000085963 001__ 85963
000085963 005__ 20190812204928.0
000085963 037__ $$aCONF
000085963 245__ $$aA 2-DOF fMRI Compatible Haptic Interface to Interact with Arm Movements
000085963 269__ $$a2006
000085963 260__ $$c2006
000085963 336__ $$aConference Papers
000085963 520__ $$aThis paper describes a two-degrees-of-freedom haptic interface to investigate the brain mechanisms of human motor control, which is capable of safely and gently interacting with human arm motion during functional magnetic resonance imaging (fMRI). A hydrostatic transmission separates the interface into a master and an MR-compatible slave system, allowing the placement of all interfering components outside the electromagnetic shield of the MR room.The transmission mirrors force and motion of the master actuators on the slave system placed close to the MR scanner. The parallel architecture takes advantage of the linear MR-compatible actuators and allows human subjects to perform reaching movements comfortably in the small workspace limited by thedimensions of the MR scanner and the biomechanics of the arm. The kinematic structure of the slave interface was optimized with respect to the available space and types of movements to beinvestigated. Materials were chosen based on their MR compatibility, their stiffness and weight. The interaction force with the subject is measured over two optical force sensors, located close to the output of the interface. Two shielded optoelectronic encoders measure the extension of the slave hydraulic pistons. Detailed tests demonstrated the fMRI compatibility even during movement of the interface.
000085963 6531_ $$a[MEDICAL]
000085963 6531_ $$arobotics
000085963 6531_ $$amicroengineering
000085963 6531_ $$ahaptic interface
000085963 6531_ $$afunctional mangetic resonance imaging (fMRI)
000085963 6531_ $$ainteraction with human motion
000085963 700__ $$0240025$$g113795$$aGassert, Roger
000085963 700__ $$aDovat, Ludovic
000085963 700__ $$aLambercy, Olivier
000085963 700__ $$aRuffieux, Yves
000085963 700__ $$0240026$$g119941$$aChapuis, Dominique
000085963 700__ $$aGanesh, Gowrishankar
000085963 700__ $$aBurdet, Etienne
000085963 700__ $$aBleuler, Hannes$$g104561$$0240027
000085963 7112_ $$dMay 2006$$cOrlando, Florida$$aIEEE International Conference on Robotics and Automation (ICRA)
000085963 773__ $$tProc. IEEE International Conference on Robotics and Automation (ICRA)$$q3825-3831
000085963 8564_ $$zURL$$uhttp://mrrobotics.epfl.ch/ICRA/
000085963 909C0 $$pLSRO$$0252016
000085963 909CO $$pSTI$$ooai:infoscience.tind.io:85963$$qGLOBAL_SET$$pconf
000085963 937__ $$aLSRO-CONF-2006-029
000085963 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000085963 980__ $$aCONF