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 10 of 10 for “"stiffness control"”.
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On the control of paraplegic standing using functional electrical stimulation
… Firstly, the experimental apparatus and feedback control approach is described. Secondly, the experimental work is divided into three parts. The motivation, experimental setup and procedure as well as results and conclusions are given for each of them. The feasibility of the investigated approach …
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Shock isolation using switchable stiffness
This study investigates a novel stiffness control strategy applied to the problem of shock isolation. This is based on the principle that the stiffness and mass are the principal physical properties that control the passive system shock response. The problem of shock response control is divided in …
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The role of flexibility on propulsive performance of flapping fins
… and is believed that the fish modulates its fin stiffness to optimize the propulsive performance. Inspired by the stiffness modulation of fish fins, the objective of this research is to predict and evaluate the effect of flexibility on propulsive performance of flapping fins. The stiffness of the …
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Design and Control of a Multi-Fingered Soft-Rigid Hybrid Robotic Hand
… generate such interest despite being complex to control and model. In prior work, our lab developed a soft-rigid hybrid architecture for a robot finger, with the intention of making a compliant finger that is as easy to control as a rigid robot. This thesis details the work done to take this …
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Lateral Movement of Unbraced Wood Composite I-Joists Exposed to Dynamic Walking Loads
… attached to the top flange. Five different brace stiffnesses were used: zero stiffness (control), 1.2 lb/in., 8.5 lb/in., 14.0 lb/in. and infinitely stiff. Two different brace configurations were used: one-quarter of the span length (60 in.) and one third the span length (80 in.). The dynamic …
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Passivity-Based Hands Towards General-Purpose Robotic Manipulation
… realising more capable systems with reduced control effort. This thesis explores the role of embodied intelligence within the hand, ways to exploit embodied intelligence and potentially ways to embed intelligence into our own designs. The concept of passivity-based design is presented. This …
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Design and Evaluation of a Quasi-Passive Variable Stiffness Ankle-Foot Prosthesis to Improve Biomechanics Across Walking Speeds
… achieved by automatically adjusting prosthesis stiffness to maximize energy storage across walking speeds. A novel quasi-passive variable stiffness ankle-foot prosthesis is presented with high resolution stiffness adjustment from 352 - 479 Nm/radian, corresponding to biological ankle …
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Soft Smart Interfaces for Bilateral Teleoperation with Distributed Tactile Haptic Feedback in Remote Medical Palpation
… architecture and the integration of shared control as a tool to augment the user experience while performing remote palpation. A combination of shared control and predictive models can be used to avoid indirect instabilities, normally created by the human operator's overcompensation of the …
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Active fibre-reinforced composites with embedded shape memory alloys
… actuators integrated within a composite actively control the structural shape or stiffness, thus influencing the composite static and dynamic properties. Envisaged applications include, among others, the prevention of thermal buckling of the outer skin of air vehicles, shape changes in panels for …
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Grasped Object Detection for Adaptive Control of a Prosthetic Hand
… design as well as improved functionality and controls. After review of literature, a PID sliding mode position controller and an adaptive PID sliding mode controller are presented for a prosthetic hand. The adaptive controller smoothly modulates the gains based on the detected stiffness of the …