Skip to Main Content
 

Global Search Box

 
 
 
 

Files

File List


dissertationHWarner.pdf (15.44 MB)

ETD Abstract Container

Abstract Header

Simulation and Control at the Boundaries Between Humans and Assistive Robots

Warner, Holly E.
http://rave.ohiolink.edu/etdc/view?acc_num=csu1577719990967925

Abstract Details

2019, Doctor of Philosophy in Engineering, Cleveland State University, Washkewicz College of Engineering.
Human-machine interaction has become an important area of research as progress is made in the fields of rehabilitation robotics, powered prostheses, and advanced exercise machines. Adding to the advances in this area, a novel controller for a powered transfemoral prosthesis is introduced that requires limited tuning and explicitly considers energy regeneration. Results from a trial conducted with an individual with an amputation show self-powering operation for the prosthesis while concurrently attaining basic gait fidelity across varied walking speeds. Experience in prosthesis development revealed that, though every effort is made to ensure the safety of the human subject, limited testing of such devices prior to human trials can be completed in the current research environment. Two complementary alternatives are developed to fill that gap. First, the feasibility of implementing impulse-momentum sliding mode control on a robot that can physically replace a human with a transfemoral amputation to emulate weight-bearing for initial prototype walking tests is established. Second, a more general human simulation approach is proposed that can be used in any of the aforementioned human-machine interaction fields. Seeking this general human simulation method, a unique pair of solutions for simulating a Hill muscle-actuated linkage system is formulated. These include using the Lyapunov-based backstepping control method to generate a closed-loop tracking simulation and, motivated by limitations observed in backstepping, an optimal control solver based on differential flatness and sum of squares polynomials in support of receding horizon controlled (e.g. model predictive control) or open-loop simulations. The backstepping framework provides insight into muscle redundancy resolution. The optimal control framework uses this insight to produce a computationally efficient approach to musculoskeletal system modeling. A simulation of a human arm is evaluated in both structures. Strong tracking performance is achieved in the backstepping case. An exercise optimization application using the optimal control solver showcases the computational benefits of the solver and reveals the feasibility of finding trajectories for human-exercise machine interaction that can isolate a muscle of interest for strengthening.
Hanz Richter, Ph.D. (Advisor)
Antonie van den Bogert, Ph.D. (Committee Member)
Eric Schearer, Ph.D. (Committee Member)
Sailai Shao, Ph.D. (Committee Member)
Daniel Simon, Ph.D. (Committee Member)
205 p.
Biomechanics; Biomedical Engineering; Engineering; Mechanical Engineering; Robotics; Robots
Prosthesis; Transfemoral; Above-knee; Powered; Energy regeneration; Gait emulator; Human-machine interaction; Musculoskeletal model; Sum of squares polynomial; Differential flatness; Exercise; Control; Impedance; Backstepping; Optimal; Model predictive

Recommended Citations

Citations

  • Warner, H. E. (2019). Simulation and Control at the Boundaries Between Humans and Assistive Robots [Doctoral dissertation, Cleveland State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=csu1577719990967925

    APA Style (7th edition)

  • Warner, Holly. Simulation and Control at the Boundaries Between Humans and Assistive Robots. 2019. Cleveland State University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=csu1577719990967925.

    MLA Style (8th edition)

  • Warner, Holly. "Simulation and Control at the Boundaries Between Humans and Assistive Robots." Doctoral dissertation, Cleveland State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=csu1577719990967925

    Chicago Manual of Style (17th edition)

csu1577719990967925
329
© 2019, all rights reserved.
This open access ETD is published by Cleveland State University and OhioLINK.