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 30 for “"joint torques"”.
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Estimating Joint Torques on a Biodex System 3 Dynamometer
… is to propose a method for determining resultant joint moments from a Biodex System 3 isokinetic dynamometer. Previous investigations using a dynamometers determined that measured moments from a dynamometer do not equate to the moment applied by the joint. Using Biodex System 3 dimensions and …
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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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Performance Symmetry and Maximum Joint Torques During Recovery from a Simulated Trip
… research. The second study investigated peak joint torques after stepping to recover from a simulated trip. The same protocol as the first study was used for simulating trips. Increasing trip severity resulted in increased ankle plantarflexor torque in young subjects and increased hip extensor …
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Maximum Absolute and Relative Joint Torques during Recovery from a Simulated Trip
… longer recover balance with a single step. Peak joint torques and relative effort during balance recovery were calculated and compared across the groups. Obese participants achieved a smaller maximum lean angle compared to non-obese participants. During balance recovery, obese participants …
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An examination of age-related differences in lower extremity joint torques and strains in the proximal femur during gait
… examined age differences in peak lower extremity joint torques during walking with controlled speed and step length. Studies 2 and 3 applied muscle forces estimated during gait to finite element models of the femur. Study 2 examined age differences in femoral strains, and Study 3 examined the …
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Control of Walking Speed in Young and Old Adults
… to overall increases in lower extremity joint torques and powers, the precise relationships of torque and power outputs at each joint to walking velocity remain elusive. We proposed that these relationships are fundamental in developing effective training programs aimed at increasing …
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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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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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Design of a Humanoid Robot for Disaster Response
… of the proposed tasks generated a set of joint range of motions (RoM). Desired limb lengths were determined by comparing existing robots, the test subject in the experiment of proposed tasks, and an average human. Simulations using the desired RoM and limb lengths were used to calculate …
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Optimal Open Loop and Nonlinear Feedback Control for Remote Orbital Capture (multi-Body Dynamics, Recovery, Satellite Servicing, Payload Handling)
… degrees of rotational freedom are allowed at the joint which connects the OMV and target spacecraft, and the joint is allowed to translate on the surface of the OMV. The initial condition of the axially symmetric target satellite is free spin and precession. Representative masses and inertias are …
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Learning force fields for limb control in character animation
… simulated character animation. Vector fields of joint torques, defined over joint angle space, have been shown in the neuroscience literature to be able to generate simple reaching motions in two dimensions when linearly combined with time-varying weights. In this work, three-dimensional versions …
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NPL : a graphical programming language for motor control and its application to bipedal walking
… walking control include playback of recorded joint motion and the derivation of dynamic equations to map desired forces at the body to the required torques at the joints. Both methods require a significant amount of up-front knowledge about the structure and characteristics of the robot. This …
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Modeling of equilibrium point trajectory control in human arm movements
… is that the CNS provides a virtual trajectory of joint motion, representing spacing and timing, with actual movement dynamics being produced by interactions of limb inertia, muscle viscosity and speed/position feedback from muscle spindles. To counter criticisms of the EPH, investigators have …
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A 3D neuromuscular model of the human ankle-foot complex based on multi-joint biplanar fluoroscopy gait analysis
… human movement are generally limited to single-joint motions with constrained range. Here, a hybrid procedure is developed for multi-joint gait analysis using BiFlo and MOCAP in tandem. MOCAP effectively extends BiFlo's field-of-view. Subjects walked at a self-selected pace along a level walkway …
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Biped robot with a vestibular system
… resulting governing equations include actuator torques for a robot and muscle generated torques for a human. These torques are those necessary at each joint of a leg, including the foot, for a successful stride. The equations are developed from a consistent set variables with respect to a single …
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THE VARIATION IN STRENGTH DECREMENT OF LOWER EXTREMITY MUSCLE GROUPS AND BIOMECHANICAL PLASTICITY IN OLDER ADULTS
… established as the distal to proximal shift of joint mechanical output in old adults while walking. The cause of BP is still unknown, but changes in muscle strength of the lower extremities due to age are thought to be one of the underlying causes of BP. Old adults who had overall weaker lower …
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Reliable control of surgical robots and stabilization of long short-term memory neural networks
… among a system of robotic manipulators in the joint space. The resulting joint-feedback controller is obtained in a closed form, which means that the joint positions are directly used in computing the joint torques, without any additional intermediate steps for computing shortest distances or …
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Squat exercise biomechanics during short-radius centrifugation
… reaction forces, Coriolis accelerations, and joint torques.
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Design and development of a 7 degree-of-freedom powered exoskeleton for the upper limb
… is an external structural mechanism with joints and links corresponding to those of the human body. With applications in rehabilitation medicine and virtual reality simulation, exoskeletons offer benefits for both disabled and healthy populations. A pilot database defining the kinematics …
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Adaptive Torque Control of a Novel 3D-Printed Humanoid Leg
… full dynamics compensation to decouple the joints and cancel out nonlinearities, for which a high-fidelity model of the robot is required. In the case of a 3D-printed robot, components cannot be easily modeled due non-uniform densities, inconsistencies among the 3D printers used in …
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