Design of a Novel Compliant Sensor for Series Elastic Actuation and Control of a Flexible Cable Conduit Transmission

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dc.contributor.advisorO'Malley, Marcia Ken_US
dc.creatorBlumenschein, Laura Hen_US
dc.date.accessioned2017-08-03T15:38:31Zen_US
dc.date.available2017-08-03T15:38:31Zen_US
dc.date.created2016-05en_US
dc.date.issued2016-04-21en_US
dc.date.submittedMay 2016en_US
dc.date.updated2017-08-03T15:38:31Zen_US
dc.description.abstractWhile robotic rehabilitation following neurological injury is gaining traction, traditional rigid systems are confined to use in a clinic and mechanical designs can limit their portability for use in an assistive mode. Soft robotic wearable exoskeletons offer potential solutions, yet the cable-based actuation systems commonly used introduce non-linear dynamics and friction, increasing control challenges. This thesis presents a novel compliant sensor design for use in flexible cable conduit transmissions that leverages the natural transmission compliance and utilizes series elastic actuation (SEA), a method of control previously shown effective for dynamic compensation. Dynamic simulations and static models are used to inform the analysis of physical experiments using the sensor in the transmission. The sensor is validated for use in force feedback for both force and impedance control scenarios. Experimental results provide insight to the design of soft exoskeleton devices regarding the effects of sensor location and the challenges of non-collocation of sensor and user interface.en_US
dc.format.mimetypeapplication/pdfen_US
dc.identifier.citationBlumenschein, Laura H. "Design of a Novel Compliant Sensor for Series Elastic Actuation and Control of a Flexible Cable Conduit Transmission." (2016) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/96542">https://hdl.handle.net/1911/96542</a>.en_US
dc.identifier.urihttps://hdl.handle.net/1911/96542en_US
dc.language.isoengen_US
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.en_US
dc.subjectBowden cableen_US
dc.subjectSeries Elastic Actuationen_US
dc.subjectRobot Aided Rehabilitationen_US
dc.subjectSoft Exoskeletonen_US
dc.titleDesign of a Novel Compliant Sensor for Series Elastic Actuation and Control of a Flexible Cable Conduit Transmissionen_US
dc.typeThesisen_US
dc.type.materialTexten_US
thesis.degree.departmentMechanical Engineeringen_US
thesis.degree.disciplineEngineeringen_US
thesis.degree.grantorRice Universityen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Scienceen_US
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