Mechanical and trajectory design of wearable Supernumerary Robotic Limbs for crutch use
Name
964661441-MIT.pdf
Description
Full printable version
Size
3.79 MB
Format
Adobe PDF
Checksum (MD5)
b7fe0a0aa96c5f544991f8be140fb0ef
Author(s)
Cheung, Michael Yanshun
Advisor(s)
Haruhiko Harry Asada.
Date Issued
2016
Publisher
Massachusetts Institute of Technology
Abstract
The Supernumerary Robotic Limbs (SRL) is a wearable robot that augments its user with two robotic limbs, kinematically independent from the user's own limbs. This thesis explores the use of the SRL as a hands-free robotic crutch for assisting injured or elderly people. This paper first details the mechanical and material design choices that drastically reduced the weight of this SRL prototype, including advanced composite materials, efficient joint structure, and high-performance pneumatic actuators. The latter half of this paper characterizes the biomechanics of both traditional crutch-assisted and SRL-assisted ambulation, models this gait pattern with an inverted pendulum system, and derives equations of motion to create a simulation that examines the effect of various initial parameters. Finally, an optimum set of initial parameters is identified to produce a successful SRL-assisted swing.
Description
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (page 22).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
Persistent DSpace Link
