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UBC Theses and Dissertations
Control system development for a powered upper-limb orthosis Brown, Dale
Abstract
The objective of this research project work is to develop an efficient and simple control strategy and design associated signal input devices for a powered upper-limb orthosis. The criteria are to miniiriize the complexity of the control operations required by the user and to improve reliability of a powered orthosis while maintaining the capability to perform daily living tasks. This goal has been achieved through three stages of research. In the first stage, the UBC orthosis design was optimized for modularity, manufacturability, and assembly. In the second stage, potential control technologies were reviewed, adapted, and modified to suit the UBC orthosis. In the final stage, a control strategy and signal input hardware were developed. The unique contribution of this research is the adaptation of end-point control strategies to efficiently control the orthosis as opposed to the complex task of sequentially moving each joint separately. Also, the development of intuitive and easy to operate proportional and logical control signal input devices reduces the demands placed on the user. In addition, the transfer of control system complexities from the user to a microcontroller results in a more user-friendly set of devices. Upon implementation of the control software, testing for mechanical range of motion, speed of response, mode switching, safety mechanisms, and visual status feedback was performed. Rigorous laboratory testing of the orthosis and control devices with UBC researchers is recommended, followed by clinical testing of the device with several potential users.
Item Metadata
Title |
Control system development for a powered upper-limb orthosis
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Creator | |
Publisher |
University of British Columbia
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Date Issued |
1996
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Description |
The objective of this research project work is to develop an efficient and simple control strategy
and design associated signal input devices for a powered upper-limb orthosis. The criteria are to
miniiriize the complexity of the control operations required by the user and to improve reliability
of a powered orthosis while maintaining the capability to perform daily living tasks. This goal has
been achieved through three stages of research. In the first stage, the UBC orthosis design was
optimized for modularity, manufacturability, and assembly. In the second stage, potential control
technologies were reviewed, adapted, and modified to suit the UBC orthosis. In the final stage, a
control strategy and signal input hardware were developed.
The unique contribution of this research is the adaptation of end-point control strategies to
efficiently control the orthosis as opposed to the complex task of sequentially moving each joint
separately. Also, the development of intuitive and easy to operate proportional and logical
control signal input devices reduces the demands placed on the user. In addition, the transfer of
control system complexities from the user to a microcontroller results in a more user-friendly set
of devices.
Upon implementation of the control software, testing for mechanical range of motion, speed of
response, mode switching, safety mechanisms, and visual status feedback was performed.
Rigorous laboratory testing of the orthosis and control devices with UBC researchers is
recommended, followed by clinical testing of the device with several potential users.
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Extent |
6804233 bytes
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Genre | |
Type | |
File Format |
application/pdf
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Language |
eng
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Date Available |
2009-02-17
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Provider |
Vancouver : University of British Columbia Library
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Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
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DOI |
10.14288/1.0081036
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URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
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Graduation Date |
1996-11
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Campus | |
Scholarly Level |
Graduate
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Aggregated Source Repository |
DSpace
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Item Media
Item Citations and Data
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.