MIT Libraries logoDSpace@MIT

MIT
View Item 
  • DSpace@MIT Home
  • MIT Libraries
  • MIT Theses
  • Undergraduate Theses
  • View Item
  • DSpace@MIT Home
  • MIT Libraries
  • MIT Theses
  • Undergraduate Theses
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

A case study in troubleshooting electromechanical software-controlled systems : the InMotion² Robot

Author(s)
Coad, Margaret Mary
Thumbnail
DownloadFull printable version (11.18Mb)
Alternative title
InMotion² Robot
Other Contributors
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Advisor
Neville Hogan.
Terms of use
M.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. http://dspace.mit.edu/handle/1721.1/7582
Metadata
Show full item record
Abstract
The InMotion² robot is a clinical version of the MIT-Manus robot, which was developed in the 1990s to help with upper limb rehabilitation of stroke survivors. In 2015, experiments were planned to use the InMotion² robot for studies of human force and motion control. During preparation for the experiments, however, a malfunction was discovered in the robot. A series of systematic tests were carried out to determine what part of the robot was causing the malfunction. It was determined that the magnets on one of the two motors were slipping on the rotor shaft. This slippage caused the malfunctioning motor's torque output to range from 10% to 13% of the other motor's output given the same input signal. The malfunctioning motor was repaired, and the robot was reassembled. Tests were carried out to verify the performance of the robot, and the torque output of the malfunctioning motor was measured to range from 120% to 130% of the other motor's torque output, showing that the malfunction had been fixed.
Description
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2015.
 
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
 
Cataloged from student-submitted PDF version of thesis.
 
Includes bibliographical references (page 64).
 
Date issued
2015
URI
http://hdl.handle.net/1721.1/98919
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Publisher
Massachusetts Institute of Technology
Keywords
Mechanical Engineering.

Collections
  • Undergraduate Theses

Browse

All of DSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

Login

Statistics

OA StatisticsStatistics by CountryStatistics by Department
MIT Libraries
PrivacyPermissionsAccessibilityContact us
MIT
Content created by the MIT Libraries, CC BY-NC unless otherwise noted. Notify us about copyright concerns.