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.
Results
Showing 1 to 12 of 12 for “"elastic elements"”.
-
Elastic elements with embedded actuation and sensing for use in self-transforming robotic planetary explorers
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2000.
-
Planar feasibility study for primary mirror control of large imaging space systems using binary actuators
… the idea of using binary actuators coupled with elastic elements to offer solutions to these problems. The feasibility of using binary actuators with elastic elements for correcting the focus of the deformed structure is investigated. The investigation begins with simple representations of the …
-
A Model of the Production of Spontaneous Otoacoustic Emissions in the Tokay Gecko
… along the array mediated by either viscous or elastic elements. We find that a model incorporating elastic interactions, but not one incorporating viscous interactions, reproduces the appearance of spontaneous emissions. The model also suggests a prominent role for disorder along the length of …
-
A novel torsional spring design for knee prostheses and exoskeletons
… design provides a more compact alternative to elastic elements currently used in series elastic actuators. From the presented models, the design dimensions, material, and slot geometry can be parametrized to design springs that meet specific requirements for different applications. In addition …
-
The use of series compliance and variable transmission elements in the design of a powered knee prosthesis
… remained a challenge. The addition of powered elements, such as electric motors, allow prosthetic knees to more closely emulate natural knee biomechanics. However, the addition of powered elements presents a new challenge of creating energy efficient devices that do not require frequent …
-
Synthesis and Design of a Bimodal Rotary Series Elastic Actuator
A novel rotary series elastic actuator (RSEA) with a two-mode, or bimodal, elastic element was designed and tested. This device was developed to eliminate the compromise between human safety and robot performance. Rigid actuators can be dangerous to humans within a robot's workspace due to impacts …
-
Design and Control of a Cable-Driven Articulated Modular Snake Robot
… using an antagonistic cable-routing scheme. Elastic elements in series with the cables and the coupled nature of the mechanism allow each module to detect and automatically respond to obstacles. The mechanical and electrical designs of the bending module are presented, with emphasis on the …
-
3D Upper-extremity ExoNET: Improved Passive Exoskeleton for Gravity Compensation and Motor Rehabilitation
… The Shoulder ExoNET (Exoskeletal Network for Elastic Torque) is conceived to provide effective gravity compensation for the upper limb through a fully passive, elastic based mechanism. The theoretical model re lies on a network of diagonal elastic elements acting as basis functions to generate …
-
Shock isolation using switchable stiffness
… analysis, namely, a single mass supported by two elastic elements one of which can be disconnected, and a second model where the switchable element comprises a secondary mass-stiffness system. The performance of the two strategies is analyzed in terms of response parameters such as the absolute …
-
Enhancing human metabolic economy in stair climbing via an elastic crutch mechanism
… metabolic reduction with joint-spanning elastic elements. Our approach includes three parts. First, we present an augmented crutch design with an elbow spring that can be modified with different stiffnesses. Second, we put forth a clinical testing protocol in which we measure metabolic …
-
Design of a Gravity Compensation Actuator for Arm Assistance
This thesis presents the design, simulation, and evaluation of a passive, wearable, and human-scale actuator that includes pulleys and uses polymers for energy storage. Repetitive tasks such as packing boxes on an assembly line may require high strength movements of the shoulder, arm, and hand and …
-
Biomechanical modelling of human knee during living activities
… each ligament was modelled with 25 linear-elastic elements paying particular attention to the anatomical twisting of the fibres. The devised model was as subject-specific as possible. The geometrical parameters were directly estimated from the experimental measurements, whereas the only …