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dc.contributor.advisorSteven Dubowsky.en_US
dc.contributor.authorSpenko, Matthew J. (Matthew Julius), 1976-en_US
dc.contributor.otherMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.date.accessioned2005-08-23T21:06:20Z
dc.date.available2005-08-23T21:06:20Z
dc.date.copyright2001en_US
dc.date.issued2001en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/8541
dc.descriptionThesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2001.en_US
dc.descriptionIncludes bibliographical references (leaves 81-82).en_US
dc.description.abstractIn the near future, the baby boomer population will cause a growth in the number of people entering nursing homes. Currently, if people wish to stay out of a nursing home, they must hire a personal aid to take care of daily tasks. A more cost-effective method could be to employ a robotic aid to help with these chores. One such aid is the SmartWalker, a robotic device that would provide health-monitoring sensors, physical support, and help in mobility to the elderly. The focus of this thesis is the design and analysis of the SmartWalker hardware. The design tools necessary to prevent the SmartWalker from slipping, tipping over, and experiencing brake failure are presented. Furthermore, a study of the omnidirectional platform used on the SmartWalker is performed for uneven terrain. It is shown that all of the wheels of the platform touch the ground at the same time. A simulation of a split caster mobility module, the main component of the omnidirectional platform, traversing a bump is also done. This proves that the control algorithms designed for a perfectly flat floor will suffice on an uneven floor. In addition, this thesis discusses the mechanical design that is necessary to build the SmartWalker. The mechanical design focuses on the split caster mobility modules, the slip rings, the frame, and the tradeoffs between strength and weight.en_US
dc.description.statementofresponsibilityby Matthew J. Spenko.en_US
dc.format.extent89 leavesen_US
dc.format.extent5922757 bytes
dc.format.extent5922516 bytes
dc.format.mimetypeapplication/pdf
dc.format.mimetypeapplication/pdf
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsM.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582
dc.subjectMechanical Engineering.en_US
dc.titleDesign and analysis of the SmartWalker : a mobility aid for the elderlyen_US
dc.title.alternativeSmartWalker, a mobility aid for the elderlyen_US
dc.typeThesisen_US
dc.description.degreeS.M.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.identifier.oclc49014402en_US


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