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Halman, Susanna (author)This thesis presents the research to design a successful high-accuracy, sub-millimetric registration method for an autonomous robot equipped to drill bone for cochlear implant (CI) surgery. Its performance, and thus success, is measured in accuracy, workload, usability and trust. While state-of-the-art (STOTA) research lacks the inclusion of...master thesis 2023
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Palings, Rik (author)Haptic Shared Control (HSC) systems offer a means to naturally support human drivers in the transition to automated driving. Tuning of HSC requires knowledge of the neuromuscular system (NMS) of drivers. This MSc thesis project aimed to experimentally validate a linear parameter varying (LPV) technique for modeling driver neuromuscular...master thesis 2022
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Kistemaker, Sander (author)The haptic feedback signal in haptic interfaces is usually in the form of a force on the control device. In contrast, the “active side stick”, investigated in the 80s and 90s, uses an admittance display, whereby the position of the device is linked to the feedback signal, and force applied on the device is used as the control signal. These...master thesis 2021
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Klifman, Boyan (author)Existing wind load simulators such as wind tunnels and fans have multiple disadvantages, especially when used in a scaled-down environment. This paper proposes to simulate wind loads by using an admittance-controlled industrial robot arm rigidly attached to a research object. Admittance control should make it possible to simulate wind loads and...master thesis 2021
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Lei, Jintao (author), Qin, Z. (author), Li, Wuhua (author), Bauer, P. (author), He, Xiangning (author)A shunt active power filter (SAPF) is coupled with load admittance in weak grid conditions, which poses a challenge to stability analysis. In this article, the admittance model of the SAPF is developed, which reveals the coupling mechanism between SAPF and load concisely and accurately. On top of that, the stability region of the system is...journal article 2021
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Song, Jay (author)For assistive exoskeletons, researchers have introduced soft exoskeletons (exosuits) because they tend to be lightweight, easily worn and mobile for daily use. However, most existing devices have not introduced closed-loop control methods that users can intuitively learn and use during activities of daily living. The goal of this pilot study is...master thesis 2019
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del Valle Hidalgo, Alejandro (author)Reflexes and co-contraction are the two mechanisms used for effective limb control when humans face unexpected perturbations in their daily activities. When the environment has reduced stability margins, reflexes are tempered due to the oscillations caused by the neural time delay of the reflexive pathways. An explanation is that reflexes adapt...master thesis 2019
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Chugh, T. (author), Bruzelius, F. (author), Klomp, M. (author), Shyrokau, B. (author)In this paper, a methodology to capture the model-based haptic feedback control reference for closed-loop steering systems is demonstrated. The parameterisation is based on the measurements of open-loop driving manoeuvres for the inertia-spring-damper-friction reference model. The steady-state and transient manoeuvres are used to identify the...journal article 2019
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Cavallo, Gaia (author)Human joint admittance changes with numerous factors constituting the operational point. For large changes of the operational point, joint admittance can be identified using Linear Time-Varying methods on torque and angular<br/>position signals measured on human joints. Out of the available methods, the Skirt Decomposition method was selected...master thesis 2017
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Pronker, A.J. (author), Abbink, D.A. (author), van Paassen, M.M. (author), Mulder, Max (author)Humans can rapidly change their low-frequency arm dynamics (i.e., stiffness) to resist forces or give way to them. Quantifying driver’s time-varying arm dynamics is important for the development of steer-by-wire systems and haptic driver support systems. Conventional LTI identification, and even time-varying techniques such as wavelets, fail to...conference paper 2017
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Venrooij, J. (author), Mulder, Max (author), Mulder, M. (author), Abbink, D.A. (author), van Paassen, M.M. (author), van der Helm, F.C.T. (author), Bulthoff, Heinrich H. (author)Biodynamic feedthrough (BDFT) refers to the feedthrough of vehicle accelerations through the human body, leading to involuntary control device inputs. BDFT impairs control performance in a large range of vehicles under various circumstances. Research shows that BDFT strongly depends on adaptations in the neuromuscular admittance dynamics of the...journal article 2017
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Pronker, A.J. (author)Development of adaptive haptic shared control system requires understanding of the adaptive nature of the driver’s neuromuscular system. In this study, linear parameter varying modeling techniques are proposed to identify changes in the admittance of the driver’s arm. The admittance describes the relation between the torque applied to the...master thesis 2016
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Schure, A.R. (author)A telemanipulation system lets a human operator manipulate an environment on distance, using a master and a slave device, which are connected by a bilateral controller that controls the master and the slave device and provides the communication between these devices. The master device is manipulated by the operator and these actions are...master thesis 2016
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Mol, N. (author)When tasks need to be performed in remote, potentially inaccessible and/or hostile environments for humans, it is often more convenient to send a robot. Such environments are often only partially known, and therefore not suitable for fully autonomous robots to operate in. In these situations teleoperation can be used, which combines the problem...master thesis 2016
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Van Driel, N. (author)New technologies like electric power steering and steer-by-wire have made it possible to freely shape the steering wheel dynamics. As the driver is part of the closed-loop vehicle steering system, his neuromuscular response should be taken into account when shaping steering wheel dynamics. It is known that drivers adapt the dynamics of their arm...master thesis 2015
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Venrooij, J. (author)Vehicle accelerations affect the human body in various ways. In some cases, accelerations cause involuntary motions of limbs like arms and hands. If someone is engaged in a manual control task at the same time, these involuntary limb motions can lead to involuntary control forces and control inputs. This phenomenon is called biodynamic...doctoral thesis 2014
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Farotto, D. (author)Quantification of neuromechanical parameters describing joint admittance is used to improve understanding about human motor control, which is relevant for diagnostics and treatment monitoring of patients suffering from movement disorders. Previous studies used a simple mass-spring-damper (MBK) mechanical model to describe the ankle admittance...master thesis 2014
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Sunil, Emmanuel (author)This research investigates a neuromuscular analysis based tuning algorithm for haptic cues that has been hypothesized to simultaneously improve safety and workload when compared to heuristic tuning, applied to a haptic collision avoidance system for unmanned aircraft teleoperation. This novel tuning method considers the combined stiffness of the...master thesis 2014
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Van der Burg, A.A. (author)Human movement control is frequently studied by in vivo quantification of NeuroMuscular System (NMS) properties, e.g. intrinsic joint stiffness and joint damping and reflexive feedback gains, during functional tasks. An important measure in movement control is joint admittance, the relation between joint angle and torque. The NMS properties can...master thesis 2013
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Paul, A. (author), Tettamanzi, G.C. (author), Lee, S. (author), Mehrotra, S.R. (author), Collaert, N. (author), Biesemans, S. (author), Rogge, S. (author), Klimeck, G. (author)Channel conductance measurements can be used as a tool to study thermally activated electron transport in the sub-threshold region of state-of-art FinFETs. Together with theoretical tight-binding (TB) calculations, this technique can be used to understand the dependence of the source-to-channel barrier height (Eb) and the active channel area ...journal article 2011
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