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ORCID
N/A
Access Type
Open Access Thesis
Document Type
thesis
Degree Program
Mechanical Engineering
Degree Type
Master of Science in Mechanical Engineering (M.S.M.E.)
Year Degree Awarded
2015
Month Degree Awarded
May
Abstract
This thesis presents a new mechanical design for an exoskeleton actuator to power the sagittal plane motion in the human hip. The device uses a DC motor to drive a Scotch yoke mechanism and series elasticity to take advantage of the cyclic nature of human gait and to reduce the maximum power and control requirements of the exoskeleton. The Scotch yoke actuator creates a position-dependent transmission that varies between 4:1 and infinity, with the peak transmission ratio aligned to the peak torque periods of the human gait cycle. Simulation results show that both the peak and average motor torque can be reduced using this mechanism, potentially allowing a less powerful motor to be used. Furthermore, the motor never needs to reverse direction even when the hip joint does. Preliminary testing shows the exoskeleton can provide an assistive torque and is capable of accurate position tracking at speeds covering the range of human walking. This thesis provides a detailed analysis of how the dynamic nature of human walking can be leveraged, how the hip actuator was designed, and shows how the exoskeleton performed during preliminary human trials.
DOI
https://doi.org/10.7275/6555612
First Advisor
Frank C Sup
Second Advisor
James Rinderle
Third Advisor
Yossi Chait
Recommended Citation
Ryder, Matthew C., "A CONTINOUS ROTARY ACTUATION MECHANISM FOR A POWERED HIP EXOSKELETON" (2015). Masters Theses. 242.
https://doi.org/10.7275/6555612
https://scholarworks.umass.edu/masters_theses_2/242
Included in
Biomechanical Engineering Commons, Biomechanics and Biotransport Commons, Biomedical Devices and Instrumentation Commons, Computer-Aided Engineering and Design Commons, Controls and Control Theory Commons, Electro-Mechanical Systems Commons, Robotics Commons, Systems and Integrative Engineering Commons