자료유형  

 학위논문

Control Number  

0017163560

International Standard Book Number  

9798384016298

Dewey Decimal Classification Number  

629.8

Main Entry-Personal Name  

Schlafly, Millicent.

Publication, Distribution, etc. (Imprint  

[S.l.] : Northwestern University., 2024

Publication, Distribution, etc. (Imprint  

Ann Arbor : ProQuest Dissertations & Theses, 2024

Physical Description  

199 p.

General Note  

Source: Dissertations Abstracts International, Volume: 86-02, Section: B.

General Note  

Advisor: Murphey, Todd D.

Dissertation Note  

Thesis (Ph.D.)--Northwestern University, 2024.

Summary, Etc.  

요약Why are robots absent from our everyday lives? For starters, it is difficult for robots to perform tasks in unpredictable environments, and humans are a paragon of unpredictability. Each human has unique goals, intentions, and needs from a robotic partner, informed by a unique set of physical capabilities and lived experiences. However, despite large variations in human behavior, there is structure to humans as a species. Humans use the same biological mechanisms for receiving sensory inputs, processing information, and executing motor control actions. By leveraging neuromotor structure, I develop task-agnostic robotic algorithms for physically interacting with humans.In this thesis, I develop strategies for robot design and control for improving human movement and cognition. I begin by demonstrating that it is possible for robots to affect human cognition. As one increases the robot's autonomy, thereby decreasing amount of information the human must communicate to the robot, the human's physiological cognitive availability and decision-making improves. Next, I develop and validate a robot-assisted assessment of dynamic movement that is task-agnostic and could be used closed-loop for robot-assisted therapy. Using the assessment, I quantify motion bandwidth for individuals with hemiparetic stroke, revealing a deficit at frequencies greater than 1.5Hz. Lastly, I present an optimization metric that rewards robot designs that encode task-agnostic learning properties like the Markov property and independent and identically distributed data. After optimizing the material properties of a soft robot chassis, the training time required for a walking robot to learn translational gaits is reduced by approximately 50%.

Subject Added Entry-Topical Term  

Robotics.

Subject Added Entry-Topical Term  

Computer engineering.

Subject Added Entry-Topical Term  

Information technology.

Subject Added Entry-Topical Term  

Cognitive psychology.

Index Term-Uncontrolled  

Unpredictable environments

Index Term-Uncontrolled  

Unpredictability

Index Term-Uncontrolled  

Human behavior

Index Term-Uncontrolled  

Task-agnostic robotic algorithms

Index Term-Uncontrolled  

Soft robot chassis

Added Entry-Corporate Name  

Northwestern University Mechanical Engineering

Host Item Entry  

Dissertations Abstracts International. 86-02B.

Electronic Location and Access  

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Control Number  

joongbu:658519