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Title page for ETD etd-03302007-113257


Type of Document Master's Thesis
Author Wait, Keith Wesley
URN etd-03302007-113257
Title Design of a Goniometric Input Device for Master/Slave Control of a Transhumeral Prosthesis
Degree Master of Science
Department Mechanical Engineering
Advisory Committee
Advisor Name Title
Michael Goldfarb Committee Chair
Eric Barth Committee Member
Nilanjan Sarkar Committee Member
Keywords
  • Artificial arms -- Design and construction
  • control
  • master
  • slave
  • prosthesis
  • Goniometers
Date of Defense 2007-03-23
Availability unrestricted
Abstract
Design of a device for intuitively commanding an in-development prosthetic arm for transhumeral amputees is described in this thesis. The goal of the device is to allow complex tasks and behaviors to be easily demonstrated without time consuming repeated iterations of robot trajectory programming and testing. Structural design of the device and sensor choice for optimal interaction with the device and its peculiarities are treated as well as the development of a software package for evaluation of the input device without need for the actual prosthetic arm to be present. Feedback control of individual prosthetic fingers is also discussed. Finally, some demonstrations of the capabilities that were able to be achieved through the use of the paired input device / prosthetic arm system are enumerated.

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