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Thesis Format

Monograph

Degree

Master of Engineering Science

Program

Electrical and Computer Engineering

Supervisor

Trejos, Ana Luisa

2nd Supervisor

McIsaac, Ken

Co-Supervisor

Abstract

Neck pain can be debilitating, and is experienced by the majority of people at some point over the course of their life. Resistance training has been shown to have significant improvement in pain or disability for patients. There are few options available for telerehabilitation, and the use of gyroscope stabilizers is proposed for this use. A biomechanics model of a head--neck--gyroscope system was created. In order to also model the dynamics of such a system, this work proposes a blended method using the Denavit--Hartenberg (DH) convention, popular in the field of robotics, with the Lagrangian mechanics approach to analyze an unstable vehicle, the Spry--Girard derivation. A prototype single-gyroscope device was designed. A dynamics model was calculated with the proposed method validated using the prototype, with the model predicting the torques within 10% of measured values. This work will allow future optimization of both the design and any control system necessary.

Summary for Lay Audience

Neck pain can be debilitating, and is experienced by the majority of people at some point over the course of their life. Strength training has shown to offer an improvement in pain or disability for patients. There are currently few options available for ``smart'' rehabilitation from home, and the use of gyroscopes was proposed to provide small resistance to neck movement for take-home use. A possible system that uses gyroscopes to resist small neck movements as a strength-training option for rehabilitation is described in this work. A mathematical model of a head--neck--gyroscope system was created. In order to also calculate the forces experienced by the user in this system, this work proposes a blended method using an approach popular in the field of robotics with a physics-based approach used previously to analyze the use of gyroscopes as stabilizers for monorail carts. A prototype single-gyroscope device was designed. The equations for force were calculated with the proposed method and validated using the prototype. The equations predicted the force within 10% of the measured torque in the experiment. This work will allow future designs for both the device design and any controls necessary, in order to provide the required resistance for strength training for at-home use.

Creative Commons License

Creative Commons Attribution 4.0 License
This work is licensed under a Creative Commons Attribution 4.0 License.

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