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Load Carrying Assistance Device: Pogo Suit


Abstract Wearable robots including exoskeletons, powered prosthetics, and powered orthotics must add energy to the person at an appropriate time to enhance, augment, or supplement human performance. Adding energy while not being in sync with the user can dramatically hurt performance making it necessary to have correct timing with the user. Many human tasks such as walking, running, and hopping are repeating or cyclic tasks and a robot can add energy in sync with the repeating pattern for assistance. A method has been developed to add energy at the appropriate time to the repeating limit cycle based on a phase oscillator. The phase oscillator eliminates time from the forcing function which is based purely on the motion of the user. This approach has... (more)
Created Date 2014
Contributor Wheeler, Chase Bryan (Author) / Sugar, Thomas G (Advisor) / Redkar, Sangram (Advisor) / Artemiadis, Panagiotis (Committee member) / Arizona State University (Publisher)
Subject Mechanical engineering / Robotics / Phase Oscillator / Phase Plane Control / Robotic Backpack
Type Masters Thesis
Extent 71 pages
Language English
Copyright
Reuse Permissions All Rights Reserved
Note Masters Thesis Mechanical Engineering 2014
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis