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Developing Ankle Exoskeleton Assistance Strategies by Leveraging the Mechanisms Involved in Human Locomotion.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Developing Ankle Exoskeleton Assistance Strategies by Leveraging the Mechanisms Involved in Human Locomotion./
Author:	Jackson, Rachel W.
Description:	1 online resource (151 pages)
Notes:	Source: Dissertation Abstracts International, Volume: 78-10(E), Section: B.
Contained By:	Dissertation Abstracts International78-10B(E).
Subject:	Mechanical engineering. -
Online resource:	click for full text (PQDT)
ISBN:	9781369797312

Developing Ankle Exoskeleton Assistance Strategies by Leveraging the Mechanisms Involved in Human Locomotion.
Jackson, Rachel W.

Developing Ankle Exoskeleton Assistance Strategies by Leveraging the Mechanisms Involved in Human Locomotion. - 1 online resource (151 pages)

Source: Dissertation Abstracts International, Volume: 78-10(E), Section: B.

Thesis (Ph.D.)

Includes bibliographical references

Exoskeletons have the ability to improve locomotor performance for a wide range of individuals: they can improve the economy of normal walking, aid in load carriage for soldiers, assist individuals with walking disabilities, and serve as gait rehabilitation tools. Although it may seem obvious how exoskeletons should be developed to provide a benefit to the user, the complexity of the human neuromuscular system makes developing effective exoskeleton assistance strategies a challenge. Rather than using intuition to guide our attempts at the design and control of ankle exoskeletons, we need to garner a deeper understanding of how ankle exoskeletons affect locomotor coordination and utilize such findings to facilitate effective interaction between the device and the human.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2018

Mode of access: World Wide Web

ISBN: 9781369797312Subjects--Topical Terms:

557493
Mechanical engineering.
Index Terms--Genre/Form:

554714
Electronic books.

Developing Ankle Exoskeleton Assistance Strategies by Leveraging the Mechanisms Involved in Human Locomotion.
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245 1 0 $a Developing Ankle Exoskeleton Assistance Strategies by Leveraging the Mechanisms Involved in Human Locomotion.
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300 $a 1 online resource (151 pages)
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500 $a Source: Dissertation Abstracts International, Volume: 78-10(E), Section: B.
500 $a Adviser: Steven H. Collins.
502 $a Thesis (Ph.D.) $c Carnegie Mellon University $d 2017.
504 $a Includes bibliographical references
520 $a Exoskeletons have the ability to improve locomotor performance for a wide range of individuals: they can improve the economy of normal walking, aid in load carriage for soldiers, assist individuals with walking disabilities, and serve as gait rehabilitation tools. Although it may seem obvious how exoskeletons should be developed to provide a benefit to the user, the complexity of the human neuromuscular system makes developing effective exoskeleton assistance strategies a challenge. Rather than using intuition to guide our attempts at the design and control of ankle exoskeletons, we need to garner a deeper understanding of how ankle exoskeletons affect locomotor coordination and utilize such findings to facilitate effective interaction between the device and the human.
520 $a This thesis details an iterative approach towards the development of ankle exoskeleton assistance strategies. We first performed a controlled experiment to observe the human response to specific assistance techniques. We then sought to explain the reasons for the observed responses by estimating muscle-tendon mechanics and energetics at the assisted joint using simulations of a musculoskeletal model. Through experimentation and simulation we found that individuals change and adapt their coordination patterns when walking with ankle exoskeletons, often in unexpected ways. Based on these findings, we developed and tested a novel ankle exoskeleton assistance strategy that adjusts exoskeleton behavior online in response to measured changes in the user. Such individualized, adaptive control approaches seem promising for discovering effective exoskeleton assistance strategies. Eventually we want to apply such strategies to populations with gait disabilities, but only once we have a better understanding of the mechanisms driving gait impairments. To that end, we designed and are conducting an experiment to investigate the relationship between features of post-stroke gait and energy economy. We expect our experimental findings to aid in the development of more accurate predictive models of human locomotion and to motivate new methods for developing assistive and rehabilitative techniques using robotic exoskeletons.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2018
538 $a Mode of access: World Wide Web
650 4 $a Mechanical engineering. $3 557493
650 4 $a Biomechanics. $3 565307
655 7 $a Electronic books. $2 local $3 554714
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710 2 $a ProQuest Information and Learning Co. $3 1178819
710 2 $a Carnegie Mellon University. $b Mechanical Engineering. $3 1148639
773 0 $t Dissertation Abstracts International $g 78-10B(E).
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10282773 $z click for full text (PQDT)