Abstract
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.
Original language | English |
---|---|
Title of host publication | Proceedings of 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics |
Publisher | IEEE |
Publication date | 2014 |
Pages | 293 - 300 |
ISBN (Print) | 978-1-4799-3128-6 |
DOIs | |
Publication status | Published - 2014 |
Event | 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics - Cidade Universitaria, São Paulo, Brazil Duration: 12 Aug 2014 → 15 Aug 2014 Conference number: 5 |
Conference
Conference | 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics |
---|---|
Number | 5 |
Location | Cidade Universitaria |
Country/Territory | Brazil |
City | São Paulo |
Period | 12/08/2014 → 15/08/2014 |