An ankle robot for a modular gait rehabilitation system
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004.
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
| Published: |
Massachusetts Institute of Technology
2006
|
| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/32317 |
| _version_ | 1826190510933409792 |
|---|---|
| author | Wheeler, Jason W. (Jason William) |
| author2 | Hermano Igo Krebs. |
| author_facet | Hermano Igo Krebs. Wheeler, Jason W. (Jason William) |
| author_sort | Wheeler, Jason W. (Jason William) |
| collection | MIT |
| description | Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004. |
| first_indexed | 2024-09-23T08:41:21Z |
| format | Thesis |
| id | mit-1721.1/32317 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T08:41:21Z |
| publishDate | 2006 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/323172019-04-09T19:15:33Z An ankle robot for a modular gait rehabilitation system Wheeler, Jason W. (Jason William) Hermano Igo Krebs. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004. Includes bibliographical references (p. 111-112). Patients with neurological disorders, such as stroke survivors, can be treated with physical rehabilitation to regain motor control and function. Conventional therapy techniques are labor intensive and non-standardized. This is especially true in gait rehabilitation. The robotic therapy paradigm developed in the Newman Lab for Hu- man Rehabilitation uses low impedance robots, such as the MIT-MANUS, to provide assistive therapy in a repeatable and measurable fashion. A system is now being designed to assist gait rehabilitation using a series of lower extremity and pelvis robots that can be used together or independently. The focus of this document is ankle rehabilitation. Ankle function is typically not targeted in conventional or other robotic therapy systems. The result is often that the patient is required to wear a brace or orthosis after therapy. The proposed module allows all normal ankle movements and is capable of driving the two most important movements in gait, dorsi/plantar flexion and inversion/eversion. It is designed to provide sufficient force to position the foot in swing phase while still being as lightweight and backdriveable as possible. The kinematics consist of two parallel two-link mechanisms. The robot is driven by two DC brushless motors with planetary gearheads to amplify the torque output. by Jason W. Wheeler. S.M. 2006-03-29T18:33:41Z 2006-03-29T18:33:41Z 2004 2004 Thesis http://hdl.handle.net/1721.1/32317 61367272 eng 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 113, [37] p. 8121009 bytes 8128055 bytes application/pdf application/pdf application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Wheeler, Jason W. (Jason William) An ankle robot for a modular gait rehabilitation system |
| title | An ankle robot for a modular gait rehabilitation system |
| title_full | An ankle robot for a modular gait rehabilitation system |
| title_fullStr | An ankle robot for a modular gait rehabilitation system |
| title_full_unstemmed | An ankle robot for a modular gait rehabilitation system |
| title_short | An ankle robot for a modular gait rehabilitation system |
| title_sort | ankle robot for a modular gait rehabilitation system |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/32317 |
| work_keys_str_mv | AT wheelerjasonwjasonwilliam ananklerobotforamodulargaitrehabilitationsystem AT wheelerjasonwjasonwilliam anklerobotforamodulargaitrehabilitationsystem |