Barrett, The Honors College Thesis/Creative Project Collection

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Date Range
2013 2017

The quality of life of many people is lowered by impediments to walking ability caused by neurological conditions such as strokes. Since the ankle joint plays an important role in locomotion, it is a common subject of study in rehabilitation research. Robotic devices such as active ankle-foot orthoses and powered exoskeletons have the potential to be used directly in physical therapy or indirectly in research pursuing more effective rehabilitation methods. This paper presents the LiTREAD, a lightweight three degree-of-freedom robotic exoskeletal ankle device. This novel robotic system is designed to be worn on a user’s leg and actuate the foot ...

Contributors
Cook, Andrew James Henry, Lee, Hyunglae, Artemiadis, Panagiotis, et al.
Created Date
2016-12

I worked on the human-machine interface to improve human physical capability. This work was done in the Human Oriented Robotics and Control Lab (HORC) towards the creation of an advanced, EMG-controlled exoskeleton. The project was new, and any work on the human- machine interface needs the physical interface itself. So I designed and fabricated a human-robot coupling device with a novel safety feature. The validation testing of this coupling proved very successful, and the device was granted a provisional patent as well as published to facilitate its spread to other human-machine interface applications, where it could be of major benefit. ...

Contributors
O'Neill, Gerald D., Artemiadis, Panagiotis, Santello, Marco, et al.
Created Date
2013-05

As robots become more prevalent, the need is growing for efficient yet stable control systems for applications with humans in the loop. As such, it is a challenge for scientists and engineers to develop robust and agile systems that are capable of detecting instability in teleoperated systems. Despite how much research has been done to characterize the spatiotemporal parameters of human arm motions for reaching and gasping, not much has been done to characterize the behavior of human arm motion in response to control errors in a system. The scope of this investigation is to investigate human corrective actions in ...

Contributors
Bevilacqua, Vincent Frank, Artemiadis, Panagiotis, Santello, Marco, et al.
Created Date
2013-05

The goal of this project was to use the sense of touch to investigate tactile cues during multidigit rotational manipulations of objects. A robotic arm and hand equipped with three multimodal tactile sensors were used to gather data about skin deformation during rotation of a haptic knob. Three different rotation speeds and two levels of rotation resistance were used to investigate tactile cues during knob rotation. In the future, this multidigit task can be generalized to similar rotational tasks, such as opening a bottle or turning a doorknob.

Contributors
Challa, Santhi Priya, Santos, Veronica, Helms Tillery, Stephen, et al.
Created Date
2014-05

This thesis focused on understanding how humans visually perceive swarm behavior through the use of swarm simulations and gaze tracking. The goal of this project was to determine visual patterns subjects display while observing and supervising a swarm as well as determine what swarm characteristics affect these patterns. As an ultimate goal, it was hoped that this research will contribute to optimizing human-swarm interaction for the design of human supervisory controllers for swarms. To achieve the stated goals, two investigations were conducted. First, subjects gaze was tracked while observing a simulated swarm as it moved across the screen. This swarm ...

Contributors
Whitton, Elena Michelle, Artemiadis, Panagiotis, Berman, Spring, et al.
Created Date
2015-05

The goal of this project was to explore biomimetics by creating a jellyfish flying device that uses propulsion of air to levitate while utilizing electromyography signals and infrared signals as mechanisms to control the device. Completing this project would require knowledge of biological signals, electrical circuits, computer programming, and physics to accomplish. An EMG sensor was used to obtain processed electrical signals produced from the muscles in the forearm and was then utilized to control the actuation speed of the tentacles. An Arduino microprocessor was used to translate the EMG signals to infrared blinking sequences which would propagate commands through ...

Contributors
Tsui, Jessica W, Muthuswamy, Jitteran, Blain Christen, Jennifer, et al.
Created Date
2014-05

This thesis presents an approach to design and implementation of an adaptive boundary coverage control strategy for a swarm robotic system. Several fields of study are relevant to this project, including; dynamic modeling, control theory, programming, and robotic design. Tools and techniques from these fields were used to design and implement a model simulation and an experimental testbed. To achieve this goal, a simulation of the boundary coverage control strategy was first developed. This simulated model allowed for concept verification for different robot groups and boundary designs. The simulation consisted of a single, constantly expanding circular boundary with a modeled ...

Contributors
Murphy, Hunter Nicholas, Berman, Spring, Marvi, Hamid, et al.
Created Date
2017-05

Education in computer science is a difficult endeavor, with learning a new programing language being a barrier to entry, especially for college freshman and high school students. Learning a first programming language requires understanding the syntax of the language, the algorithms to use, and any additional complexities the language carries. Often times this becomes a deterrent from learning computer science at all. Especially in high school, students may not want to spend a year or more simply learning the syntax of a programming language. In order to overcome these issues, as well as to mitigate the issues caused by Microsoft ...

Contributors
De Luca, Gennaro, Chen, Yinong, Cheng, Calvin, et al.
Created Date
2015-12

This honors thesis project aims to design and develop the ideal design for a soft robotic grasper used in combination with a robotic supernumerary limb design for impaired individuals (i.e. a wearable robotic limb that branches out of the body), to help accomplish the tasks of daily living. Observations of current grasper solutions for similar applications has led to a design that incorporates a soft, pneumatically controlled grasper which integrates with the existing limb. Computational models of the grasper design have been created which demonstrate the grasping capabilities of this proposal. Initial prototypes of this grasper approach have been fabricated ...

Contributors
Thalman, Carly Megan, Polygerinos, Panagiotis, Lande, Micah, et al.
Created Date
2016-12

The effect of conflicting sensorimotor memories on optimal force strategies was explored. Subjects operated a virtual object controlled by a physical handle to complete a simple straight-line task. Perturbations applied to the handle induced a period of increased error in subject accuracy. After two blocks of 33 trials, perturbations switched direction, inducing increased error from the previous trials. Subjects returned after a 24-hour period to complete a similar protocol, but beginning with the second context and ending with the first. Interference from the first context on each day caused an increase in initial error for the second (P < 0.05). ...

Contributors
Smith, Michael David, Santello, Marco, Kleim, Jeffrey, et al.
Created Date
2016-05

Barrett, the Honors College accepts high performing, academically engaged students and works with them in collaboration with all of the other academic units at Arizona State University. All Barrett students complete a thesis or creative project, supervised and defended in front of a faculty committee. The thesis or creative project allows students to explore an intellectual interest and produce an original piece of scholarly research. The thesis or creative project is a student’s opportunity to explore areas of academic interest with greater intensity than is possible in a single course. It is also an opportunity to engage with professors, nationally recognized in their fields and specifically interested and committed to working with honors students. This work provides tangible evidence of a student’s research, writing and creative skills to graduate schools and/or prospective employers.