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EDennis Masters Thesis-final.pdf (6.44 MB)
ETD Abstract Container
Abstract Header
An Improved Knee Joint Locking Mechanism for a Hybrid Exoskeleton
Author Info
Dennis, Eric Robert
Permalink:
http://rave.ohiolink.edu/etdc/view?acc_num=case1544269279157624
Abstract Details
Year and Degree
2019, Master of Sciences, Case Western Reserve University, Biomedical Engineering.
Abstract
This thesis presents the design, fabrication, and testing of a novel knee joint mechanism for a powered exoskeleton utilizing a disk brake locking system. The primary goal was to create a knee joint that reduced passive resistance and weight, and decreased the overall footprint compared to the current design. The new design resulted in a 68% reduction in the passive resistance, 46% reduction in the weight of the device, and a total volumetric size reduction of 55%. Slower walking speed also yielded positive results during able-bodied testing. Despite these successes, the unlock time of the joint was too slow at higher speeds. Further improvements are required before the device is ready for SCI subjects.
Committee
Ronald Triolo (Advisor)
Dominique Durand (Committee Chair)
Musa Adu (Committee Member)
Pages
93 p.
Subject Headings
Biomechanics
;
Biomedical Engineering
Keywords
knee joint
;
exoskeleton
;
SCI
;
FES
;
disk brake
;
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Citations
Dennis, E. R. (2019).
An Improved Knee Joint Locking Mechanism for a Hybrid Exoskeleton
[Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1544269279157624
APA Style (7th edition)
Dennis, Eric.
An Improved Knee Joint Locking Mechanism for a Hybrid Exoskeleton.
2019. Case Western Reserve University, Master's thesis.
OhioLINK Electronic Theses and Dissertations Center
, http://rave.ohiolink.edu/etdc/view?acc_num=case1544269279157624.
MLA Style (8th edition)
Dennis, Eric. "An Improved Knee Joint Locking Mechanism for a Hybrid Exoskeleton." Master's thesis, Case Western Reserve University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=case1544269279157624
Chicago Manual of Style (17th edition)
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Document number:
case1544269279157624
Download Count:
430
Copyright Info
© 2018, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.