Advancement: Lower Extremity Inspired Tensegrity Crutch

Speaker Name: 
Erik Jung
Speaker Title: 
PhD Student (Advisor: Mircea Teodorescu)
Speaker Organization: 
Computer Engineering
Start Time: 
Friday, December 7, 2018 - 10:30am
End Time: 
Friday, December 7, 2018 - 12:30pm
Engineering 2, Room 599
Mircea Teodorescu

Abstract:  Anatomical systems with bones and muscles have an innate structural stability.

Most robotics literature view the human's hip, knee and ankle as a revolute joint with a confined range of motion which neglects a critical aspect of these joints, their internal flexibility.
Tensegrity-inspired designs replicate these musculoskeletal connections using rigid and tensile components within a self-stabilizing structure.
The proposed tensegrity structures are predicted through the OpenSim environment to report the validation between simulations, physical prototypes and human leg kinematic behavior for a variety of motions and muscle analysis.
These flexural manipulators are influenced by human legs as a hybrid (flexible-rigid) structure of knee, hip, and ankle joints to better approximate and design artificial (prosthetic) devices.
State-of-the-art mobility devices (e.g., exoskeletons, prostheses) in the field are commonly pre-programmed to produce motions.
The localization system created within this self-standing tensegrity provides positional-based feedback to achieve and maintain desired angular displacement. 
Using these ideas for artificial limbs and prostheses can influence these joints to optimize anatomical equivalence and comfort for users.