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dc.contributor.advisorPetrella, Anthony J.
dc.contributor.advisorSilverman, Anne K.
dc.contributor.authorCano, Daniel S.
dc.date.accessioned2007-01-03T04:39:05Z
dc.date.accessioned2022-02-09T08:40:05Z
dc.date.available2007-01-03T04:39:05Z
dc.date.available2022-02-09T08:40:05Z
dc.date.issued2013
dc.identifierT 7173
dc.identifier.urihttps://hdl.handle.net/11124/77680
dc.description2013 Spring.
dc.descriptionIncludes illustrations (some color).
dc.descriptionIncludes bibliographical references.
dc.description.abstractTraditional mechatronic systems utilize stiff actuators, but applications such as prostheses, rehabilitation exoskeletons, legged robots, and industrial robotics have begun to integrate variable-compliance mechanisms into their systems. Several variable-compliance mechanisms have been designed and tested, but they tend to have low ranges of stiffness and complex designs. A variable-compliance system known as the Adjustable Mechanism with a Nominally Infinite Range of Stiffness (AMNIRS) has been previously designed and tested. The AMNIRS device can theoretically achieve stiffnesses from zero to rigid. Through this work, a continuation of the AMNIRS device, AMNIRS-II, has been developed and tested. AMNIRS-II is an improved design that addresses several design limitations in the original AMNIRS device. In addition, AMNIRS-II is smaller than the original AMNIRS, and therefore provides an anthropomorphic configuration. AMNIRS-II was developed in two stages: miniaturization and characterization. The miniaturization phase of the project adapted the original AMNIRS design into a compact device that emulated the physical characteristics of a human elbow. A prototype for the AMNIRS-II was built and characterized. The characterization phase quantified key attributes of the AMNIRS-II system. The AMNIRS-II device included an integrated stiffness setting motor. The parameters that were characterized included the rotational stiffness, elastic energy storage, and stiffness-varying capabilities. The results of the characterization verified the desired characteristics of AMNIRS-II. AMNIRS-II is a compact device that may be integrated into a prosthetic forearm in future work.
dc.format.mediumborn digital
dc.format.mediummasters theses
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado School of Mines. Arthur Lakes Library
dc.relation.ispartof2013 - Mines Theses & Dissertations
dc.rightsCopyright of the original work is retained by the author.
dc.subjectprosthetic
dc.subjectmechatronics
dc.subjectanthropomorphic
dc.subjectvariable-stiffness
dc.subjectvariable-compliance
dc.subjectelbow
dc.subject.lcshMechatronics
dc.subject.lcshMechanical movements
dc.subject.lcshProsthesis
dc.subject.lcshRobotics
dc.titleAnthropomorphic adaptation of a mechanically-variable, near-infinite range-of-stiffness mechanism
dc.typeText
dc.contributor.committeememberWeir, Richard F.
dc.contributor.committeememberSteele, John P. H.
thesis.degree.nameMaster of Science (M.S.)
thesis.degree.levelMasters
thesis.degree.disciplineMechanical Engineering
thesis.degree.grantorColorado School of Mines


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