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| Grant Number: | 1R43HD042321-01 |
| PI Name: | MAKIYMA, ANTONIO |
| PI Email: | makiyama@interactive-motion.com |
| PI Title: | |
| Project Title: | Robot Aid for Neuro-Rehabilitation of the Wrist |
Abstract: DESCRIPTION (provided by applicant): Interactive Motion Technologies, Inc. is the exclusive licensee of robotic technology developed at the Massachusetts Institute of Technology. We have successfully redesigned an alpha-prototype developed at MIT for planar movement, which we are currently commercializing under the trade name of InMotion2. The goal of this proposal is to develop a commercially viable, three-degree-of-freedom robot for neuro-rehabilitation of the wrist. To ensure gentle, compliant and stable behavior the robot will feature a low intrinsic mechanical impedance (i.e., be highly back-drivable). To provide adjustable and/or varying degrees of assistance to the patient, the robot controller will provide a (programmable) rotational impedance (i.e., its "firmness" will be adjustable.) The technical objectives of this SBIR project are to: (1) Re-design the alpha-prototype wrist robot for commercial production, so that the $40,000 component cost is reduced to approximately $15,000. To preserve and even enhance functionality, "focus-group" evaluation sessions will be conducted that, with guidance from expert therapists, will elicit information and observations on the alpha prototype?s strengths and weaknesses. (2) Design and implement a spatial impedance control algorithm to operate the wrist robot. Impedance control refers to using a control system to impose a desired behavior at a specified port of interaction with a robot, in this case the attachment of the robot to the patient?s wrist, Impedance control was conceived in the early 1980?s by one of our advisors (Prof. Hogan); it has recently been extended to include spatial impedance control, which was developed and tested by one of Prof. Hogan?s former students.
Thesaurus Terms:
biomechanics, biomedical equipment development, nerve injury, neuromuscular stimulator, rehabilitation, robotics, wrist
bioengineering /biomedical engineering, mechanical stress
clinical research, human subject, medical rehabilitation related tag
| Institution: | INTERACTIVE MOTION TECHNOLOGIES, INC. |
| 56 HIGHLAND AVE | |
| CAMBRIDGE, MA 02139 | |
| Fiscal Year: | 2002 |
| Department: | |
| Project Start: | 29-JUL-2002 |
| Project End: | 29-JAN-2003 |
| ICD: | NATIONAL INSTITUTE OF CHILD HEALTH AND HUMAN DEVELOPMENT |
| IRG: | ZRG1 |