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ASU Electronic Theses and Dissertations


This collection includes most of the ASU Theses and Dissertations from 2011 to present. ASU Theses and Dissertations are available in downloadable PDF format; however, a small percentage of items are under embargo. Information about the dissertations/theses includes degree information, committee members, an abstract, supporting data or media.

In addition to the electronic theses found in the ASU Digital Repository, ASU Theses and Dissertations can be found in the ASU Library Catalog.

Dissertations and Theses granted by Arizona State University are archived and made available through a joint effort of the ASU Graduate College and the ASU Libraries. For more information or questions about this collection contact or visit the Digital Repository ETD Library Guide or contact the ASU Graduate College at gradformat@asu.edu.




Human walking has been a highly studied topic in research communities because of its extreme importance to human functionality and mobility. A complex system of interconnected gait mechanisms in humans is responsible for generating robust and consistent walking motion over unpredictable ground and through challenging obstacles. One interesting aspect of human gait is the ability to adjust in order to accommodate varying surface grades. Typical approaches to investigating this gait function focus on incline and decline surface angles, but most experiments fail to address the effects of surface grades that cause ankle inversion and eversion. There have been several studies …

Contributors
Barkan, Andrew Robert, Artemiadis, Panagiotis, Lee, Hyunglae, et al.
Created Date
2016

It is well known that the geckos can cling to almost any surface using highly dense micro/nano fibrils found on the feet that rely on Van Der Waals forces to adhere. A few experimental and theoretical approaches have been taken to understand the adhesion mechanism of gecko feet. This work explains the building procedure of custom experimental setup to test the adhesion force over a temperature range and extends its application in space environment, potentially unsafe working condition. This study demonstrates that these adhesive capable of switching adhesive properties not only at room environment but also over a temperature range …

Contributors
Mate, Sunil Munjaji, Marvi, Hamidreza, Rykaczewski, Konrad, et al.
Created Date
2016

The world population is aging. Age-related disorders such as stroke and spinal cord injury are increasing rapidly, and such patients often suffer from mobility impairment. Wearable robotic exoskeletons are developed that serve as rehabilitation devices for these patients. In this thesis, a knee exoskeleton design with higher torque output compared to the first version, is designed and fabricated. A series elastic actuator is one of the many actuation mechanisms employed in exoskeletons. In this mechanism a torsion spring is used between the actuator and human joint. It serves as torque sensor and energy buffer, making it compact and safe. A …

Contributors
Jhawar, Vaibhav, Zhang, Wenlong, Sugar, Thomas G, et al.
Created Date
2018

Wearable robotics has gained huge popularity in recent years due to its wide applications in rehabilitation, military, and industrial fields. The weakness of the skeletal muscles in the aging population and neurological injuries such as stroke and spinal cord injuries seriously limit the abilities of these individuals to perform daily activities. Therefore, there is an increasing attention in the development of wearable robots to assist the elderly and patients with disabilities for motion assistance and rehabilitation. In military and industrial sectors, wearable robots can increase the productivity of workers and soldiers. It is important for the wearable robots to maintain …

Contributors
Chinimilli, Prudhvi Tej, Redkar, Sangram, Zhang, Wenlong, et al.
Created Date
2018

The construction industry is very mundane and tiring for workers without the assistance of machines. This challenge has changed the trend of construction industry tremendously by motivating the development of robots that can replace human workers. This thesis presents a computed torque controller that is designed to produce movements by a small-scale, 5 degree-of-freedom (DOF) robotic arm that are useful for construction operations, specifically bricklaying. A software framework for the robotic arm with motion and path planning features and different control capabilities has also been developed using the Robot Operating System (ROS). First, a literature review of bricklaying construction activity …

Contributors
Gandhi, Sushrut, Berman, Spring, Marvi, Hamidreza, et al.
Created Date
2019

Presented in this thesis are two projects that fall under the umbrella of magnetically actuated electronics and robotics for medical applications. First, magnetically actuated tunable soft electronics are discussed in Chapter 2. Wearable and implantable soft electronics are clinically available and commonplace. However, these devices can be taken a step further to improve the lives of their users by adding remote tunability. The four electric units tested were planar inductors, axial inductors, capacitors and resistors. The devices were made of polydimethylsiloxane (PDMS) for flexibility with copper components for conductivity. The units were tuned using magnets and mobile components comprised of …

Contributors
Edwards, Dakota, Marvi, Hamidreza, Lee, Hyunglae, et al.
Created Date
2020

Needle steering is an extension of manually inserted needles that allows for maneuverability within the body in order to avoid anatomical obstacles and correct for undesired placement errors. Research into needle steering predominantly exploits interaction forces between a beveled tip and the medium, controlling the direction of forces by applying rotations at the base of the needle shaft in order to steer. These systems are either manually or robotically advanced, but have not achieved clinical relevance due to a multitude of limitations including compression effects in the shaft that cause undesired tissue slicing, torsional friction forces and deflection at tissue …

Contributors
Petras, Alex, Marvi, Hamidreza, Yong, Sze Z., et al.
Created Date
2020

Unmanned subsurface investigation technologies for the Moon are of special significance for future exploration when considering the renewed interest of the international community for this interplanetary destination. In precision agriculture, farmers demand quasi-real-time sensors and instruments with remote crop and soil detection properties to meet sustainability goals and achieve healthier and higher crop yields. Hence, there is the need for a robot that will be able to travel through the soil and conduct sampling or in-situ analysis of the subsurface materials on earth and in space. This thesis presents the design, fabrication, and characterization of a robot that can travel …

Contributors
Okwae, Nana Kwame Kwame, Marvi, Hamidreza, Tao, Jungliang, et al.
Created Date
2020