Electromechanical design of a body weight support system for a therapeutic robot for rodent studies
Name
676918782-MIT.pdf
Description
Full printable version
Size
4.36 MB
Format
Adobe PDF
Checksum (MD5)
7bfc717e5e02abc8f0101518a54903a6
Author(s)
Mayalu, Michaëlle Ntala
Advisor(s)
Neville Hogan.
Date Issued
2010
Publisher
Massachusetts Institute of Technology
Abstract
As part of an ongoing effort to better understand and treat locomotor disorders, an over-ground therapeutic robot prototype to study recovery of locomotion after spinal cord injury in rodents is under development. One key element of the therapeutic robot is a system to support the partial body weight of a freely-moving rodent. This paper discusses the design requirements, fabrication, modeling, calibration and preliminary analysis of a highly back-drivable bodyweight support system prototype. In addition, a closed loop feedback control system was designed, simulated, constructed and tested. Hardware limitations were identified, and alternative control techniques were explored.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 23).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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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.
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