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Horstman, Bart (author)This study introduces a new design for the drivetrain of a robotic ball. An application for the robotic ball is a rehabilitation device for young children. With these children, movement can be stimulated in a more intuitive way when a robotic ball is used compared to other training programs. Since the ball will be kicked and played with, an...master thesis 2023
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Giesen, Lucas (author)A new type of mobility device that functions as both a walker and a scooter is being developed to address some issues of current mobility solutions. Some key design parameters for the scooter mode of this scooter-walker hybrid must be optimized. Through literature, a number of simulated "tests", mostly about safety and manoeuvrability, are...master thesis 2023
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van Hijfte, Zasha (author)This thesis investigates the behavior of an elastomer spherical structure compressed by a small object compared to the cross-section of the structure. The study is based on the situation in which a child catches a ball multiple times with two hands. This was simplified to a situation where a hemisphere was cyclically compressed by a small object...master thesis 2023
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van der Windt, Bob (author)Fluid-controlled actuators are widely used in lower limb prostheses. Most fluid-controlled actuators have valves integrated into the cylinder systems and require complex manufacturing steps, making these systems expensive. A cost-effective production method for these complex actuator valve systems is 3D-printing. The goal of this research is to...master thesis 2022
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Kieft, Levi (author)Rehabilitation robots have been shown to be effective in post-stroke gait rehabilitation. However, these devices are usually expensive and suffer from high inertia which decreases transparency. The Minimally Actuated Tendon-based exercise Environment (MATE) is a tendon-based rehabilitation device, designed to be cost-effective and minimize...master thesis 2022
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Mc Ginty, Ian (author)Twisted and coiled polymer muscles (TCPMs) are a type of artificial muscle with a remarkable power-to-weight ratio. However, actuation dynamics are slow compared to other artificial muscles. This work aims to improve dynamic performance by incorporating redundancy. Specifically, this work examines if TCPM bundles of heterogeneous geometries...master thesis 2022
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Rademaker, Suzanne (author)Training with bodyweight support (BWS) systems can improve the likelihood of regaining normal locomotor abilities for neurologically impaired patients. It is known that people alter their gait parameters when walking with BWS. However, it is unclear whether 2D (vertical and lateral support) and 3D (only vertical support) BWS systems affect these...master thesis 2022
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Blok, Janneke (author)Trunk motor control is essential for the proper functioning of the upper extremities and is an important predictor of gait capacity in children with delayed development. Early diagnosis and intervention can potentially increase the trunk motor capabilities in later life. However, current tools used to assess the level of trunk motor control are...master thesis 2022
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Leeuwis, Matto (author)Many wheelchair users, such as the elderly or children with Profound Intellectual and Multiple Disabilities (PIMD), rely on a caregiver to push them. The lack of eye contact between the wheelchair user and caregiver hinders communication and can even be dangerous, for example for children with epilepsy. Conventional wheelchairs place the...master thesis 2022
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Haanen, Bram (author)Robots can be powerful tools in post-stroke gait rehabilitation. However, state-of-the-art robots are often expensive machines containing rigid links with high inertia. Their expensiveness could limit their availability, and their high inertia reduces transparency, which could hinder rehabilitation progress. These factors raise the need for a...master thesis 2021
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Zillen, Eva (author)<b>Background</b> Pneumatic actuators are widely used in applications like (medical) robots, or prosthetics. They require tight tolerances to keep them leakage-free. Over the last decade 3D-printing, or additive manufacturing, has emerged as a cost-effective production method in these applications.<br/><b>Objective</b> The goal of this research...master thesis 2021
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Robeerts, Tori (author)Twisted and coiled polymer muscles (TCPMs) show promise to function as artificial muscles, because of their lightweight, low cost, large contraction, and respectively low hysteresis. A TCPM contracts when it is heated and extends when it is cooled. Different modeling and controlling techniques have been implemented. \cite{VanDerWeijde_2019}...master thesis 2021
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Kreuk, Jesper (author)Some above the knee amputees take a smaller step with their prosthetic leg. A momentum exchange device (MED) can increase the step length by exchanging angular momentum between the device and the leg. However, there are no controllers for MEDs during regular gait. The goal of this study is to build a model predictive controller (MPC) that...master thesis 2021
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Timmers, Nathan (author)Developing a new knee prosthesis requires thorough testing. Forward dynamics simulation can be valuable in the development process. It can reduce the need for intermediate prototypes and tests. Currently, there are 3D simulations of healthy walking and kinematic models of common prosthesis like the 3R60. However, they have not yet been combined....master thesis 2020
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Mickers, Youp (author)Gait event detection allows for insight into one’s gait pattern, an invaluable aid in rehabilitation. Current methods often rely on measured acceleration and rarely on position measurements [3]–[6]. In this paper we propose 4 novel gait detection methods based on the position of the Center of Mass (one approach being causal and thus suitable for...master thesis 2020
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Landers, John (author)OBJECTIVE: This paper describes the design of the BERT Prosthesis and evaluates the proof-of-concept testing for its primary functions. DESIGN: The BERT Prosthesis is an energetically passive, lightweight, transfemoral prosthesis, and four hypotheses about its functional abilities were proposed. TESTING: A simulation of the leg dynamics was...master thesis 2020
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Joosten, Sebastiaan (author)Inspired by phenomena in the plant world, a<br/>meteoro-sensitive rotational actuator is developed. The design<br/>uses a hygro-active shell, whose water-based swelling is restricted<br/>at selective locations to form a helicoid structure. The influence<br/>of geometrical parameters on the performance is investigated<br/>using a numerical...master thesis 2020
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George, Ashwin (author)Robotic assistance for rehabilitation has benefited from the use of models for motor adaptation. The assist-as-needed paradigm for rehabilitation robotics was based on a single-state model of human adaptation to a neurological handicap. Recent studies have shown that human motor adaptation consists of two or more parallel adaptation processes. A...master thesis 2020
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Aneesh Ashok Kumar, Aneesh (author)As part of the ongoing research on balance assistance at the Delft Biorobotics Lab, the goal of this project was to analyse the relevance of optimising the control action to each individual user. In order to explore the feasibility of tuning balance assistance based on task performance as well as controller assistance, an experimental study was...master thesis 2020
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van der Helm, Simon (author)The Sit-to-Stand (SitTS) and Stand-to-Sit (StandTS) transitions are among the most demanding activities of daily living in terms of required muscle strength. Many elderly struggle with the transitions, which become even harder after a transfemoral amputation. The current state of the art in knee prostheses does not supply any support to reduce...master thesis 2020