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

Simple item page
dc.contributor.advisorO'Malley, Marcia K
dc.creatorBlumenschein, Laura H
dc.date.accessioned2017-08-03T15:38:31Z
dc.date.available2017-08-03T15:38:31Z
dc.date.created2016-05
dc.date.issued2016-04-21
dc.date.submittedMay 2016
dc.date.updated2017-08-03T15:38:31Z
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.
dc.format.mimetypeapplication/pdf
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>.
dc.identifier.urihttps://hdl.handle.net/1911/96542
dc.language.isoeng
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.
dc.subjectBowden cable
dc.subjectSeries Elastic Actuation
dc.subjectRobot Aided Rehabilitation
dc.subjectSoft Exoskeleton
dc.titleDesign of a Novel Compliant Sensor for Series Elastic Actuation and Control of a Flexible Cable Conduit Transmission
dc.typeThesis
dc.type.materialText
thesis.degree.departmentMechanical Engineering
thesis.degree.disciplineEngineering
thesis.degree.grantorRice University
thesis.degree.levelMasters
thesis.degree.nameMaster of Science
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
BLUMENSCHEIN-DOCUMENT-2016.pdf
Size:
28.1 MB
Format:
Adobe Portable Document Format
Download
License bundle
Now showing 1 - 2 of 2
No Thumbnail Available
Name:
PROQUEST_LICENSE.txt
Size:
5.85 KB
Format:
Plain Text
Description:
Download
No Thumbnail Available
Name:
LICENSE.txt
Size:
2.61 KB
Format:
Plain Text
Description:
Download
Collections
Rice University Electronic Theses and Dissertations