Conference paper
Design of a New MR Compatible Haptic Interface with Six Actuated Degrees of Freedom
Functional magnetic resonance imaging is an often adopted tool to study human motor control mechanisms. Highly controlled experiments as required by this form of analysis can be realized with haptic interfaces. Their design is challenging because of strong safety and MR compatibility requirements. Existing MR-compatible haptic interfaces are restricted to maximum three actuated degrees of freedom.
We propose an MR-compatible haptic interface with six actuated degrees of freedom to be able to study human brain mechanisms of natural pick-and-place movements including arm transport. In this work, we present its mechanical design, kinematic and dynamic model, as well as report on its model-based characterization.
A novel hybrid control scheme for the employed ultrasonic motors is introduced. Preliminary MR compatibility tests based on one complete actuator-sensor module are performed. No measurable noise is found and thus, bidirectional compatibility of the six DoF interface can be expected.
Language: | English |
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Publisher: | IEEE |
Year: | 2014 |
Pages: | 293-300 |
Proceedings: | 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics |
ISBN: | 1479931268 , 1479931284 , 1479931292 , 9781479931262 , 9781479931286 and 9781479931293 |
ISSN: | 21551782 and 21551774 |
Types: | Conference paper |
DOI: | 10.1109/BIOROB.2014.6913792 |
ORCIDs: | Thielscher, Axel |
Acceleration Acoustics End effectors Force Haptic interfaces Kinematics MR-compatible haptic interface Mathematical model actuated degrees of freedom actuator-sensor module actuators arm transport bidirectional compatibility biomedical MRI brain dynamic model functional magnetic resonance imaging haptic interfaces human brain mechanism human motor control mechanism kinematic model manipulator dynamics manipulator kinematics mechanical design medical robotics natural pick-and-place movement sensors six DoF interface ultrasonic motor