2026-09-20T22:19:34Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/323572022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Hermano-Igo Krebs.
Mendelowitz, Sarah E. (Sarah Elizabeth), 1980-
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2006-03-29T18:37:15Z
2006-03-29T18:37:15Z
2005
2005
http://hdl.handle.net/1721.1/32357
61493893
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.
Includes bibliographical references (leaves 153-156).
Magnetic Resonance Imaging (MRI) can be used to study the effects of robotic therapy on stroke patients. This thesis focuses on the design of an MRI compatible wrist robot to be used as a clinical tool for studying the stroke recovery process and the effectiveness of robotic therapy. The robot must comply with strict MRI compatibility requirements, which require careful selection of materials and components. The actuation approach consists of a non- MRI compatible electric motor placed outside the MR room, which is used to drive an MRI compatible hydraulic system. A novel, low friction, MRI compatible hydraulic vane motor was designed for use in the hydraulic system. The robot was designed for use with two interchangeable transmission alternatives: differential gears or friction drive. A stand was designed to allow the wrist robot and patient to fit comfortably within the MRI machine. The MRI compatible wrist robot was assembled and qualitatively tested.
by Sarah E. Mendelowitz.
S.M.
156 leaves
9229251 bytes
9238063 bytes
application/pdf
application/pdf
eng
Massachusetts Institute of Technology
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
Mechanical Engineering.
Design of an MRI compatible robot for wrist rehabilitation
Design of an Magnetic Resonance Imaging compatible robot for wrist rehabilitation
Thesis
application/pdf
Publication
unknown
unknown
<Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="53189b07-8531-407c-9795-2d8dc74cb3a0">
<Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type>
<Language>eng</Language>
<Title>Design of an MRI compatible robot for wrist rehabilitation</Title>
<Subtitle>Design of an Magnetic Resonance Imaging compatible robot for wrist rehabilitation</Subtitle>
<PublishedIn>
<Publication>
</Publication>
</PublishedIn>
<PublicationDate>2005</PublicationDate>
<Authors>
<Author>
<DisplayName>Mendelowitz, Sarah E. (Sarah Elizabeth), 1980-</DisplayName>
<Affiliation>
<OrgUnit>
</OrgUnit>
</Affiliation>
</Author>
</Authors>
<Editors>
</Editors>
<Publishers>
<Publisher>
<DisplayName>Massachusetts Institute of Technology</DisplayName>
<OrgUnit />
</Publisher>
</Publishers>
<License>http://dspace.mit.edu/handle/1721.1/7582</License>
<Keyword>Mechanical Engineering.</Keyword>
<Abstract>Magnetic Resonance Imaging (MRI) can be used to study the effects of robotic therapy on stroke patients. This thesis focuses on the design of an MRI compatible wrist robot to be used as a clinical tool for studying the stroke recovery process and the effectiveness of robotic therapy. The robot must comply with strict MRI compatibility requirements, which require careful selection of materials and components. The actuation approach consists of a non- MRI compatible electric motor placed outside the MR room, which is used to drive an MRI compatible hydraulic system. A novel, low friction, MRI compatible hydraulic vane motor was designed for use in the hydraulic system. The robot was designed for use with two interchangeable transmission alternatives: differential gears or friction drive. A stand was designed to allow the wrist robot and patient to fit comfortably within the MRI machine. The MRI compatible wrist robot was assembled and qualitatively tested.</Abstract>
<Access xmlns="http://purl.org/coar/access_right"
>
</Access>
</Publication>