000088115 001__ 88115
000088115 005__ 20190812204947.0
000088115 0247_ $$2doi$$a10.1109/IROS.2006.282040
000088115 02470 $$2ISI$$a000245452401093
000088115 037__ $$aCONF
000088115 245__ $$aHybrid Ultrasonic Motor and Electrorheological Clutch System for MR-Compatible Haptic Rendering
000088115 269__ $$a2006
000088115 260__ $$bIEEE$$c2006
000088115 336__ $$aConference Papers
000088115 520__ $$aUsing haptic interfaces in combination with functional magnetic resonance imaging (fMRI) could lead to important insights into the brain mechanisms of human motor control and related dysfunctions. However, in addition to the usual requirements for haptic interfaces (e.g. smooth force control, back-drivability, low friction and inertia) these devices must also be MR safe and MR compatible. Previous MR-compatible actuation methods for force-feedback present drawbacks with respect to conventional haptic interfaces. Here, we present a novel MR-compatible actuator designed especially for impedance control and to meet the requirements for haptic interfaces. It consists of an ultrasonic motor controlled in speed combined with an electrorheological fluid brake which modulates the output torque over a differential gear. The entire system is integrated into a compact housing with an encoder at the output.
000088115 6531_ $$a[MEDICAL]
000088115 700__ $$0240026$$g119941$$aChapuis, Dominique
000088115 700__ $$0240025$$g113795$$aGassert, Roger
000088115 700__ $$aBurdet, Etienne
000088115 700__ $$aBleuler, Hannes$$g104561$$0240027
000088115 7112_ $$d9-15 October 2006$$cBeijing$$a2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
000088115 773__ $$t2006 IEEE/RSJ International Conference on Intelligent Robots and Systems$$q1553-1557
000088115 8564_ $$zURL$$uhttp://www.iros2006.org/
000088115 909C0 $$pLSRO$$0252016
000088115 909CO $$pSTI$$ooai:infoscience.tind.io:88115$$qGLOBAL_SET$$pconf
000088115 917Z8 $$x148230
000088115 917Z8 $$x148230
000088115 917Z8 $$x148230
000088115 937__ $$aLSRO-CONF-2006-058
000088115 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000088115 980__ $$aCONF