자료유형  

 학위논문

Control Number  

0016935396

International Standard Book Number  

9798380724081

Dewey Decimal Classification Number  

617

Main Entry-Personal Name  

Rodman, Claire.

Publication, Distribution, etc. (Imprint  

[S.l.] : The Pennsylvania State University., 2023

Publication, Distribution, etc. (Imprint  

Ann Arbor : ProQuest Dissertations & Theses, 2023

Physical Description  

1 online resource(192 p.)

General Note  

Source: Dissertations Abstracts International, Volume: 85-05, Section: B.

General Note  

Advisor: Martin, Anne E.

Dissertation Note  

Thesis (Ph.D.)--The Pennsylvania State University, 2023.

Restrictions on Access Note  

This item must not be sold to any third party vendors.

Summary, Etc.  

요약Bipedal locomotion in humans is a complex behavior, requiring impressive coordination of the neuromuscular system. There are many hypothesized motor control objectives describing how humans might optimally govern these coordinated efforts, including minimization of energetic expenditure. However, evidence suggests that the underlying objectives are more complicated than pure energy minimization. Further, these objectives have not been thoroughly investigated during more complicated walking tasks. The mechanics of speed-varying walking and exoskeleton assisted walking, for example, are not fully understood, which makes testing different possible walking objectives difficult. This work explored the physical behavior and underlying objectives of exoskeleton-assisted and unassisted walking. The spatiotemporal behavior during walking speed transitions was investigated experimentally. The findings indicate that the magnitude of the change in speeds affects how humans execute transitions, and that different people may preferentially utilize strategies to complete the task. To explore underlying walking objectives, a computational model was developed. Specifically, a moderately complex Hybrid Zero Dynamics based model with nonuniform foot shape and muscle-tendon dynamics at the ankle was developed. Equations of motion were derived and model validation simulations demonstrated that this model is capable of producing simulated gaits that match human walking for three different nonuniform foot shape parameterizations. Finally, three candidate walking objectives were tested for unassisted and exoskeleton-assisted walking. This was done using optimization, generating simulated gait by minimizing representative objective functions. The findings indicated that humans may minimize muscle activation during walking, however additional work is still necessary to determine how this goal is balanced with other objectives. Additional simulations were executed to identify sources of error between simulated and experimental gait in the model, providing insight into the limitations and possibilities for future work.

Subject Added Entry-Topical Term  

Ankle.

Subject Added Entry-Topical Term  

Kinematics.

Subject Added Entry-Topical Term  

Metabolism.

Subject Added Entry-Topical Term  

Fitness equipment.

Subject Added Entry-Topical Term  

Coordinate transformations.

Subject Added Entry-Topical Term  

Range of motion.

Subject Added Entry-Topical Term  

Fingers & toes.

Subject Added Entry-Topical Term  

Bioinformatics.

Subject Added Entry-Topical Term  

Biophysics.

Subject Added Entry-Topical Term  

Biomedical engineering.

Subject Added Entry-Topical Term  

Neurosciences.

Subject Added Entry-Topical Term  

Biomechanics.

Index Term-Uncontrolled  

Exoskeleton

Index Term-Uncontrolled  

Bipedal locomotion

Index Term-Uncontrolled  

Muscle-tendon dynamics

Index Term-Uncontrolled  

Spatiotemporal behavior

Index Term-Uncontrolled  

Human walking

Added Entry-Corporate Name  

The Pennsylvania State University.

Host Item Entry  

Dissertations Abstracts International. 85-05B.

Host Item Entry  

Dissertation Abstract International

Electronic Location and Access  

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Control Number  

joongbu:639569