Investigation of a Cable Transmission for the Actuation of MR Compatible Haptic Interfaces
Chapuis, Dominique; Gassert, Roger; Gowrishankar, Ganesh; Burdet, Etienne; Bleuler, Hannes
2006

Abstract

This paper investigates a cable transmission to remotely actuate MR compatible robots over a distance of several meters. Such a transmission could be an interesting solution for haptic interfaces for neuroscience studies performing force feedback during functional magnetic resonance imaging (fMRI), as well as for robots for interventional MRI. MR compatible components, transmission length and bandwidth as well as cable properties are discussed. Experiments performed on an MR compatible test bench allowing variable transmission length up to 9 meters show a mechanical bandwidth of over 30 Hz. Transmission performances and flexibility are compared with those of a hydrostatic transmission.

Details

Title Investigation of a Cable Transmission for the Actuation of MR Compatible Haptic Interfaces
Author(s) Chapuis, Dominique ; Gassert, Roger ; Gowrishankar, Ganesh ; Burdet, Etienne ; Bleuler, Hannes
Published in The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
Pages 426-431
Conference The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006., Pisa, Italy, February 20-22, 2006
Date 2006
Keywords
DOI https://doi.org/10.1109/BIOROB.2006.1639125
Other identifier(s) View record in Web of Science
Laboratories LSRO
Record Appears in Scientific production and competences > STI - School of Engineering > IEM - Institut d'Electricité et de Microtechnique > LSRO - Robotic Systems Laboratory
Peer-reviewed publications
Conference Papers
Work produced at EPFL
Published
Record creation date 2006-11-20

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