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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.


Subject
Date Range
2010 2020


The human ankle is a vital joint in the lower limb of the human body. As the point of interaction between the human neuromuscular system and the physical world, the ankle plays important role in lower extremity functions including postural balance and locomotion . Accurate characterization of ankle mechanics in lower extremity function is essential not just to advance the design and control of robots physically interacting with the human lower extremities but also in rehabilitation of humans suffering from neurodegenerative disorders. In order to characterize the ankle mechanics and understand the underlying mechanisms that influence the neuromuscular properties of …

Contributors
Nalam, Varun, Lee, Hyunglae, Artemiadis, Panagiotis, et al.
Created Date
2020

This graduate thesis explains and discusses the background, methods, limitations, and future work of developing a low-budget, variable-length, Arduino-based robotics professional development program (PDP) for middle school or high school classrooms. This graduate thesis builds on prior undergraduate thesis work and conclusions. The main conclusions from the undergraduate thesis work focused on reaching a larger teacher population along with providing a more robust robot design and construction. The end goal of this graduate thesis is to develop a PDP that reaches multiple teachers, involves a more robust robot design, and lasts beyond this developmental year. There have been many similar …

Contributors
lerner, jonah, Carberry, Adam, Walters, Molina, et al.
Created Date
2020

Bicycles and motorcycles offer maneuverability, energy efficiency and acceleration that four wheeled vehicles cannot offer given similar budget for. Two wheeled vehicles have drastically different dynamics from four wheeled vehicles due to their instability and gyroscopic effect from their wheels. This thesis focuses on self-stabilization of a motorcycle using an active control momentum gyroscope (CMG) and validation of this multi-degree-of-freedom system’s mathematical model. Physical platform was created to mimic the simulation as accurately as possible and all components used were justified. This process involves derivation of a 3 Degree-of-Freedom (DOF) system’s forward kinematics and its Jacobian matrix, simulation analysis of …

Contributors
Moon, Hansol, Zhang, Wenlong, Frank, Daniel, et al.
Created Date
2020

Traditionally, wearable exoskeletons for gait assistance have addressed the issue of high power requirement of providing support during walking. However, exoskeletons often are bulky, and suffer from misalignment of joints between the robot and the user. Soft robots in recent work have shown the ability to provide a high degree of compliance with a light weight and lower cost. This work presents the design, control, and evaluation of a soft inflatable exosuit to assist knee extension. First, the design of novel soft inflatable actuators of I cross-section and their application in the soft inflatable exosuit is presented. The actuators are …

Contributors
Sridar, Saivimal, Zhang, Wenlong, Sugar, Thomas, et al.
Created Date
2020

As the world population continues to age, the demand for treatment and rehabilitation of long-term age-related ailments will rise. Healthcare technology must keep up with this demand, and existing solutions must become more readily available to the populace. Conditions such as impairment due to stroke currently take months or years of physical therapy to overcome, but rehabilitative exoskeletons can be used to greatly extend a physical therapist’s capabilities. In this thesis, a rehabilitative knee exoskeleton was designed which is significantly lighter, more portable and less costly to manufacture than existing designs. It accomplishes this performance by making use of high-powered …

Contributors
Parmentier, Robin W, Zhang, Wenlong, Sugar, Thomas, et al.
Created Date
2020

Riding a bicycle requires accurately performing several tasks, such as balancing and navigation, which may be difficult or even impossible for persons with disabilities. These difficulties may be partly alleviated by providing active balance and steering assistance to the rider. In order to provide this assistance while maintaining free maneuverability, it is necessary to measure the position of the rider on the bicycle and to understand the rider's intent. Applying autonomy to bicycles also has the potential to address some of the challenges posed by traditional automobiles, including CO2 emissions, land use for roads and parking, pedestrian safety, high ownership …

Contributors
Bush, Jonathan Ernest, Zhang, Wenlong, Heinrichs, Robert, et al.
Created Date
2020

In certain ant species, groups of ants work together to transport food and materials back to their nests. In some cases, the group exhibits a leader-follower behavior in which a single ant guides the entire group based on its knowledge of the destination. In some cases, the leader role is occupied temporarily by an ant, only to be replaced when an ant with new information arrives. This kind of behavior can be very useful in uncertain environments where robot teams work together to transport a heavy or bulky payload. The purpose of this research was to study ways to implement …

Contributors
Gah, Elikplim, Berman, Spring M, Berman, Spring M, et al.
Created Date
2020

Multi-material fabrication allows for the creation of individual parts composed of several materials with distinct properties, providing opportunities for integrating mechanisms into monolithic components. Components produced in this manner will have material boundaries which may be points of failure. However, the unique capabilities of multi-material fabrication allow for the use of graded material transitions at these boundaries to mitigate the impact of abrupt material property changes. The goal of this work is to identify methods of creating graded material transitions that can improve the ultimate tensile strength of a multi-material component while maintaining other model properties. Particular focus is given …

Contributors
Brauer, Cole, Aukes, Daniel, Chen, Xiangfan, et al.
Created Date
2020

This thesis introduces a new robotic leg design with three degrees of freedom that can be adapted for both bipedal and quadrupedal locomotive systems, and serves as a blueprint for designers attempting to create low cost robot legs capable of balancing and walking. Currently, bipedal leg designs are mostly rigid and have not strongly taken into account the advantages/disadvantages of using an active ankle, as opposed to a passive ankle, for balancing. This design uses low-cost compliant materials, but the materials used are thick enough to mimic rigid properties under low stresses, so this paper will treat the links as …

Contributors
Shafa, Taha A, Aukes, Daniel M, Rogers, Bradley, et al.
Created Date
2020

The problem of modeling and controlling the distribution of a multi-agent system has recently evolved into an interdisciplinary effort. When the agent population is very large, i.e., at least on the order of hundreds of agents, it is important that techniques for analyzing and controlling the system scale well with the number of agents. One scalable approach to characterizing the behavior of a multi-agent system is possible when the agents' states evolve over time according to a Markov process. In this case, the density of agents over space and time is governed by a set of difference or differential equations …

Contributors
Biswal, Shiba, Berman, Spring, Fainekos, Georgios, et al.
Created Date
2020