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dc.contributor.supervisor Wu, Christine Q. (Mechanical Engineering) en_US
dc.contributor.author Balakrishnan, Nishant
dc.date.accessioned 2015-04-09T16:58:10Z
dc.date.available 2015-04-09T16:58:10Z
dc.date.issued 2015-04-09
dc.identifier.uri http://hdl.handle.net/1993/30369
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.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.degree.discipline Mechanical Engineering en_US
dc.contributor.examiningcommittee Ruth, Douglas (Mechanical Engineering) Szturm, Tony (Medical Rehabilitation) en_US
dc.degree.level Master of Science (M.Sc.) en_US
dc.description.note May 2015 en_US


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