Single-axis simulated hip-joint movement controlled by body-mounted IMUs for electromechanical prosthesis applications

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Fifield, A. (2020). Single-axis simulated hip-joint movement controlled by body-mounted IMUs for electromechanical prosthesis applications. Unc Charlotte Electronic Theses And Dissertations.
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Abstract

Survivors of cancerous and traumatic transpelvic amputations have difficulty in transitioning into and out of a chair, as well as sitting upright with correct posture. The addition of special pads and chair inserts can help the amputee; however, through time, the amputee may develop spinal deformities, which pose a major health concern. In an effort to improve the quality of life of transpelvic amputees, a representative single-axis hip-joint prosthesis analogue is designed and tested. A motor, loaded with mass characteristics similar to that of a plausible thigh prosthesis, performs bidirectional motion; it is commanded by an embedded controller that calculates position commands from two body-mounted IMUs. Body acceleration data is obtained from the IMUs, and real-time calculations are performed to generate positional commands for the hip-joint motor. A 3-D motion camera system confirms that digital data obtained from system measurement devices accurately corresponds to the physical position and orientation of the body and representative prosthesis. A separate computer is used to simultaneously log raw data, generate data analysis visuals, and produce system stability and response characteristics. After completing a thorough analysis of the system's operation and response, the prosthesis analogue produces motion and control characteristics feasible for autonomous electromechanical prosthesis motion. The study, as a whole, successfully presented a control system that measures data accurately from body-mounted IMUs and controls a closed-feedback, single-axis, rotational device, representative of a plausible electromechanical thigh-joint prosthesis. With further research towards a complete prosthesis prototype, system design, and control characteristics of this study could be integrated and used in the advancement of the quality of life of many transpelvic amputation survivors.

Details
Author

Fifield, Austin

Title

Single-axis simulated hip-joint movement controlled by body-mounted IMUs for electromechanical prosthesis applications

Physical Description

1 online resource (181 pages) : PDF

Date

2020

Degree Granting Institution

University of North Carolina at Charlotte

Abstract

Survivors of cancerous and traumatic transpelvic amputations have difficulty in transitioning into and out of a chair, as well as sitting upright with correct posture. The addition of special pads and chair inserts can help the amputee; however, through time, the amputee may develop spinal deformities, which pose a major health concern. In an effort to improve the quality of life of transpelvic amputees, a representative single-axis hip-joint prosthesis analogue is designed and tested. A motor, loaded with mass characteristics similar to that of a plausible thigh prosthesis, performs bidirectional motion; it is commanded by an embedded controller that calculates position commands from two body-mounted IMUs. Body acceleration data is obtained from the IMUs, and real-time calculations are performed to generate positional commands for the hip-joint motor. A 3-D motion camera system confirms that digital data obtained from system measurement devices accurately corresponds to the physical position and orientation of the body and representative prosthesis. A separate computer is used to simultaneously log raw data, generate data analysis visuals, and produce system stability and response characteristics. After completing a thorough analysis of the system's operation and response, the prosthesis analogue produces motion and control characteristics feasible for autonomous electromechanical prosthesis motion. The study, as a whole, successfully presented a control system that measures data accurately from body-mounted IMUs and controls a closed-feedback, single-axis, rotational device, representative of a plausible electromechanical thigh-joint prosthesis. With further research towards a complete prosthesis prototype, system design, and control characteristics of this study could be integrated and used in the advancement of the quality of life of many transpelvic amputation survivors.

Genre

masters theses

Subjects--Topics

Electrical engineering

Degree

M.S.

Keywords

Body-Mounted
Controls
Electromechanical
Hemipelvectomy
IMU
Prosthesis

Subject Area

Applied Energy & Electromechanical System

Advisor(s)

Browne, Aidan

Committee Members

Donovan, Luke
Smith, Michael
Williams, Wesley

Degree Note

Thesis (M.S.)--University of North Carolina at Charlotte, 2020.

Rights Statement

This Item is protected by copyright and/or related rights. You are free to use this Item in any way that is permitted by the copyright and related rights legislation that applies to your use. For other uses you need to obtain permission from the rights-holder(s). For additional information, see http://rightsstatements.org/page/InC/1.0/.

Rights Holder Information

Copyright is held by the author unless otherwise indicated.

Identifier

Fifield_uncc_0694N_12510

Permalink

http://hdl.handle.net/20.500.13093/etd:2634