Multi-objective user tunable interface for assistance control of a lower limb exoskeleton: a step in the right direction

Simple item page
dc.contributor.advisorSensinger, Jonathon
dc.contributor.advisorDiduch, Chris
dc.contributor.authorStewart, Kurt
dc.date.accessioned2023-03-01T16:52:11Z
dc.date.available2023-03-01T16:52:11Z
dc.date.issued2020
dc.date.updated2023-03-01T15:03:30Z
dc.description.abstractThe field of assistive lower limb exoskeletons lacks controllers that allow user adjustment according to their needs and desires. This thesis develops and shows simulation evidence for allowing user-intuitive control by providing adjustment of gait based on gait performance measures the user cares about while walking. Using the NSGA-II multiobjective optimization algorithm to generate trajectories for a virtual constraint-based exoskeleton system a lookup table was generated which provides user adjustment of speed, comfort, effort proxy, and natural walking measures. The findings in this thesis demonstrate a variety of gait across these performance measures which can be used to formulate a user-adjustable controller.
dc.description.copyright©Kurt Stewart, 2020
dc.formattext/xml
dc.format.extentxiv, 77 pages
dc.format.mediumelectronic
dc.identifier.urihttps://unbscholar.lib.unb.ca/handle/1882/14593
dc.language.isoen_CA
dc.publisherUniversity of New Brunswick
dc.rightshttp://purl.org/coar/access_right/c_abf2
dc.subject.disciplineElectrical and Computer Engineering
dc.titleMulti-objective user tunable interface for assistance control of a lower limb exoskeleton: a step in the right direction
dc.typemaster thesis
thesis.degree.disciplineElectrical and Computer Engineering
thesis.degree.fullnameMaster of Science in Engineering
thesis.degree.grantorUniversity of New Brunswick
thesis.degree.levelmasters
thesis.degree.nameM.Sc.E.

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
item.pdf
Size:
1.79 MB
Format:
Adobe Portable Document Format
Download

Collections

Open Theses & Dissertations