Sensorimotor control of lower-limb assistive devices
Abstract/Contents
- Abstract
- Human sensorimotor control is extremely complex. Because of this, it remains an open question how best to control lower-limb devices, such as exoskeletons and robotic prostheses, that seek to assist in human movement. A common approach is to attempt to replicate average biological joint torques, but this does not incorporate individualized differences in movement or the sensorimotor control loop that allows humans to adjust motor commands in response to sensory feedback. My dissertation comprises three different approaches to device control, with each subsequent approach providing greater incorporation of user input. First, I discuss a passive assistive device for running that is successful in reducing human metabolic cost due to gait adaptation to the device and the complex and interconnected biomechanics of running. Second, I present an approach for customizing the control parameters of robotic prostheses for individuals with lower-limb amputation. Finally, I present a system that closes the sensorimotor control loop of robotic prostheses, in which an individual with amputation teleoperates their own prosthetic ankle and receives sensory feedback regarding its behavior via a wearable wrist exoskeleton. This work contributes to the development of future lower-limb assistive devices not only through novel device control strategies but also through insights regarding human interaction with assistive devices.
Description
| Type of resource | text |
|---|---|
| Form | electronic resource; remote; computer; online resource |
| Extent | 1 online resource. |
| Place | California |
| Place | [Stanford, California] |
| Publisher | [Stanford University] |
| Copyright date | 2021; ©2021 |
| Publication date | 2021; 2021 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Author | Welker, Cara Gonzalez | |
|---|---|---|
| Degree supervisor | Delp, Scott | |
| Degree supervisor | Okamura, Allison | |
| Thesis advisor | Delp, Scott | |
| Thesis advisor | Okamura, Allison | |
| Thesis advisor | Collins, Steve (Steven Hartley) | |
| Degree committee member | Collins, Steve (Steven Hartley) | |
| Associated with | Stanford University, Department of Bioengineering |
Subjects
| Genre | Theses |
|---|---|
| Genre | Text |
Bibliographic information
| Statement of responsibility | Cara Gonzalez Welker. |
|---|---|
| Note | Submitted to the Department of Bioengineering. |
| Thesis | Thesis Ph.D. Stanford University 2021. |
| Location | https://purl.stanford.edu/tm941qz4541 |
Access conditions
- Copyright
- © 2021 by Cara Gonzalez Welker
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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