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 169 for “"exoskeleton"”.
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Finger Exoskeleton – Towards an EVA Exoskeleton Hand Analysis, Modelling, Design and Implementation
… development of a prototype of a lightweight hand exoskeleton designed to be embedded in the gloved hand of an astronaut and to overcome the stiffness of the pressurized space suit. The system should be able to provide force and precision to the handgrip and in particular able to sense the …
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Dynamic exoskeleton : mechanical design of a human exoskeleton to enhance maximum dynamic performance
An exoskeleton was designed with the primary goal of enhancing the maximum dynamic capability of a human, thus allowing the user to run faster, jump higher, or traverse challenging terrain. This paper presents the mechanical design of an alpha prototype with a focus on increasing the maximum …
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Dynamic exoskeleton : design and analysis of a human exoskeleton to enhance maximum dynamic performance
Most existing research in powered human exoskeletons aims to increase load bearing capability or reduce the metabolic cost of walking. Current exoskeletons are typically bulky and heavy and thus impede the motion of the user. Therefore, they are not suitable for highly dynamic motions. This thesis …
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Biomechanics-Based Optimization for Exoskeleton Design
… assist in the design of a 5 DOF active shoulder exoskeleton. This thesis will provide a proof of concept on optimization techniques using motion data using a simplified 3 DOF model to facilitate future work implementing a full 5 DOF model. Optimization will be performed to determine the link …
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Elbow exoskeleton mechanism for multistage poststroke rehabilitation.
… of exercises. Although a large variety of arm exoskeletons have been developed in the last two decades to substitute the conventional exercises provided by physiotherapist, most of these systems have limitations with structural configuration, sensory data acquisition and control architecture. …
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Moving and adapting with a learning exoskeleton
The operation of a powered exoskeleton is a type of human-robot interaction with extremely tight human-robot coupling. As exoskeletons become increasingly intelligent, it is increasingly appropriate to think of them not simply as tools, but rather as semi-autonomous teammates. This thesis explores …
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Design, Characterization, and Validation of the OpenWrist Exoskeleton
… living. To this end, a new coupled hand-wrist exoskeleton has been designed. This thesis details the design of the wrist module and several human-related considerations made to maximize its potential as a coordinated hand-wrist device. The serial wrist mechanism has been engineered to …
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Engineering a robotic exoskeleton for space suit simulation
… designed and built an actively controlled exoskeleton for space suit simulation called the Extravehicular Activity Space Suit Simulator (EVA S3), which can be programmed to simulate the joint torques recorded from various space suits. The goal of this research is to create a simulator that …
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Passive upper-limb exoskeleton based on Pneumatic Artificial Muscles
L'abstract è presente nell'allegato / the abstract is in the attachment
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DEVELOPMENT OF A ROBOTIC EXOSKELETON SYSTEM FOR GAIT REHABILITATION
This thesis presents a robotic knee-ankle-foot exoskeleton system aiming at providing overground gait rehabilitation training to sub-acute and chronic stroke patients at home and outpatient setting. The exoskeleton robotic system consists of a knee joint and an ankle joint, which is wearable, …
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Harnessing Artificial Intelligence to Guide Exoskeleton Adoption in Construction
… such as computer vision and wearable sensors, exoskeletons have emerged as a human-centered solution that could extend the longevity and sustainability of the construction workforce. Specifically, active back-support exoskeletons have been identified as a potential solution to the prevalence of …
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Design and Evaluation of an Underactuated Lower Body Exoskeleton
An underactuated exoskeleton design for walking assistance is presented and evaluated. The exoskeleton uses one motor per leg and makes use of a pantograph to reduce the overall profile and allow the exoskeleton to closely follow the shape of the user's leg. Support is provided between the ball of …
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Design and Evaluation of a Flexible Exoskeleton for Lifting
A flexible and passive exoskeleton is presented in this paper. The exoskeleton uses carbon fiber beams to provide an energetic return to its wearer and relieve their lower back muscles. The design of the exoskeleton and potential elastic mechanisms are described, and the results of biomechanical …
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Towards Naturalistic Exoskeleton Glove Control for Rehabilitation and Assistance
… a control scheme for naturalistic control of an exoskeleton glove and a glove design. Exoskeleton development has been focused primarily on design, improving soft actuator and cable-driven systems, with only limited focus on intelligent control. There is a need for control that is not limited to …
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Adaptive exoskeleton for the integrated retrofit of social housing buildings
… of a new experimental practice called “adaptive exoskeleton”. This strategy involves the wrapping of the entire original building with a three-dimensional structural envelope, the exoskeleton, using a construction process able to limit interferences on the use of the building and on the life of …
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Active exoskeleton for trunk support adapted to bend-over strategies
L'abstract è presente nell'allegato / the abstract is in the attachment
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An Intelligent Pneumatic Muscle Actuated Exoskeleton for Robotic Gait Rehabilitation
… development of a new robotic GAit Rehabilitation EXoskeleton (GAREX) that is compliant with the current neurorehabilitation theories in order to achieve optimised robotic gait rehabilitation. Such goal is tackled systematically in terms of both robotic design and control algorithm research. GAREX …
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Exoskeleton Robot for Upper Limb Rehabilitation: Design Analysis and Control
… issues. This research explores the use of an exoskeleton robot for physical rehabilitation of the human upper limb. Analysis of past exoskeleton designs have revealed major limitations in these exoskeletons' shoulder mechanism which limit the range of motion and the movements that can be …
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Autonomous powered exoskeleton to improve the efficiency of human walking
… have strived to develop autonomous leg exoskeletons that reduce the metabolic energy consumed when humans walk and run, but such technologies have traditionally remained unachievable. In this thesis, I present the Augmentation Factor, a simple model that predicts the metabolic impact of …
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Assessment of Powered Ankle Exoskeleton on Human Stability and Balance
While wearable robotic systems such as exoskeletons are designed to assist in human motion, they are often only studied in situations of level walking. In order to expand the types of actions for which exoskeletons can assist, the exoskeletons must be tested in a variety of situations to understand …
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