Biomechanics-Based Optimization for Exoskeleton Design
Hook, Melanie Lynn
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The goal of this thesis is to use biomechanical data describing shoulder motion to determine optimal parameters to assist in the design of a 5 DOF active shoulder exoskeleton. This thesis will provide a proof of concept on optimization techniques using motion data using a simplified 3 DOF model to facilitate future work implementing a full 5 DOF model. Optimization will be performed to determine the link lengths and, consequently, the locations of the joints of the exoskeleton by considering the human's workspace to maximize range of motion and promote user safety by minimizing collisions of the exoskeleton with the user and with the exoskeleton itself. The thesis will detail the development of computational models of the human and proposed exoskeleton, the processing of experimental data used to estimate the human's capabilities, optimization, and future work. This work will contribute to a large-scale NSF-funded project of building an upper body exoskeleton emulator. The emulator will promote the widespread adoption of exoskeletons in industry by providing a test-bed to streamline the rapid design of various assistance profiles for various users and tasks.
General Audience Abstract
An exoskeleton is a robotic assistive device used in industrial and rehabilitative settings. This thesis will use data describing how the human shoulder moves during certain tasks to help design an exoskeleton to assist with theses tasks. A model of the human shoulder and a model of the exoskeleton will be developed and used in an optimization to figure out the best dimensions of the exoskeleton links to support the human's movements.
- Masters Theses