Bram Burkink
Bram Burkink
Former student (completed: Feb 14, 2012)
| B.Burkink@student.utwente.nl |
Individual Design Assignment: Improved propulsion of the PIRATE pipe inspection robot
In the Control lab (CE) at the University of Twente there is a prototype robot (PIRATE) developed to check the low pressure pipes of the gas network in the Netherlands. The robot will inspect the gas pipes internally by checking for holes and wear inside the pipes to prevent accidents and to map the gas network. These pipes have a diameter of 59-119mm. This is a prototype so there is room for improvements. The goal of this assignment is to improve the propulsion unit of the robot. At this moment the robot uses a gearbox with a lot of gears to obtain the required torque. This set of gears is not ideal and will be replaced by an internal propulsion unit that matches the same specifications as the PIRATE. So less space is being used and the implementation will be a lot easier. The final build will be done by DEMCON in Oldenzaal.MSc Project: Modeling and control of an energy efficient transfemoral prosthesis
A transfemoral prosthesis is meant for humans with an above knee amputation. Since a transfemoral prosthesis should replace the biological knee and the related muscles, the design of this type of prostheses is challenging and more complex than for the transtibial ones. Although many prostheses are commercially available and many others are under research, there is no design that presents a mechanical coupling between the knee and the ankle joints. This coupling plays a fundamental role in the energetic behavior and in the power flow of the leg during the human gait. Therefore, an energy efficient transfemoral prosthesis, with mechanical coupling, has been developed. The Control and Biomechanical Engineering groups are working together in the ReflexLeg project. The mechanical design has been realized and a prove of concept has been obtained by a first prototype. A second prototype has been designed and, currently, it is under construction. Goals of this MSc projects are: 1. To model the second prosthetic prototype in order to analyze it and improve its dynamics. The model will be developed in 20sim in both 3D Mechanical Toolbox and in bond-graphs. 2. To control the modeled prosthesis in 20sim in order to adapt the dynamics to different walking speeds and walking patterns, by keeping energy efficiency and robustness. 3. To investigate if either mechanical changes or variable stiffness actuators should be implemented on the prosthesis so to make it adaptable. 4. To select actuators and sensors to be implemented in the second prototype. 5. To perform tests on healthy subjects first and, afterwards, at the rehabilitation center Roessingh with human patients with a transfemoral amputation