS is investigated. The control strategy consists essentially …
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Analysis of walking and balancing models actuated and controlled by ankles
Experimental data show that ankle torque is the most important actuator in normal human locomotion. I investigate the dynamics of simple models actuated by ankles alone. To assess the contribution of ankle actuation to locomotion, I first analyze the dynamics of some passive walkers without any …
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Bio-mechanical characterisation of synergistic muscle control in goal directed movements
… of muscles to produce precise muscle forces and joint torques. The co-ordination of muscles, acting on multi-joint limbs and characterised by highly non-linear dynamics, requires significant computational effort. The synergistic control hypothesis suggests that the nervous system may simplify the …
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Examination of the magnitude and timing of hip flexion torque in high degree of difficulty forward somersault dives on the 3m springboard
… effect the timing and magnitude of hip flexion torques has on forward dives. The purpose of this study was to investigate the relationship between the timing and magnitude of hip flexion torques prior to the take-off and the vertical velocity at take-off in high demand rotational forward dives. …
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Optimization-based control and planning for highly dynamic legged locomotion in complex environments
… reason about contact, centroidal dynamics, and joint torque limit are obtained by solving mixed-integer convex programs (MICP) without requiring any initial guess from the operator. We further reduce the computational expense of long-horizon planning by leveraging the benefits of both …
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The Effects of Alterations to Upper Limb Inertial Properties on Vertical Point-to-Point Movement
… coordination between the shoulder and elbow joints during target-oriented movements. These studies have observed consistent patterns in coordination despite changes in movement variables such as speed, direction, and inertia. Researchers used intersegmental dynamics to quantitatively analyze …
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Planning, Sensing, and Control for Contact-rich Robotic Manipulation with Quasi-static Contact Models
… of estimating external contact forces from only joint torque measurements, and explores how to use feedback to keep the magnitude of contact forces bounded in an accidental collision.
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Satisfying Distributed Joint Control Timing Constraints
… the real-time system that is a robotic joint, reliability is the chief concern. Implementing controllers via embedded software imposes several limitations on the controller frequency, such as algorithm latency and supplemental processes (like networking) competing for execution time. If …
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Design and dynamic simulation of mobile manipulators incorporating tribological analysis of 16MnCr5 and EN19 steels.
… pin, selected as approximations of manipulator joint contact. Oil lubricant was used to generate reference COF characteristics against which COF of grease-lubricated contacts were compared, and oil-lubrication showed better COF than grease-lubrication. However, oil is a fluid and it cannot be …
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The Effect of McConnell Shoulder Taping on Shoulder Muscle EMG and Shoulder Torque Productions in Subjects With Anterior Shoulder Instability
… directed at the unstable glenohumeral joint often includes McConnell shoulder taping. This taping technique consists of a base layer of tape followed by application of a rigid strapping tape (corrective) to restrain excessive translation of the humeral head. The aims of this study were …
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Quantification of Cumulative Load on the Knee using a Vibration Emission Method
… can induce heavy mechanical loads on the joint, causing the articulating surfaces to deform. This can result in changes of vibration characteristics of the joint surfaces. Differences in the vibration characteristics of normal and pathological joints have been established and used in the …
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Dynamic Locomotion and Whole-Body Control for Compliant Humanoids
… and whole-body control framework for compliant (torque-controlled) humanoids. We develop low-level, mid-level, and high-level controllers to enable low-impedance balancing and walking on compliant and uneven terrain. For low-level control, we present a cascaded joint impedance controller for …
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