پديد آورنده :
اميري، پويا
عنوان :
تحليل پايداري ايستادن يك فرد داراي آسيب نخاعي با هدف بهبود طراحي ارتز
مقطع تحصيلي :
كارشناسي ارشد
گرايش تحصيلي :
طراحي كاربردي
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
دوازده، 131ص.: مصور، جدول، نمودار
يادداشت :
ص.ع.به فارسي و انگليسي
استاد راهنما :
محمدجعفر صديق
استاد مشاور :
محمد تقي كريمي، سعيد بهبهاني
توصيفگر ها :
ديناميكي , پايداري
تاريخ نمايه سازي :
13/4/91
استاد داور :
مصطفي غيور، محمد دانش
تاريخ ورود اطلاعات :
1396/09/14
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي
چكيده انگليسي :
132 Standing Stability Analysis of a Paraplegic Individual to Improve The Design of Orthosis Pouya Amiri p amiri@me iut ac ir Department of Mechanical Engineering Isfahan University of TechnologyDegree M Sc Language FarsiSuperviser Dr Mohammad Jafar Sadigh jafars@cc iut ac irAbstractRehabilitation of people with lower or upper limb disorders using mechanical systesms has attractedconsiderable attention in recent years These mechanical systems can be active or passive and be used torealize two overall goals 1 Therapy 2 Independent living for people with abnormalities The aim of thisresearch is to investigate the performance of a special kind of such systems namely lower limb orthosis which are used for standing and walking of the paraplegic for both therapy purposes and as assistive device In the first part we investigated static and dynamics standing of a paraplegic individual with the newdesigned orthosis To this aim a serial five link chain with two degress of freedom representing the subjectand orthosis as a whole has been considered in sagittal plane Equilibrium points of the system can becalculated using equations of motion and must satisfy two constraints to achieve stable standing first dynamic stability of the system which is checked by the eigenvalues of the linearized form of equations ofmotion aournd each obtained equilibrium point second static stability by which we mean that the projectedCenter of Gravity of the whole system must lie within support polygon The results of the proposed modelfirstly have been verified with comparison to previous research in literature Then the model also has beenverified by test results and used to find the bounds on joint angles which can realize stable standing with theorthosis for spinal cord injured subjects This finding is one of the most important achievements of this thesisand can be useful in designing new generations of orthosis After a complete investigation into the problemof static standing we have investigated dynamic standing of a paraplegic subject while undertaking a handtask with the consideration of dynamic stability of hip joint and Zero Moment Point constraint and again ageneral framework has been proposed to find the bounds on joint angles which can realize stable dynamicstanding with the orthosis for spinal cord injured subjects After scrutinizing the passive system in both staticand dynamic standing assuming the system is equipped with actuators mounted on hip joints of the orthosis the problem of active control of the system has been solved while the constraint of Zero Moment Point hasbeen also taken into account In the last section of this research we investigated path generation of a bipedand proposed trunk and arm sterategies to make the gait of the robot stable Keywords Spinal Cord Injury quiet standing static standing dynamic standing orthosis stability
استاد راهنما :
محمدجعفر صديق
استاد مشاور :
محمد تقي كريمي، سعيد بهبهاني
استاد داور :
مصطفي غيور، محمد دانش
