Loading...

Design of a Novel Cable Driven Robotic System for Simulation of in vivo Loading of Cadaveric Lumbar Spine with Robustness-adaptive Controller for in vitro Spine Testing

Bakhshandeh Nejad, Peyman | 2016

602 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 48432 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Parnianpour, Mohammad; Arjmand, Navid
  7. Abstract:
  8. In this project we plan to propose a mechanism for controlling the profile of vertebra displacment and intera-discal pressure in in-vitro tests. Spineis the one of the most important members of the human musculoskeletal system. Health and stability of the spine help the people to moves on two legs. So any problems with this organ, causing movement problems and pain. For the treatment of spinal diseases, several methods such as surgery, insertion of implants and stabilizing were used. To ensure the accuracy of these methods, laboratory examination is essential. One of the ways to test these interventions, the implementation of in vitro tests on samples obtained from the bodies of the spine. An issue that has been raised in tests in vitro and has been the subject of your research, how to load the samples, so that normal loading conditions on the sample to be rebuilt and dynamic assumptions of the spine can also apply. For this simplified model of the spine in Simulink software can be built, then with the resolution of the mechanism and dynamic equations, we proceed to the control circuit in MATLAB software. Robust Adaptive controller is selected for this system. Finally, we compared the results of designing and expectations
  9. Keywords:
  10. Load Simulation ; Spine ; Lumbar ; Cable Mechanism ; Adaptive Control ; In-Vitro Loading ; In-Vivo Sampling

 Digital Object List

 Bookmark

No TOC