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  • Development of a custom testbed to evaluate the efficacy of a force-amplifying implant in a live rabbit model

    Creator:
    Justen, Gabriella
    Abstract:
    In the United States, 58.7% of the spinal cord injuries that occur each year result in some degree of tetraplegia, this leads to reduced control of upper limb muscle. One surgery that can restore some upper limb function is a brachioradialis (BR) to flexor pollicis longus (FPL) tendon transfer surgery,...
    Resource Type:
    Honors College Thesis
    Full Text:
    : Ravi Balasubramanian In the United States, 58.7% of the spinal cord injuries that occur each year

  • Tendon Cell Viability: Validation of an Ex Vivo Model to Examine the Cellular Characteristics of Tendinopathy

    Creator:
    MacGregor, Ellie
    Abstract:
    Tendinopathy is characterized by injured or inflamed tendons and can be caused by long durations of strain or excessive tension being applied. Current treatments for tendinopathy may include physical therapy and pain management. However, these methods may not heal the tendon or restore it to its original healthy state. New...
    Resource Type:
    Honors College Thesis
    Full Text:
    :_____________________________________________________ Ravi Balasubramanian Tendinopathy is characterized by injured or inflamed tendons and

  • Robotic deburring

    Creator:
    James, Francis
    Abstract:
    Deburring of machined parts is a crucial task in the aerospace and automotive industry. This process is still performed manually to a large extent due to the unpredictability of burr formation as well as the complex interactions between the human arm and the workpiece. Poor ergonomics, repetitive stress and strain...
    Resource Type:
    Masters Thesis
    Full Text:
    : Ravi Balasubramanian Deburring of machined parts is a crucial task in the aerospace and automotive

  • Analyzing Human Gaze Patterns During Grasping Tasks To Advance Robotic Grasping

    Creator:
    Allani, Sai Krishna
    Abstract:
    There is a strong interest in the robotics community in learning how humans grasp and manipulate objects, partly because robots need to operate in human environments and partly because humans are currently much better in physical interaction tasks than robots. This thesis seeks to identify the human heuristics for grasping...
    Resource Type:
    Masters Thesis
    Full Text:
    : ______________________________________________________ Ravi Balasubramanian There is a strong interest in the robotics community in learning how humans

  • Advancing Robotic Grasp Planning using Human Heuristics for Grasp Similarity

    Creator:
    Dixit, Saurabh Milind
    Abstract:
    This thesis explores the use of human kinesthetic input to advance robotic grasp planning. It specifically focuses on identification of human heuristics of grasp similarity by extensive human-subject experiments. This heuristic is then utilized to develop a robust metric for identifying similar robotic grasps. The central hypothesis of this work...
    Resource Type:
    Masters Thesis
    Full Text:
    Planning using Human Heuristics for Grasp Similarity Abstract approved: Ravi Balasubramanian This thesis

  • Modeling Implantable Passive Mechanisms for Modifying the Transmission of Forces and Movements between Muscle and Tendons

    Creator:
    Homayouni, Taymaz
    Abstract:
    This thesis explores the development of biomechanical models for evaluating a new class of passive mechanical implants for orthopedic surgery. The proposed implants take the form of passive engineered mechanisms and will be used to improve the functional attachment of muscles to tendons and bone by modifying the transmission of...
    Resource Type:
    Masters Thesis
    Full Text:
    Tendons. Abstract approved: Ravi Balasubramanian This thesis explores the development of

  • The Bioethics of Implantable Engineered Mechanisms in Orthopedic Surgery

    Creator:
    Chatterjee, Sarani
    Abstract:
    The ethics of implant technology is a wide-ranging topic in the field of bioethics. This paper intends to add to the ethical discourse of implant technology by addressing a new class of implants applicable to orthopedic surgery. These new implants are engineered mechanisms that attach muscles to tendons and bones...
    Resource Type:
    Honors College Thesis
    Full Text:
    : ______________________________________________________ Ravi Balasubramanian The ethics of implant technology is a wide-ranging topic in the

  • Grasping complex casting shapes with an underactuated parallel jaw gripper on an industrial robot

    Creator:
    Carpenter, Ryan Joseph
    Abstract:
    Steel foundries are in great need of automation as current operations involve many hazardous manual tasks. Automating foundry operations is very challenging due to the variety of tasks that must be performed on physical objects that vary significantly in size, shape, and weight. This thesis focuses on robotically automating the...
    Resource Type:
    Masters Thesis
    Full Text:
    approved: Ravi Balasubramanian Steel foundries are in great need of automation as current operations

  • Improving robotic grasping performance using machine learning techniques

    Creator:
    Goins, Alex Keith
    Abstract:
    Robots are being utilized in ever more complex tasks and environments to help humans with difficult or dangerous tasks. However, robotic grasping is still in its infancy and is one of the limiting factors which prevent the deployment of robots in the home and other assisted living scenarios. Traditional methods...
    Resource Type:
    Masters Thesis
    Full Text:
    Using Machine Learning Techniques Abstract approved: Ravi Balasubramanian Robots are being utilized

  • REHand: ReEngineering the human hand with differential mechanisms to improve hand function after tendon-transfer surgeries

    Creator:
    Mardula, Katherine L
    Abstract:
    Since the 1970s, tendon-transfer surgeries have been routinely performed for a variety of conditions such as stroke, paralysis, spinal atrophy, trauma, and birth defects. The surgery involves rerouting a tendon from a disabled muscle and directly suturing it to a functioning muscle in order to partially restore hand function. This...
    Resource Type:
    Masters Thesis
    Full Text:
    Improve Hand Function After Tendon-Transfer Surgeries Abstract approved: Ravi Balasubramanian Since