Anthropomorphic adaptation of a mechanically-variable, near-infinite range-of-stiffness mechanism
dc.contributor.advisor | Petrella, Anthony J. | |
dc.contributor.advisor | Silverman, Anne K. | |
dc.contributor.author | Cano, Daniel S. | |
dc.date.accessioned | 2007-01-03T04:39:05Z | |
dc.date.accessioned | 2022-02-09T08:40:05Z | |
dc.date.available | 2007-01-03T04:39:05Z | |
dc.date.available | 2022-02-09T08:40:05Z | |
dc.date.issued | 2013 | |
dc.identifier | T 7173 | |
dc.identifier.uri | https://hdl.handle.net/11124/77680 | |
dc.description | 2013 Spring. | |
dc.description | Includes illustrations (some color). | |
dc.description | Includes bibliographical references. | |
dc.description.abstract | Traditional 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.medium | born digital | |
dc.format.medium | masters theses | |
dc.language | English | |
dc.language.iso | eng | |
dc.publisher | Colorado School of Mines. Arthur Lakes Library | |
dc.relation.ispartof | 2013 - Mines Theses & Dissertations | |
dc.rights | Copyright of the original work is retained by the author. | |
dc.subject | prosthetic | |
dc.subject | mechatronics | |
dc.subject | anthropomorphic | |
dc.subject | variable-stiffness | |
dc.subject | variable-compliance | |
dc.subject | elbow | |
dc.subject.lcsh | Mechatronics | |
dc.subject.lcsh | Mechanical movements | |
dc.subject.lcsh | Prosthesis | |
dc.subject.lcsh | Robotics | |
dc.title | Anthropomorphic adaptation of a mechanically-variable, near-infinite range-of-stiffness mechanism | |
dc.type | Text | |
dc.contributor.committeemember | Weir, Richard F. | |
dc.contributor.committeemember | Steele, John P. H. | |
thesis.degree.name | Master of Science (M.S.) | |
thesis.degree.level | Masters | |
thesis.degree.discipline | Mechanical Engineering | |
thesis.degree.grantor | Colorado School of Mines |