dc.contributor.advisor | Braun, David | |
dc.contributor.advisor | Sarkar, Nilanjan | |
dc.creator | Dempsey, Cole | |
dc.date.accessioned | 2022-11-02T17:24:39Z | |
dc.date.available | 2022-11-02T17:24:39Z | |
dc.date.created | 2022-12 | |
dc.date.issued | 2022-10-27 | |
dc.date.submitted | December 2022 | |
dc.identifier.uri | http://hdl.handle.net/1803/17811 | |
dc.description.abstract | Springs can provide force to assist motor-driven robots or spring-augmented humans at zero net energy cost by recycling mechanical work during motion. However, humans have limited force and range of motion, and motors have a limited ability to produce force. These limits constrain how much energy a conventional spring can store and, consequently, how much assistance a spring can provide. This work introduces an approach to accumulating negative mechanical work in assistive springs over several motion cycles. It is shown that, by utilizing a novel floating spring mechanism, the weight of a human or robot can be used to iteratively increase spring compression, irrespective of the potential energy stored by the spring. Decoupling the force required to compress a spring from the energy stored by a spring could enable spring-driven robots and humans to perform physically demanding tasks without the use of large actuators and power supplies. | |
dc.format.mimetype | application/pdf | |
dc.language.iso | en | |
dc.subject | Exoskeleton | |
dc.subject | Variable Stiffness | |
dc.subject | Human Augmentation | |
dc.subject | Cyclic Energy Accumulation | |
dc.title | Accumulating Energy in Assistive Springs using Bounded Force and Deformation: Theory, Mechanism Design, and Experimental Validation | |
dc.type | Thesis | |
dc.date.updated | 2022-11-02T17:24:39Z | |
dc.contributor.committeeMember | Goldfarb, Michael | |
dc.type.material | text | |
thesis.degree.name | MS | |
thesis.degree.level | Masters | |
thesis.degree.discipline | Mechanical Engineering | |
thesis.degree.grantor | Vanderbilt University Graduate School | |
dc.creator.orcid | 0000-0002-7649-8824 | |