The growing demand for physically interactive robots for industrial, medical, and military applications is succeeded by a demand for better performing and more transparent human-robot systems. This research explores the strategy of variable damping control of an ankle exoskeleton robot. The purpose is to utilize a range of negative and positive damping values to either
Characterization of multivariable ankle stiffness is important for better understanding how the ankle supports lower-extremity functions. The purpose of this research project is to further investigate the underlying mechanisms for the modulation of multi-dimensional ankle stiffness; specifically, the relationship between ankle stiffness and the independent variables: ankle center of pressure and ankle modulating muscle activation.
Ever since Title IX in 1972, females have been known to have an increasingly higher rate of musculoskeletal injuries occurring while playing sports than in males. This study focuses on quantifying the voluntary neuromuscular control of the knee for each gender during a range of set frequencies. If dynamic knee stability and motor control is
Developing an advanced controller to balance agility and stability in a wearable ankle robot will maximize performance for the user.
Forming mathematical models to describe ankle mechanics can assist in developing advanced lower limb prosthetics.
Quantifying reasons behind ACL injuries based on sex will increase understanding help develop better rehabilitation methods.
The purpose of this research is to investigate the viability of negative damping as a control scheme for a wearable ankle exoskeleton. Negative damping can be thought of as the opposite of friction – it adds energy to a system instead of removing it. The muscle activity and gait motion of subjects wearing an externally-powered
Can you walk on a treadmill as comfortably as you would over ground? While this seems challenging, the implementation of a self-paced mode in the instrumented treadmill enables the treadmill to adjust itself to the speed of the subject rather than the subject adjusting to a fixed speed thereby improving the comfort level. A study
This research project investigates the stability of the ankle in inversion and eversion using variable negative damping coefficients: -0.3, 0, 0.3. The angle of motion is tested by making a comparison between 5 and 7 degrees angles of motion. Currently the researcher is focusing on creating graphs and build a reasoning interpretation of the experimental
The development of wearable robots has the potential to drastically improve human lives. This study focuses on using a wearable ankle robot to quantify lower-limb motor control. After creating a video game for human subjects to play, kinematic data and electromyographic (EMG) data was collected from ten healthy subjects. This study continues previous research on