Characterization and analysis of an MRI compatible robot design for wrist psychophysics and rehabilitation
Name
77071576-MIT.pdf
Description
Full printable version
Size
26.08 MB
Format
Adobe PDF
Checksum (MD5)
c374c43a03655807f266c6d00875f4f5
Author(s)
Hanumara, Nevan Clancy
Advisor(s)
Hermano Igo Krebs.
Date Issued
2006
Publisher
Massachusetts Institute of Technology
Abstract
The MIT Wrist Robot has demonstrated the effectiveness of robotic therapy in aiding the rehabilitation of stroke victims. In order to investigate the neurological processes involved in this therapy and evaluate its effectiveness a patented MRI compatible version of the wrist robot is being developed, so that therapy and brain imaging may be carried out simultaneously. Patient actuation is accomplished with two standard electric motors, located outside the MRI chamber, which drive a non-ferrous, MRI compatible, low impedance hydraulic fluid transmission, consisting of two pairs of custom designed and fabricated vane motors. This thesis details the characterization and redesign of this robot, with emphasis placed upon the hydraulic system.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.
Includes bibliographical references (leaves 110-112).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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