Characterization and analysis of an MRI compatible robot design for wrist psychophysics and rehabilitation

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.