Analysis of walking and balancing models actuated and controlled by ankles
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
| Published: |
Massachusetts Institute of Technology
2007
|
| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/38279 |
| _version_ | 1811074319935078400 |
|---|---|
| author | Ahn, Jooeun, Ph. D. Massachusetts Institute of Technology |
| author2 | Neville Hogan. |
| author_facet | Neville Hogan. Ahn, Jooeun, Ph. D. Massachusetts Institute of Technology |
| author_sort | Ahn, Jooeun, Ph. D. Massachusetts Institute of Technology |
| collection | MIT |
| description | Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006. |
| first_indexed | 2024-09-23T09:47:11Z |
| format | Thesis |
| id | mit-1721.1/38279 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T09:47:11Z |
| publishDate | 2007 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/382792019-04-14T07:08:28Z Analysis of walking and balancing models actuated and controlled by ankles Ahn, Jooeun, Ph. D. Massachusetts Institute of Technology Neville Hogan. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006. Includes bibliographical references (p. 181-182). Experimental data show that ankle torque is the most important actuator in normal human locomotion. I investigate the dynamics of simple models actuated by ankles alone. To assess the contribution of ankle actuation to locomotion, I first analyze the dynamics of some passive walkers without any joint torque. These passive walkers include a rimless wheel model and springy-legged models with and without a double stance phase. I analyze the stability of the period-one gait of each passive walker to compare it with the stability of the period-one gait of an ankle actuated model. Subsequently, I investigate whether balancing of a double inverted pendulum model whose shape and mass distribution are similar to a human can be achieved by control of ankle torque in a frontal plane. I study the dynamics of the model and design a controller that makes the model balance with biologically realistic ankle torque and a reasonable foot-floor friction coefficient. I conclude that an ankle-actuated model can make a stable period-one gait in a sagittal plane. Also, I deduce that the ankle torque control in a frontal plane can stabilize a double inverted pendulum model whose shape and mechanical properties are similar to those of humans. by Jooeun Ahn. S.M. 2007-08-03T18:25:04Z 2007-08-03T18:25:04Z 2006 2006 Thesis http://hdl.handle.net/1721.1/38279 153280310 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 182 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Ahn, Jooeun, Ph. D. Massachusetts Institute of Technology Analysis of walking and balancing models actuated and controlled by ankles |
| title | Analysis of walking and balancing models actuated and controlled by ankles |
| title_full | Analysis of walking and balancing models actuated and controlled by ankles |
| title_fullStr | Analysis of walking and balancing models actuated and controlled by ankles |
| title_full_unstemmed | Analysis of walking and balancing models actuated and controlled by ankles |
| title_short | Analysis of walking and balancing models actuated and controlled by ankles |
| title_sort | analysis of walking and balancing models actuated and controlled by ankles |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/38279 |
| work_keys_str_mv | AT ahnjooeunphdmassachusettsinstituteoftechnology analysisofwalkingandbalancingmodelsactuatedandcontrolledbyankles |