Experimental study of a novel actively assisted bipedal walker – simulation, modeling and experiment
| dc.contributor.author | Balakrishnan, Nishant | |
| dc.contributor.examiningcommittee | Ruth, Douglas (Mechanical Engineering) Szturm, Tony (Medical Rehabilitation) | en_US |
| dc.contributor.supervisor | Wu, Christine Q. (Mechanical Engineering) | en_US |
| dc.date.accessioned | 2015-04-09T16:58:10Z | |
| dc.date.available | 2015-04-09T16:58:10Z | |
| dc.date.issued | 2015-04-09 | |
| dc.degree.discipline | Mechanical Engineering | en_US |
| dc.degree.level | Master of Science (M.Sc.) | en_US |
| dc.description.abstract | This thesis covers the study of an actively assisted passive walker with discontinuous and impulsive actuation. The dynamics of the passive and active portions are derived, and a comprehensive mathematical model is proposed. An actuation method is also proposed to study the use of multiple discrete actuation events in a walking gait. Two key cases are considered: actuation at the stance point and at the EA point of a non-kneed walker. An experimental walker was designed that is capable of passive walking and has an experimental implementation of the proposed actuation system. A thorough characterization of the model is then performed, with experimental validation to show that: at high ramp angles, energy injection results in an increase in BOA of ~38% on a stable walking gait at a Ct of 0.086, and at low ramp angles, injection results in a stride length increase of ~29% at a Ct of 0.06. | en_US |
| dc.description.note | May 2015 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1993/30369 | |
| dc.language.iso | eng | en_US |
| dc.rights | open access | en_US |
| dc.subject | Passive Dynamics | en_US |
| dc.subject | Bipedal Walking | en_US |
| dc.subject | Humanoid Locomotion | en_US |
| dc.subject | Applied Mathematics | en_US |
| dc.subject | Non Linear Systems | en_US |
| dc.subject | Gait Analysis | en_US |
| dc.title | Experimental study of a novel actively assisted bipedal walker – simulation, modeling and experiment | en_US |
| dc.type | master thesis | en_US |