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A Stability-Based Approach to Post-Stroke Gait Training

Description:

Humans have a remarkable ability to create stable walking patterns that can resist and recover from perturbations. Unfortunately, this ability is substantially impaired after a stroke, limiting mobility and contributing to a high fall rate. To facilitate gait training during post-stroke rehabilitation, clinicians often incorporate body-weight support (BWS) systems that...

Keyword:

Stroke, Stability, Gait, and Biomechanics

Subject:

Physical therapy, Biomedical engineering, and Biomechanics

Creator:

Dragunas, Andrew

Owner:

Scholarly Digital Publishing

Language:

en

Date Uploaded:

10/07/2021

Date Created:

2021-01-01

Resource Type:

Dissertation

Alternate Identifier:

http://dissertations.umi.com/northwestern:15636 and etdadmin_upload_831434
Real-Time Safe Control for Model-Based and Data-Driven Robotics

Description:

Robot dynamics are typically highly nonlinear and their control is a challenging research topic without a single overarching algorithm that demonstrates the best performance. In this thesis, I derive a nonlinear control algorithm that uses an analytical, closed-form solution to compute feedback with controllability-based guarantees for convergence. The proposed algorithm,...

Keyword:

Obstacle avoidance, Koopman operators, Data-driven control, Controllability-based control, Sequential action control, and Stability

Subject:

Robotics

Creator:

Mamakoukas, Giorgos

Owner:

Scholarly Digital Publishing

Language:

en

Date Uploaded:

06/28/2021

Date Created:

2021-01-01

Resource Type:

Dissertation

Alternate Identifier:

etdadmin_upload_819790 and http://dissertations.umi.com/northwestern:15586

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