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The application of technology makes a lot of things easier, but for individuals with disability, it makes things possible. Rehabilitation robotics aims at providing robotic devices, which can act as functional extensions of the user, while performing basic activities. Providing a well-designed gripper as its end-effector can greatly enhance the performance of a rehabilitation robot. The gripper performs simple tasks like picking up objects and manipulating objects, which help in performing activities of daily living. This thesis describes the development of a prototype gripper for a wheelchair mounted robot. The pre-development surveys conducted before the development of commercialized robotic assistive devices were analyzed and user task priorities were understood. The role of the gripper as an object-grasping device was focused upon. The size and weight parameters, which the gripper should effectively grasp, were decided. Based on these parameters, a prototype was developed. Force sensors were used to monitor the gripping forces. The data was acquired using a Data Acquisition System. The gripping forces were measured using a Labview program that utilized the force-voltage relationship for the sensor. This relationship was obtained by performing calibration experiments. The performance of the prototype was tested using objects that are used in everyday environment and was analyzed by conducting a set of experiments. A relay circuit was designed that would stop the motors once the gripping forces exceeded a threshold value for a given object. This avoided any damage to the object during the gripping process. The gripping forces measured were found to be in close agreement to the theoretically calculated force values.

Total knee arthroplasty has been effective in reducing pain, but less so in restoring function, especially for activities requiring deep knee flexion. The philosophy of this dissertation was that more functionally effective and optimally designed artificial knees could be created for high flexion activities, if the knee joint kinematics and joint contact forces applied during finite element testing, knee simulator testing, and fatigue testing were more physiologically accurate. The objective of this work was to determine knee joint kinematics and contact forces that could be used in high flexion total knee replacement design and pre-clinical testing. Knee kinematics were determined during high flexion activities for total knee replacement patients and asymptomatic subjects by tracking the motion of skin-mounted sensors. In addition, a protocol was developed to determine the effect of soft tissue artefact on the accuracy of the skin-mounted sensor system in high flexion. The ranges of motion determined for the studied activities can be used as a benchmark to measure the functional success of high flexion total knee replacements. Tibiofemoral joint contact forces were estimated during high flexion activities of daily living using a simple, non-invasive, inverse dynamics based model. The accuracy of the joint contact force estimates was investigated by comparing the estimated forces to in vivo forces measured directly using implanted instrumented tibial components. The comparison showed that the model underestimates the measured axial joint contact force, most likely because the model neglects antagonistic muscle co-contraction. The measured and modeled joint contact forces and the measured knee kinematics could be used to form industry standards for knee simulator and fatigue testing to ensure that the implants are being tested physiologically. Healthy target populations can be studied using the methods outlined in this thesis to define testing standards for target populations: Kinematics can be determined as they were in this work for a group of Middle Eastern subjects, and the non-invasive inverse dynamics based model (with some consideration for the underestimation of forces) could be used to determine the tibiofemoral joint contact forces that the implant might be subjected to during activities of daily living. / Thesis (Ph.D, Mechanical and Materials Engineering) -- Queen's University, 2010-10-25 11:33:06.162

Femoroacetabular impingement syndrome (FAIS) is a disorder characterized by specific morphology of the femur and/or acetabulum, which may lead to hip pain during gait. Compared to individuals without pain, people with FAIS walk with more anterior pelvic tilt, and their pain may result from excessive anteriorly-directed hip joint forces. Previous approaches using musculoskeletal modelling to calculate joint forces, however, may inaccurately assume that each individual stands in an entirely neutral position when determining static joint angles. Consequently, information on parameters that affect joint forces (such as pelvic tilt) is lost in kinematic data used to estimate joint loading. To observe the effect of computationally altered pelvic tilt on joint forces, gait data of six healthy individuals were processed using Vicon and Visual3D. Each participant’s pelvic tilt was adjusted by ±5 degrees and ±10 degrees of tilt at all time points. Five analyses were performed per individual: no change in tilt, two posterior (positive) tilts, and two anterior (negative) tilts. The resulting data were imported into OpenSim to estimate forces from the femur onto the acetabulum in the anterior, superior, and medial directions. Data for each participant were normalized for gait cycle and body weight in MATLAB. Statistical parametric mapping software was used to determine if the differences in joint loads were significant. A more anterior pelvic tilt led to a reduction in anteriorly-directed joint forces, and an increase in the superior and medial directions. Based on these results, each individual’s pelvic tilt (obtained from their stationary kinematic data) was accounted for when modeling FAIS and healthy individuals. Using the same methods as above, the hip joint forces of 22 people with FAIS were compared to those of 22 healthy individuals as both groups walked at a prescribed speed. Although there were reductions in joint forces in both FAIS limbs compared to those of the control group, the differences were not significant, possibly due to the high variability of joint forces. Despite the significant effects of pelvic tilt on hip joint force, other underlying assumptions need to be addressed in musculoskeletal modeling software in order to compare different conditions, such as the use of the same generic model despite differences in sex and hip morphology. Future studies comparing pathological and healthy joint loads can inform researchers on gait alteration strategies and the design of assistive devices to manage the symptoms and onset of conditions such as FAIS. / 2022-05-15T00:00:00Z

Knee osteoarthritis (OA) is a debilitating disease affecting the entire knee joint by inducing pathological changes to the cartilage and menisci. Currently, the etiology of OA is not completely understood. However, altered gait mechanics, specifically increased joint loading, of OA patients have a clear association with both symptomatic and structural OA progression. Non-surgical intervention tools, such as variable stiffness shoes (VSS), have been developed as a way to decrease loading within the knee joint. However, with external moments being surrogate measures for knee loading, it is unclear if changes in knee moments with the footwear are sufficient to result in a clinical benefit. Therefore, this project’s purpose was to investigate whether a VSS intervention can alter knee joint loading and menisci function in a knee OA population. We used gait analysis, musculoskeletal modeling, and finite element (FE) analysis to determine the effect of VSS on gait mechanics, knee joint contact force, and menisci stress and strain, compared to a control shoe. We found knee moments did not decrease with the VSS intervention. Furthermore, participants who did experience a decrease in knee adduction moment did not always experience a decrease in medial compartment contact force. However, results from our FE modeling of the tibiofemoral joint indicate significant changes in knee joint contact force can influence stress placed on the menisci. Results from this study suggest knee contact forces and tissue stress, not only external moments, should be considered when investigating if VSS can positively impact an OA population.

Doctor of philosophy (Ph D) / This thesis deals with numerical investigations on some rheological problems of fibre suspensions: the fibre level simulation of non-dilute fibre suspensions in shear flow; the numerical simulation of complex fibre suspension flows and simulating the particle motion in viscoelastic flows. These are challenging problems in rheology. Two numerical approaches were developed for simulating non-dilute fibre suspensions from the fibre level. The first is based on a model that accounts for full hydrodynamic interactions between fibres, which are approximately calculated as a superposition of the long-range and short-range hydrodynamic interactions. The long-range one is approximated by using slender body theory and includes infinite particle interactions. The short-range one is approximated in terms of the normal lubrication forces between close neighbouring fibres. The second is based on a model that accounts only for short-range interactions, which comprise the lubrication forces and normal contact and friction forces. These two methods were applied to simulate the microstructure evolution and rheological properties of non-dilute fibre suspensions. The Brownian configuration method was combined with the highly stable finite element method to simulate the complex flow of fibre suspensions. The method is stable and robust, and can provide both micro and macro information. It does not require any closure approximations in calculating the fibre stress tensor and is more efficient and variance reduction, compared to CONNFFESSITT, for example. The flow of fibre suspensions past a sphere in a tube and the shear induced fibre migration were successfully simulated using this method The completed double layer boundary element method was extended to viscoelastic flow cases. A point-wise solver was developed to solve the constitutive equation point by point and the fixed least square method was employed to interpolate and differentiate data locally. The method avoids volume meshing and only requires the boundary mesh on particle surfaces and data points in the flow domain. A sphere settling in the Oldroyd-B fluid and a prolate spheroid rotating in shear flow of the Oldroyd-B fluid were simulated. Based on the simulated orbit of a prolate spheroid in shear flow, a constitutive model for the weakly viscoelastic fibre suspensions was proposed and its predictions were compared with some available experimental results. All simulated results are in general agreement with experimental and other numerical results reported in literature. This indicates that these numerical methods are useful tools in rheological research.

Doctor of philosophy (Ph D) / This thesis deals with numerical investigations on some rheological problems of fibre suspensions: the fibre level simulation of non-dilute fibre suspensions in shear flow; the numerical simulation of complex fibre suspension flows and simulating the particle motion in viscoelastic flows. These are challenging problems in rheology. Two numerical approaches were developed for simulating non-dilute fibre suspensions from the fibre level. The first is based on a model that accounts for full hydrodynamic interactions between fibres, which are approximately calculated as a superposition of the long-range and short-range hydrodynamic interactions. The long-range one is approximated by using slender body theory and includes infinite particle interactions. The short-range one is approximated in terms of the normal lubrication forces between close neighbouring fibres. The second is based on a model that accounts only for short-range interactions, which comprise the lubrication forces and normal contact and friction forces. These two methods were applied to simulate the microstructure evolution and rheological properties of non-dilute fibre suspensions. The Brownian configuration method was combined with the highly stable finite element method to simulate the complex flow of fibre suspensions. The method is stable and robust, and can provide both micro and macro information. It does not require any closure approximations in calculating the fibre stress tensor and is more efficient and variance reduction, compared to CONNFFESSITT, for example. The flow of fibre suspensions past a sphere in a tube and the shear induced fibre migration were successfully simulated using this method The completed double layer boundary element method was extended to viscoelastic flow cases. A point-wise solver was developed to solve the constitutive equation point by point and the fixed least square method was employed to interpolate and differentiate data locally. The method avoids volume meshing and only requires the boundary mesh on particle surfaces and data points in the flow domain. A sphere settling in the Oldroyd-B fluid and a prolate spheroid rotating in shear flow of the Oldroyd-B fluid were simulated. Based on the simulated orbit of a prolate spheroid in shear flow, a constitutive model for the weakly viscoelastic fibre suspensions was proposed and its predictions were compared with some available experimental results. All simulated results are in general agreement with experimental and other numerical results reported in literature. This indicates that these numerical methods are useful tools in rheological research.

Fenômenos multifásicos são frequentemente observados na natureza, tais como nas gotas de chuva ou neve no ar, nos vulcões e tempestades de areia, e em diversas outras situações. Na solução desses problemas que envolvem escoamentos gás-sólidos e granulares são frequentemente utilizadas duas abordagens: a contínua (formulação Euleriana-Euleriana) e a discreta (formulação Euleriana-Lagrangiana). Na abordagem discreta pode-se utilizar dois modelos para descrever o contato entre as partículas: o modelo de esfera rígida e o modelo de esfera suave. Neste trabalho é realizado um estudo detalhado dos modelos de contato, com foco na modelagem de esfera suave, que é baseada em um sistema dinâmico mola-massa-amortecedor. Por meio desse estudo, com a finalidade de aprimorar o modelo de contato não-linear, são propostas duas relações para o mecanismo de contato de partículas. Essas relações são fundamentadas em um modelo dinâmico, com não-linearidades nas partes conservativas e dissipativas, não apresentando descontinuidades entre as acelerações do início e do fim do contato. A metodologia de desenvolvimento da presente pesquisa está dividida em três partes: pesquisa bibliográfica dos modelos de contato; estudo analítico e numérico desses modelos e testes de problemas com a realização de experimentos numéricos, utilizando o código computacional MFIX (Multiphase Flow with Interphase eXchange). As novas aproximações propostas neste trabalho são analisadas e aplicadas em três diferentes problemas: de dinâmica, escoamento gás-sólido e escoamento granular. Os resultados obtidos utilizando as relações são comparados com dados disponíveis na literatura, mostrando-se adequados para os casos investigados neste trabalho. / Multiphase flow are frequently observed in nature, such as rain drops in air or snowfalls, volcanoes and sandstorms, and several other situations. For solving these problems which involve gas-solid and granular flows are often used two models: the continuous model (Eulerian-Eulerian formulation) and the discrete model (Eulerian-Lagrangian formulation). There are two main contact models used in DEM, the hard-sphere model and the soft-sphere model. In this work is carried out a detailed study of contact models, focusing on soft-sphere model, based on a dynamic system modeled as nonlinear mass-spring-damper. In order to improve the nonlinear contact model, in this study it is proposed two new approximate relations for determining the damping coefficient and duration of contact for a specific nonlinear soft-sphere contact model where the contact force is continuous at the start and end of the contact. The methodology of the development of this work is divided into three parts: literature research of the contact models; analytical and numerical study of these models and test problems with numerical experiments, using the open source code MFIX (Multiphase Flow with Interphase eXchange). The proposed relations are analyzed and applied in three different problems: dynamic problem, gas-solid flow and granular flow. All results are compared with literature data showing good agreement for these cases studied in the present work.

Fenômenos multifásicos são frequentemente observados na natureza, tais como nas gotas de chuva ou neve no ar, nos vulcões e tempestades de areia, e em diversas outras situações. Na solução desses problemas que envolvem escoamentos gás-sólidos e granulares são frequentemente utilizadas duas abordagens: a contínua (formulação Euleriana-Euleriana) e a discreta (formulação Euleriana-Lagrangiana). Na abordagem discreta pode-se utilizar dois modelos para descrever o contato entre as partículas: o modelo de esfera rígida e o modelo de esfera suave. Neste trabalho é realizado um estudo detalhado dos modelos de contato, com foco na modelagem de esfera suave, que é baseada em um sistema dinâmico mola-massa-amortecedor. Por meio desse estudo, com a finalidade de aprimorar o modelo de contato não-linear, são propostas duas relações para o mecanismo de contato de partículas. Essas relações são fundamentadas em um modelo dinâmico, com não-linearidades nas partes conservativas e dissipativas, não apresentando descontinuidades entre as acelerações do início e do fim do contato. A metodologia de desenvolvimento da presente pesquisa está dividida em três partes: pesquisa bibliográfica dos modelos de contato; estudo analítico e numérico desses modelos e testes de problemas com a realização de experimentos numéricos, utilizando o código computacional MFIX (Multiphase Flow with Interphase eXchange). As novas aproximações propostas neste trabalho são analisadas e aplicadas em três diferentes problemas: de dinâmica, escoamento gás-sólido e escoamento granular. Os resultados obtidos utilizando as relações são comparados com dados disponíveis na literatura, mostrando-se adequados para os casos investigados neste trabalho. / Multiphase flow are frequently observed in nature, such as rain drops in air or snowfalls, volcanoes and sandstorms, and several other situations. For solving these problems which involve gas-solid and granular flows are often used two models: the continuous model (Eulerian-Eulerian formulation) and the discrete model (Eulerian-Lagrangian formulation). There are two main contact models used in DEM, the hard-sphere model and the soft-sphere model. In this work is carried out a detailed study of contact models, focusing on soft-sphere model, based on a dynamic system modeled as nonlinear mass-spring-damper. In order to improve the nonlinear contact model, in this study it is proposed two new approximate relations for determining the damping coefficient and duration of contact for a specific nonlinear soft-sphere contact model where the contact force is continuous at the start and end of the contact. The methodology of the development of this work is divided into three parts: literature research of the contact models; analytical and numerical study of these models and test problems with numerical experiments, using the open source code MFIX (Multiphase Flow with Interphase eXchange). The proposed relations are analyzed and applied in three different problems: dynamic problem, gas-solid flow and granular flow. All results are compared with literature data showing good agreement for these cases studied in the present work.

Road vehicle tyres, railway wheels and ball bearings all generate rolling contact forces which are transferred within a finite area of contact between the rolling element and the substrate. Either it is visible or not for the human eye, a certain degree of roughness is always present on the contacting surfaces and it influences the generation of both vertical and lateral contactforces. The purpose of this investigation is to enhance the understanding and modelling of the influence from small-scale surface roughness on the generation of rolling contact forces. To this end, a computationally efficient method to include roughness-induced contact nonlinearities in the dynamic modelling of rolling contacts is proposed. The method is implemented in a time domain model for vertical wheel–track interaction to model rolling-induced rail vibrations, showing good agreement with measurements. Furthermore, a test rig is developed and used for the investigation of tyre–road rolling contact forces. Detailed studies are performed on the influence of substrate roughness on the resulting contact forces for a tyre tread block which is rolling at different operating conditions. The choice of substrate as well as the rolling velocity and the slip ratio is observed to have significant influence on the resulting friction coefficient. For high slip ratios, stick–slip oscillations appear, exhibiting frequency content which is largely dependent on the choice of substrate. The outcomes of this study can potentially be used to improve future tyre–road contacts with respect to wear, traction and noise generation. / <p>QC 20161013</p> / Centre for Eco2 Vehicle Design