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Estimation of Knee Joint Impedance D...

Nazon, Yves F., II.

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Estimation of Knee Joint Impedance During Walking and Its Implications for Robotic Control and Beyond.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Estimation of Knee Joint Impedance During Walking and Its Implications for Robotic Control and Beyond./
Author:	Nazon, Yves F., II.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2024,
Description:	104 p.
Notes:	Source: Dissertations Abstracts International, Volume: 85-12, Section: B.
Contained By:	Dissertations Abstracts International85-12B.
Subject:	Biomechanics. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31349052
ISBN:	9798382739960

Estimation of Knee Joint Impedance During Walking and Its Implications for Robotic Control and Beyond.
Nazon, Yves F., II.

Estimation of Knee Joint Impedance During Walking and Its Implications for Robotic Control and Beyond. - Ann Arbor : ProQuest Dissertations & Theses, 2024 - 104 p.

Source: Dissertations Abstracts International, Volume: 85-12, Section: B.

Thesis (Ph.D.)--University of Michigan, 2024.

The mechanical impedance of the human lower-limb joints during locomotion encodes our understanding of how the human feedback system stabilizes the body and is a key component of several strategies for translating this behavior to robots, to powered prosthetic limbs, and to people empowered by exoskeletons. Knowledge of how this property varies in lower limb joint is sparse, with the amount of information available decreasing as you move up the kinematic chain from the ankle to the hip. This work looks to broaden the knowledge base of how knee impedance is modulated, particularly during the process of ambulation. This work first provides an overview of the lower limb joint impedance literature, and from this overview, produces three aims to address current gaps in the knowledge base. The first aim validates the use of methods for impedance estimation. The second aim characterizes a device that can be used to estimate impedance, and utilizes that device to estimate knee impedance in a pilot study. The third aim produces estimates of knee impedance during walking for a group of abled bodied participants. Finally, this work discusses the implications of the work produced on the fields of human system identification, wearable robotics, and rehabilitation, concluding with recommendations for future work.

ISBN: 9798382739960Subjects--Topical Terms:

548685
Biomechanics.
Subjects--Index Terms:

Joint impedance

Estimation of Knee Joint Impedance During Walking and Its Implications for Robotic Control and Beyond.
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100 1 $a Nazon, Yves F., II. $3 3773949
245 1 0 $a Estimation of Knee Joint Impedance During Walking and Its Implications for Robotic Control and Beyond.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2024
300 $a 104 p.
500 $a Source: Dissertations Abstracts International, Volume: 85-12, Section: B.
500 $a Advisor: Rouse, Elliott J.
502 $a Thesis (Ph.D.)--University of Michigan, 2024.
520 $a The mechanical impedance of the human lower-limb joints during locomotion encodes our understanding of how the human feedback system stabilizes the body and is a key component of several strategies for translating this behavior to robots, to powered prosthetic limbs, and to people empowered by exoskeletons. Knowledge of how this property varies in lower limb joint is sparse, with the amount of information available decreasing as you move up the kinematic chain from the ankle to the hip. This work looks to broaden the knowledge base of how knee impedance is modulated, particularly during the process of ambulation. This work first provides an overview of the lower limb joint impedance literature, and from this overview, produces three aims to address current gaps in the knowledge base. The first aim validates the use of methods for impedance estimation. The second aim characterizes a device that can be used to estimate impedance, and utilizes that device to estimate knee impedance in a pilot study. The third aim produces estimates of knee impedance during walking for a group of abled bodied participants. Finally, this work discusses the implications of the work produced on the fields of human system identification, wearable robotics, and rehabilitation, concluding with recommendations for future work.
590 $a School code: 0127.
650 4 $a Biomechanics. $3 548685
650 4 $a Mechanical engineering. $3 649730
650 4 $a Robotics. $3 519753
653 $a Joint impedance
653 $a Exoskeleton
653 $a System identification
653 $a Rehabilitation
690 $a 0548
690 $a 0648
690 $a 0771
710 2 $a University of Michigan. $b Mechanical Engineering. $3 2104815
773 0 $t Dissertations Abstracts International $g 85-12B.
790 $a 0127
791 $a Ph.D.
792 $a 2024
793 $a English
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31349052